Upgrade spotless and shadow (#385)

Fixes Log4J vulnerability

build.gradle

@@ -1,6 +1,6 @@
 plugins {
-    id "com.diffplug.spotless" version "6.0.5"
+    id "com.diffplug.spotless" version "6.1.2"
-    id "com.github.johnrengelman.shadow" version "7.1.1"
+    id "com.github.johnrengelman.shadow" version "7.1.2"
     id "com.github.node-gradle.node" version "3.1.1" apply false
     id "edu.wpi.first.GradleJni" version "1.0.0"
     id "edu.wpi.first.GradleVsCode" version "1.1.0"

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java

@@ -19,11 +19,11 @@ package org.photonvision.common.hardware.GPIO.pi;
 import java.util.HashMap;
 
 /**
-* A class that defines the exceptions that can be thrown by Pigpio.
+ * A class that defines the exceptions that can be thrown by Pigpio.
-*
+ *
-* <p>Credit to nkolban
+ * <p>Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
-*/
+ */
 @SuppressWarnings({"SpellCheckingInspection", "unused", "RedundantSuppression"})
 public class PigpioException extends Exception {
     private int rc = -99999999;
@@ -65,10 +65,10 @@ public class PigpioException extends Exception {
     }
 
     /**
-    * Retrieve the error code that was returned by the underlying Pigpio call.
+     * Retrieve the error code that was returned by the underlying Pigpio call.
-    *
+     *
-    * @return The error code that was returned by the underlying Pigpio call.
+     * @return The error code that was returned by the underlying Pigpio call.
-    */
+     */
     public int getErrorCode() {
         return rc;
     } // End of getErrorCode

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java

@@ -22,14 +22,14 @@ public class PigpioPulse {
     int delayMicros;
 
     /**
-    * Initialises a pulse.
+     * Initialises a pulse.
-    *
+     *
-    * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
+     * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
-    *     switched on.
+     *     switched on.
-    * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
+     * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
-    *     be switched off.
+     *     be switched off.
-    * @param delayMicros the delay in microseconds before the next pulse.
+     * @param delayMicros the delay in microseconds before the next pulse.
-    */
+     */
     public PigpioPulse(int gpioOn, int gpioOff, int delayMicros) {
         this.gpioOn = gpioOn != 0 ? 1 << gpioOn : 0;
         this.gpioOff = gpioOff != 0 ? 1 << gpioOff : 0;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java

@@ -40,12 +40,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
+     * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
-    * address and port
+     * address and port
-    *
+     *
-    * @param addr Address of remote pigpio daemon
+     * @param addr Address of remote pigpio daemon
-    * @param port Port of remote pigpio daemon
+     * @param port Port of remote pigpio daemon
-    */
+     */
     public PigpioSocket(String addr, int port) {
         try {
             commandSocket = new PigpioSocketLock(addr, port);
@@ -55,10 +55,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Reconnects to the pigpio daemon
+     * Reconnects to the pigpio daemon
-    *
+     *
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void reconnect() throws PigpioException {
         try {
             commandSocket.reconnect();
@@ -69,10 +69,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Terminates the connection to the pigpio daemon
+     * Terminates the connection to the pigpio daemon
-    *
+     *
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void gpioTerminate() throws PigpioException {
         try {
             commandSocket.terminate();
@@ -83,12 +83,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Read the GPIO level
+     * Read the GPIO level
-    *
+     *
-    * @param pin Pin to read from
+     * @param pin Pin to read from
-    * @return Value of the pin
+     * @return Value of the pin
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public boolean gpioRead(int pin) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_READ.value, pin);
@@ -101,12 +101,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Write the GPIO level
+     * Write the GPIO level
-    *
+     *
-    * @param pin Pin to write to
+     * @param pin Pin to write to
-    * @param value Value to write
+     * @param value Value to write
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void gpioWrite(int pin, boolean value) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WRITE.value, pin, value ? 1 : 0);
@@ -118,10 +118,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
+     * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
-    *
+     *
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void waveClear() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCLR.value);
@@ -133,12 +133,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Adds a number of pulses to the current waveform
+     * Adds a number of pulses to the current waveform
-    *
+     *
-    * @param pulses ArrayList of pulses to add
+     * @param pulses ArrayList of pulses to add
-    * @return the new total number of pulses in the current waveform
+     * @return the new total number of pulses in the current waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     private int waveAddGeneric(ArrayList<PigpioPulse> pulses) throws PigpioException {
         // pigpio wave message format
 
@@ -174,12 +174,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates pulses and adds them to the current waveform
+     * Creates pulses and adds them to the current waveform
-    *
+     *
-    * @param pulseTimeMillis Pulse length in milliseconds
+     * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
+     * @param blinks Number of times to pulse. -1 for repeat
-    * @param pinNo Pin to pulse
+     * @param pinNo Pin to pulse
-    */
+     */
     private void addBlinkPulsesToWaveform(int pulseTimeMillis, int blinks, int pinNo) {
         boolean repeat = blinks == -1;
 
@@ -207,13 +207,13 @@ public class PigpioSocket {
     }
 
     /**
-    * Generates and sends a waveform to the given pins with the specified parameters.
+     * Generates and sends a waveform to the given pins with the specified parameters.
-    *
+     *
-    * @param pulseTimeMillis Pulse length in milliseconds
+     * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
+     * @param blinks Number of times to pulse. -1 for repeat
-    * @param pins Pins to pulse
+     * @param pins Pins to pulse
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void generateAndSendWaveform(int pulseTimeMillis, int blinks, int... pins)
             throws PigpioException {
         if (pins.length == 0) return;
@@ -262,11 +262,11 @@ public class PigpioSocket {
     }
 
     /**
-    * Stops the transmission of the current waveform
+     * Stops the transmission of the current waveform
-    *
+     *
-    * @return success
+     * @return success
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public boolean waveTxStop() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVHLT.value);
@@ -279,12 +279,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates a waveform from the data provided by the prior calls to {@link
+     * Creates a waveform from the data provided by the prior calls to {@link
-    * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
+     * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
-    *
+     *
-    * @return ID of the created waveform
+     * @return ID of the created waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public int waveCreate() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCRE.value);
@@ -297,11 +297,11 @@ public class PigpioSocket {
     }
 
     /**
-    * Deletes the waveform with specified wave ID
+     * Deletes the waveform with specified wave ID
-    *
+     *
-    * @param waveId ID of the waveform to delete
+     * @param waveId ID of the waveform to delete
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void waveDelete(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVDEL.value, waveId);
@@ -313,12 +313,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Transmits the waveform with specified wave ID. The waveform is sent once
+     * Transmits the waveform with specified wave ID. The waveform is sent once
-    *
+     *
-    * @param waveId ID of the waveform to transmit
+     * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
+     * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public int waveSendOnce(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTX.value, waveId);
@@ -330,13 +330,13 @@ public class PigpioSocket {
     }
 
     /**
-    * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
+     * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
-    * the sending of a new waveform or {@link #waveTxStop()}
+     * the sending of a new waveform or {@link #waveTxStop()}
-    *
+     *
-    * @param waveId ID of the waveform to transmit
+     * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
+     * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public int waveSendRepeat(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTXR.value, waveId);
@@ -348,14 +348,14 @@ public class PigpioSocket {
     }
 
     /**
-    * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
+     * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
-    *
+     *
-    * @param pin GPIO pin to start PWM on
+     * @param pin GPIO pin to start PWM on
-    * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
+     * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
-    *     work
+     *     work
-    * @param pwmDuty Duty cycle to run at (0-1,000,000)
+     * @param pwmDuty Duty cycle to run at (0-1,000,000)
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void hardwarePWM(int pin, int pwmFrequency, int pwmDuty) throws PigpioException {
         try {
             ByteBuffer bb = ByteBuffer.allocate(4);

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java

@@ -23,9 +23,9 @@ import java.net.Socket;
 import java.nio.ByteBuffer;
 
 /**
-* Credit to nkolban
+ * Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
-*/
+ */
 final class PigpioSocketLock {
     private static final int replyTimeoutMillis = 1000;
 
@@ -81,16 +81,16 @@ final class PigpioSocketLock {
     }
 
     /**
-    * Send extended command to pigpiod and return result code
+     * Send extended command to pigpiod and return result code
-    *
+     *
-    * @param cmd Command to send
+     * @param cmd Command to send
-    * @param p1 Command parameter 1
+     * @param p1 Command parameter 1
-    * @param p2 Command parameter 2
+     * @param p2 Command parameter 2
-    * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
+     * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
-    * @param ext Array of bytes containing extended data
+     * @param ext Array of bytes containing extended data
-    * @return Command result code
+     * @return Command result code
-    * @throws IOException in case of network connection error
+     * @throws IOException in case of network connection error
-    */
+     */
     @SuppressWarnings("UnusedAssignment")
     public synchronized int sendCmd(int cmd, int p1, int p2, int p3, byte[] ext) throws IOException {
         ByteBuffer bb = ByteBuffer.allocate(16 + ext.length);
@@ -135,11 +135,11 @@ final class PigpioSocketLock {
     }
 
     /**
-    * Read all remaining bytes coming from pigpiod
+     * Read all remaining bytes coming from pigpiod
-    *
+     *
-    * @param data Array to store read bytes.
+     * @param data Array to store read bytes.
-    * @throws IOException if unable to read from network
+     * @throws IOException if unable to read from network
-    */
+     */
     public void readBytes(byte[] data) throws IOException {
         in.readFully(data);
     }

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -232,12 +232,12 @@ public class Logger {
     }
 
     /**
-    * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed
+     * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed
-    * if the current LogLevel is TRACE
+     * if the current LogLevel is TRACE
-    *
+     *
-    * @param message
+     * @param message
-    * @param t
+     * @param t
-    */
+     */
     public void error(String message, Throwable t) {
         log(message, LogLevel.ERROR);
         log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.DEBUG);

photon-core/src/main/java/org/photonvision/common/util/ShellExec.java

@@ -43,12 +43,12 @@ public class ShellExec {
     }
 
     /**
-    * Execute a bash command. We can handle complex bash commands including multiple executions (; |
+     * Execute a bash command. We can handle complex bash commands including multiple executions (; |
-    * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)"
+     * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)"
-    *
+     *
-    * @param command Bash command to execute
+     * @param command Bash command to execute
-    * @return true if bash got started, but your command may have failed.
+     * @return true if bash got started, but your command may have failed.
-    */
+     */
     public int executeBashCommand(String command, boolean wait) throws IOException {
         logger.debug("Executing \"" + command + "\"");
 
@@ -71,25 +71,25 @@ public class ShellExec {
     }
 
     /**
-    * Execute a command in current folder, and wait for process to end
+     * Execute a command in current folder, and wait for process to end
-    *
+     *
-    * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
+     * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
-    * @param args 0..n command line arguments
+     * @param args 0..n command line arguments
-    * @return process exit code
+     * @return process exit code
-    */
+     */
     public int execute(String command, String... args) throws IOException {
         return execute(command, null, true, args);
     }
 
     /**
-    * Execute a command.
+     * Execute a command.
-    *
+     *
-    * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
+     * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
-    * @param workdir working directory or NULL to use command folder
+     * @param workdir working directory or NULL to use command folder
-    * @param wait wait for process to end
+     * @param wait wait for process to end
-    * @param args 0..n command line arguments
+     * @param args 0..n command line arguments
-    * @return process exit code
+     * @return process exit code
-    */
+     */
     public int execute(String command, String workdir, boolean wait, String... args)
             throws IOException {
         String[] cmdArr;
@@ -153,10 +153,10 @@ public class ShellExec {
     // ********************************************
 
     /**
-    * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a
+     * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a
-    * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams.
+     * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams.
-    * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
+     * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
-    */
+     */
     @SuppressWarnings("WeakerAccess")
     private static class StreamGobbler extends Thread {
         private InputStream is;
@@ -186,19 +186,19 @@ public class ShellExec {
         }
 
         /**
-        * Get inputstream buffer or null if stream was not consumed.
+         * Get inputstream buffer or null if stream was not consumed.
-        *
+         *
-        * @return Output stream
+         * @return Output stream
-        */
+         */
         public String getOutput() {
             return (output != null ? output.toString() : null);
         }
 
         /**
-        * Is input stream completed.
+         * Is input stream completed.
-        *
+         *
-        * @return if input stream is completed
+         * @return if input stream is completed
-        */
+         */
         public boolean isCompleted() {
             return completed;
         }

photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java

@@ -64,13 +64,13 @@ public class MathUtils {
     }
 
     /**
-    * Linearly interpolates between two values.
+     * Linearly interpolates between two values.
-    *
+     *
-    * @param startValue The start value.
+     * @param startValue The start value.
-    * @param endValue The end value.
+     * @param endValue The end value.
-    * @param t The fraction for interpolation.
+     * @param t The fraction for interpolation.
-    * @return The interpolated value.
+     * @return The interpolated value.
-    */
+     */
     @SuppressWarnings("ParameterName")
     public static double lerp(double startValue, double endValue, double t) {
         return startValue + (endValue - startValue) * t;

photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java

@@ -25,9 +25,9 @@ import java.util.StringJoiner;
 @SuppressWarnings("unused")
 public class NumberListUtils {
     /**
-    * @param collection an ArrayList of Comparable objects
+     * @param collection an ArrayList of Comparable objects
-    * @return the median of collection
+     * @return the median of collection
-    */
+     */
     public static <T extends Number> double median(List<T> collection, Comparator<T> comp) {
         double result;
         int n = collection.size() / 2;
@@ -57,9 +57,9 @@ public class NumberListUtils {
     }
 
     /**
-    * @param collection an ArrayList of Numbers
+     * @param collection an ArrayList of Numbers
-    * @return the mean of collection
+     * @return the mean of collection
-    */
+     */
     public static double mean(final List<? extends Number> collection) {
         BigDecimal sum = BigDecimal.ZERO;
         for (final Number number : collection) {
@@ -69,11 +69,11 @@ public class NumberListUtils {
     }
 
     /**
-    * @param collection a collection of Comparable objects
+     * @param collection a collection of Comparable objects
-    * @param n the position of the desired object, using the ordering defined on the collection
+     * @param n the position of the desired object, using the ordering defined on the collection
-    *     elements
+     *     elements
-    * @return the nth smallest object
+     * @return the nth smallest object
-    */
+     */
     public static <T> T nthSmallest(List<T> collection, int n, Comparator<T> comp) {
         T result, pivot;
         ArrayList<T> underPivot = new ArrayList<>(),

photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java

@@ -116,18 +116,18 @@ public class PicamJNI {
     // Everything here is static because multiple picams are unsupported at the hardware level
 
     /**
-    * Called once for each video mode change. Starts a native thread running MMAL that stays alive
+     * Called once for each video mode change. Starts a native thread running MMAL that stays alive
-    * until destroyCamera is called.
+     * until destroyCamera is called.
-    *
+     *
-    * @return true on error.
+     * @return true on error.
-    */
+     */
     public static native boolean createCamera(int width, int height, int fps);
 
     /**
-    * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera.
+     * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera.
-    *
+     *
-    * @return true on error.
+     * @return true on error.
-    */
+     */
     public static native boolean destroyCamera();
 
     public static native void setThresholds(

photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java

@@ -42,24 +42,24 @@ public class QuirkyCamera {
     public final HashMap<CameraQuirk, Boolean> quirks;
 
     /**
-    * Creates a QuirkyCamera that matches by USB VID/PID
+     * Creates a QuirkyCamera that matches by USB VID/PID
-    *
+     *
-    * @param usbVid USB VID of camera
+     * @param usbVid USB VID of camera
-    * @param usbPid USB PID of camera
+     * @param usbPid USB PID of camera
-    * @param quirks Camera quirks
+     * @param quirks Camera quirks
-    */
+     */
     private QuirkyCamera(int usbVid, int usbPid, CameraQuirk... quirks) {
         this(usbVid, usbPid, "", quirks);
     }
 
     /**
-    * Creates a QuirkyCamera that matches by USB VID/PID and name
+     * Creates a QuirkyCamera that matches by USB VID/PID and name
-    *
+     *
-    * @param usbVid USB VID of camera
+     * @param usbVid USB VID of camera
-    * @param usbPid USB PID of camera
+     * @param usbPid USB PID of camera
-    * @param baseName CSCore name of camera
+     * @param baseName CSCore name of camera
-    * @param quirks Camera quirks
+     * @param quirks Camera quirks
-    */
+     */
     private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) {
         this.usbVid = usbVid;
         this.usbPid = usbPid;

photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java

@@ -56,13 +56,13 @@ public class ZeroCopyPicamSource extends VisionSource {
     }
 
     /**
-    * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
+     * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
-    * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
+     * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
-    * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
+     * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
-    * we request from the GPU. This is important for setting user expectations, and is also used by
+     * we request from the GPU. This is important for setting user expectations, and is also used by
-    * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video
+     * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video
-    * modes! This is to make sure it shows up nice in the frontend
+     * modes! This is to make sure it shows up nice in the frontend
-    */
+     */
     public static class FPSRatedVideoMode extends VideoMode {
         public final int fpsActual;
         public final double fovMultiplier;

photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java

@@ -37,23 +37,23 @@ public class FrameStaticProperties {
     public CameraCalibrationCoefficients cameraCalibration;
 
     /**
-    * Instantiates a new Frame static properties.
+     * Instantiates a new Frame static properties.
-    *
+     *
-    * @param mode The Video Mode of the camera.
+     * @param mode The Video Mode of the camera.
-    * @param fov The fov of the image.
+     * @param fov The fov of the image.
-    */
+     */
     public FrameStaticProperties(
             VideoMode mode, double fov, Rotation2d cameraPitch, CameraCalibrationCoefficients cal) {
         this(mode != null ? mode.width : 1, mode != null ? mode.height : 1, fov, cameraPitch, cal);
     }
 
     /**
-    * Instantiates a new Frame static properties.
+     * Instantiates a new Frame static properties.
-    *
+     *
-    * @param imageWidth The width of the image.
+     * @param imageWidth The width of the image.
-    * @param imageHeight The width of the image.
+     * @param imageHeight The width of the image.
-    * @param fov The fov of the image.
+     * @param fov The fov of the image.
-    */
+     */
     public FrameStaticProperties(
             int imageWidth,
             int imageHeight,

photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java

@@ -29,9 +29,9 @@ import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.CVMat;
 
 /**
-* A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path
+ * A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path
-* path}.
+ * path}.
-*/
+ */
 public class FileFrameProvider implements FrameProvider {
     public static final int MAX_FPS = 120;
     private static int count = 0;
@@ -46,12 +46,12 @@ public class FileFrameProvider implements FrameProvider {
     private long lastGetMillis = System.currentTimeMillis();
 
     /**
-    * Instantiates a new FileFrameProvider.
+     * Instantiates a new FileFrameProvider.
-    *
+     *
-    * @param path The path of the image to read from.
+     * @param path The path of the image to read from.
-    * @param fov The fov of the image.
+     * @param fov The fov of the image.
-    * @param maxFPS The max framerate to provide the image at.
+     * @param maxFPS The max framerate to provide the image at.
-    */
+     */
     public FileFrameProvider(Path path, double fov, int maxFPS) {
         this(path, fov, maxFPS, null, null);
     }
@@ -83,21 +83,21 @@ public class FileFrameProvider implements FrameProvider {
     }
 
     /**
-    * Instantiates a new File frame provider.
+     * Instantiates a new File frame provider.
-    *
+     *
-    * @param pathAsString The path of the image to read from as a string.
+     * @param pathAsString The path of the image to read from as a string.
-    * @param fov The fov of the image.
+     * @param fov The fov of the image.
-    */
+     */
     public FileFrameProvider(String pathAsString, double fov) {
         this(Paths.get(pathAsString), fov, MAX_FPS);
     }
 
     /**
-    * Instantiates a new File frame provider.
+     * Instantiates a new File frame provider.
-    *
+     *
-    * @param path The path of the image to read from.
+     * @param path The path of the image to read from.
-    * @param fov The fov of the image.
+     * @param fov The fov of the image.
-    */
+     */
     public FileFrameProvider(Path path, double fov) {
         this(path, fov, MAX_FPS);
     }

photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java

@@ -17,13 +17,13 @@
 package org.photonvision.vision.pipe;
 
 /**
-* Defines a pipe. A pipe is a single step in a pipeline. This class is to be extended, never used
+ * Defines a pipe. A pipe is a single step in a pipeline. This class is to be extended, never used
-* on its own.
+ * on its own.
-*
+ *
-* @param <I> Input type for the pipe
+ * @param <I> Input type for the pipe
-* @param <O> Output type for the pipe
+ * @param <O> Output type for the pipe
-* @param <P> Parameters type for the pipe
+ * @param <P> Parameters type for the pipe
-*/
+ */
 public abstract class CVPipe<I, O, P> {
     protected CVPipeResult<O> result = new CVPipeResult<>();
     protected P params;
@@ -33,17 +33,17 @@ public abstract class CVPipe<I, O, P> {
     }
 
     /**
-    * Runs the process for the pipe.
+     * Runs the process for the pipe.
-    *
+     *
-    * @param in Input for pipe processing.
+     * @param in Input for pipe processing.
-    * @return Result of processing.
+     * @return Result of processing.
-    */
+     */
     protected abstract O process(I in);
 
     /**
-    * @param in Input for pipe processing.
+     * @param in Input for pipe processing.
-    * @return Result of processing.
+     * @return Result of processing.
-    */
+     */
     public CVPipeResult<O> run(I in) {
         long pipeStartNanos = System.nanoTime();
         result.output = process(in);

photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java

@@ -24,11 +24,11 @@ import org.photonvision.vision.pipe.MutatingPipe;
 /** Represents a pipeline that blurs the image. */
 public class BlurPipe extends MutatingPipe<Mat, BlurPipe.BlurParams> {
     /**
-    * Processes this pipe.
+     * Processes this pipe.
-    *
+     *
-    * @param in Input for pipe processing.
+     * @param in Input for pipe processing.
-    * @return The processed frame.
+     * @return The processed frame.
-    */
+     */
     @Override
     protected Void process(Mat in) {
         Imgproc.blur(in, in, params.getBlurSize());
@@ -43,19 +43,19 @@ public class BlurPipe extends MutatingPipe<Mat, BlurPipe.BlurParams> {
         private final int m_blurSize;
 
         /**
-        * Constructs a new BlurImageParams.
+         * Constructs a new BlurImageParams.
-        *
+         *
-        * @param blurSize The blur size.
+         * @param blurSize The blur size.
-        */
+         */
         public BlurParams(int blurSize) {
             m_blurSize = blurSize;
         }
 
         /**
-        * Returns the blur size.
+         * Returns the blur size.
-        *
+         *
-        * @return The blur size.
+         * @return The blur size.
-        */
+         */
         public Size getBlurSize() {
             return new Size(m_blurSize, m_blurSize);
         }

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java

@@ -60,11 +60,11 @@ public class Calibrate3dPipe
     private double calibrationAccuracy;
 
     /**
-    * Runs the process for the pipe.
+     * Runs the process for the pipe.
-    *
+     *
-    * @param in Input for pipe processing. In the format (Input image, object points, image points)
+     * @param in Input for pipe processing. In the format (Input image, object points, image points)
-    * @return Result of processing.
+     * @return Result of processing.
-    */
+     */
     @Override
     protected CameraCalibrationCoefficients process(List<Triple<Size, Mat, Mat>> in) {
         in =

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java

@@ -29,11 +29,11 @@ public class Collect2dTargetsPipe
         extends CVPipe<
                 List<PotentialTarget>, List<TrackedTarget>, Collect2dTargetsPipe.Collect2dTargetsParams> {
     /**
-    * Processes this pipeline.
+     * Processes this pipeline.
-    *
+     *
-    * @param in Input for pipe processing.
+     * @param in Input for pipe processing.
-    * @return A list of tracked targets.
+     * @return A list of tracked targets.
-    */
+     */
     @Override
     protected List<TrackedTarget> process(List<PotentialTarget> in) {
         List<TrackedTarget> targets = new ArrayList<>();

photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java

@@ -59,9 +59,9 @@ public class CornerDetectionPipe
     }
 
     /**
-    * @param target the target to find the corners of.
+     * @param target the target to find the corners of.
-    * @return the corners. left top, left bottom, right bottom, right top
+     * @return the corners. left top, left bottom, right bottom, right top
-    */
+     */
     private List<Point> findBoundingBoxCorners(TrackedTarget target) {
         // extract the corners
         var points = new Point[4];
@@ -88,30 +88,30 @@ public class CornerDetectionPipe
     }
 
     /**
-    * @param a First point.
+     * @param a First point.
-    * @param b Second point.
+     * @param b Second point.
-    * @return The straight line distance between them.
+     * @return The straight line distance between them.
-    */
+     */
     private static double distanceBetween(Point a, Point b) {
         return Math.sqrt(Math.pow(a.x - b.x, 2) + Math.pow(a.y - b.y, 2));
     }
 
     /**
-    * @param a First point.
+     * @param a First point.
-    * @param b Second point.
+     * @param b Second point.
-    * @return The straight line distance between them.
+     * @return The straight line distance between them.
-    */
+     */
     private static double distanceBetween(Translation2d a, Translation2d b) {
         return Math.sqrt(Math.pow(a.getX() - b.getX(), 2) + Math.pow(a.getY() - b.getY(), 2));
     }
 
     /**
-    * Find the 4 most extreme corners,
+     * Find the 4 most extreme corners,
-    *
+     *
-    * @param target the target to track.
+     * @param target the target to track.
-    * @param convexHull weather to use the convex hull of the target.
+     * @param convexHull weather to use the convex hull of the target.
-    * @return the 4 extreme corners of the contour.
+     * @return the 4 extreme corners of the contour.
-    */
+     */
     private List<Point> detectExtremeCornersByApproxPolyDp(TrackedTarget target, boolean convexHull) {
         var centroid = target.getMinAreaRect().center;
         Comparator<Point> distanceProvider =

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java

@@ -28,11 +28,11 @@ public class FilterShapesPipe
     List<CVShape> outputList = new ArrayList<>();
 
     /**
-    * Runs the process for the pipe.
+     * Runs the process for the pipe.
-    *
+     *
-    * @param in Input for pipe processing.
+     * @param in Input for pipe processing.
-    * @return Result of processing.
+     * @return Result of processing.
-    */
+     */
     @Override
     protected List<CVShape> process(List<CVShape> in) {
         outputList.forEach(CVShape::release);

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java

@@ -109,11 +109,11 @@ public class FindBoardCornersPipe
     }
 
     /**
-    * Finds the corners in a given image and returns them
+     * Finds the corners in a given image and returns them
-    *
+     *
-    * @param in Input for pipe processing. Pair of input and output mat
+     * @param in Input for pipe processing. Pair of input and output mat
-    * @return All valid Mats for camera calibration
+     * @return All valid Mats for camera calibration
-    */
+     */
     @Override
     protected Triple<Size, Mat, Mat> process(Pair<Mat, Mat> in) {
         // Create the object points
@@ -123,12 +123,12 @@ public class FindBoardCornersPipe
     }
 
     /**
-    * Figures out how much a frame or point cloud must be scaled down by to match the desired size at
+     * Figures out how much a frame or point cloud must be scaled down by to match the desired size at
-    * which to run FindCorners
+     * which to run FindCorners
-    *
+     *
-    * @param inFrame
+     * @param inFrame
-    * @return
+     * @return
-    */
+     */
     private double getFindCornersScaleFactor(Mat inFrame) {
         if (inFrame.width() > FIND_CORNERS_WIDTH_PX) {
             return ((double) FIND_CORNERS_WIDTH_PX) / inFrame.width();
@@ -138,21 +138,21 @@ public class FindBoardCornersPipe
     }
 
     /**
-    * Finds the minimum spacing between a set of x/y points Currently only considers points whose
+     * Finds the minimum spacing between a set of x/y points Currently only considers points whose
-    * index is next to each other Which, currently, means it traverses one dimension. This is a rough
+     * index is next to each other Which, currently, means it traverses one dimension. This is a rough
-    * heuristic approach which could be refined in the future.
+     * heuristic approach which could be refined in the future.
-    *
+     *
-    * <p>Note that the current implementation can be fooled under the following conditions: (1) The
+     * <p>Note that the current implementation can be fooled under the following conditions: (1) The
-    * width of the image is an odd number, and the smallest distance was actually on the between the
+     * width of the image is an odd number, and the smallest distance was actually on the between the
-    * last two points in a given row and (2) The smallest distance was actually in the direction
+     * last two points in a given row and (2) The smallest distance was actually in the direction
-    * orthogonal to that which was getting traversed by iterating through the MatOfPoint2f in order.
+     * orthogonal to that which was getting traversed by iterating through the MatOfPoint2f in order.
-    *
+     *
-    * <p>I've chosen not to handle these for speed's sake, and because, really, you don't need the
+     * <p>I've chosen not to handle these for speed's sake, and because, really, you don't need the
-    * exact answer for "min distance". you just need something fairly reasonable.
+     * exact answer for "min distance". you just need something fairly reasonable.
-    *
+     *
-    * @param inPoints point set to analyze. Must be a "tall" matrix.
+     * @param inPoints point set to analyze. Must be a "tall" matrix.
-    * @return min spacing between neighbors
+     * @return min spacing between neighbors
-    */
+     */
     private double getApproxMinSpacing(MatOfPoint2f inPoints) {
         double minSpacing = Double.MAX_VALUE;
         for (int pointIdx = 0; pointIdx < inPoints.height() - 1; pointIdx += 2) {
@@ -169,24 +169,24 @@ public class FindBoardCornersPipe
     }
 
     /**
-    * @param inFrame Full-size mat that is going to get scaled down before passing to
+     * @param inFrame Full-size mat that is going to get scaled down before passing to
-    *     findBoardCorners
+     *     findBoardCorners
-    * @return the size to scale the input mat to
+     * @return the size to scale the input mat to
-    */
+     */
     private Size getFindCornersImgSize(Mat inFrame) {
         var findcorners_height = Math.round(inFrame.height() * getFindCornersScaleFactor(inFrame));
         return new Size(FIND_CORNERS_WIDTH_PX, findcorners_height);
     }
 
     /**
-    * Given an input frame and a set of points from the "smaller" findChessboardCorner analysis,
+     * Given an input frame and a set of points from the "smaller" findChessboardCorner analysis,
-    * re-scale the points back to where they would have been in the input frame
+     * re-scale the points back to where they would have been in the input frame
-    *
+     *
-    * @param inPoints set of points derived from a call to findChessboardCorner on a shrunken mat.
+     * @param inPoints set of points derived from a call to findChessboardCorner on a shrunken mat.
-    *     Must be a "tall" matrix.
+     *     Must be a "tall" matrix.
-    * @param origFrame Original frame we're rescaling points back to
+     * @param origFrame Original frame we're rescaling points back to
-    * @param outPoints mat into which the output rescaled points get placed
+     * @param outPoints mat into which the output rescaled points get placed
-    */
+     */
     private void rescalePointsToOrigFrame(
             MatOfPoint2f inPoints, Mat origFrame, MatOfPoint2f outPoints) {
         // Rescale boardCorners back up to the inproc image size
@@ -202,12 +202,12 @@ public class FindBoardCornersPipe
     }
 
     /**
-    * Picks a window size for doing subpixel optimization based on the board type and spacing
+     * Picks a window size for doing subpixel optimization based on the board type and spacing
-    * observed between the corners or points in the image
+     * observed between the corners or points in the image
-    *
+     *
-    * @param inPoints
+     * @param inPoints
-    * @return
+     * @return
-    */
+     */
     private Size getWindowSize(MatOfPoint2f inPoints) {
         double windowHalfWidth = 11; // Dot board uses fixed-size window half-width
         if (params.type == UICalibrationData.BoardType.CHESSBOARD) {
@@ -219,10 +219,10 @@ public class FindBoardCornersPipe
     }
 
     /**
-    * Find chessboard corners given a input mat and output mat to draw on
+     * Find chessboard corners given a input mat and output mat to draw on
-    *
+     *
-    * @return Frame resolution, object points, board corners
+     * @return Frame resolution, object points, board corners
-    */
+     */
     private Triple<Size, Mat, Mat> findBoardCorners(Pair<Mat, Mat> in) {
         createObjectPoints();
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java

@@ -33,15 +33,15 @@ public class FindCirclesPipe
     // (x,y,radius) or (x,y,radius,votes) .
     private final Mat circles = new Mat();
     /**
-    * Runs the process for the pipe. The reason we need a separate pipe for circles is because if we
+     * Runs the process for the pipe. The reason we need a separate pipe for circles is because if we
-    * were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides
+     * were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides
-    * is a circle. Only issue with such approximation is that the user would no longer be able to
+     * is a circle. Only issue with such approximation is that the user would no longer be able to
-    * track shapes with 10-20+ sides. And hence, in order to overcome this edge case, we can use
+     * track shapes with 10-20+ sides. And hence, in order to overcome this edge case, we can use
-    * HoughCircles which is more flexible and accurate for finding circles.
+     * HoughCircles which is more flexible and accurate for finding circles.
-    *
+     *
-    * @param in Input for pipe processing. 8-bit, single-channel, grayscale input image.
+     * @param in Input for pipe processing. 8-bit, single-channel, grayscale input image.
-    * @return Result of processing.
+     * @return Result of processing.
-    */
+     */
     @Override
     protected List<CVShape> process(Pair<Mat, List<Contour>> in) {
         circles.release();
@@ -115,16 +115,16 @@ public class FindCirclesPipe
         private final double diagonalLengthPx;
 
         /*
-        * @params minDist - Minimum distance between the centers of the detected circles.
+         * @params minDist - Minimum distance between the centers of the detected circles.
-        * If the parameter is too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is too large, some circles may be missed.
+         * If the parameter is too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is too large, some circles may be missed.
-        *
+         *
-        * @param maxCannyThresh -First method-specific parameter. In case of #HOUGH_GRADIENT and #HOUGH_GRADIENT_ALT, it is the higher threshold of the two passed to the Canny edge detector (the lower one is twice smaller).
+         * @param maxCannyThresh -First method-specific parameter. In case of #HOUGH_GRADIENT and #HOUGH_GRADIENT_ALT, it is the higher threshold of the two passed to the Canny edge detector (the lower one is twice smaller).
-        * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value shough normally be higher, such as 300 or normally exposed and contrasty images.
+         * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value shough normally be higher, such as 300 or normally exposed and contrasty images.
-        *
+         *
-        *
+         *
-        * @param allowableThreshold - When finding the corresponding contour, this is used to see how close a center should be to a contour for it to be considered THAT contour.
+         * @param allowableThreshold - When finding the corresponding contour, this is used to see how close a center should be to a contour for it to be considered THAT contour.
-        * Should be increased with lower resolutions and decreased with higher resolution
+         * Should be increased with lower resolutions and decreased with higher resolution
-        *  */
+         *  */
         public FindCirclePipeParams(
                 int allowableThreshold,
                 int minRadius,

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java

@@ -30,11 +30,11 @@ public class FindPolygonPipe
     List<CVShape> shapeList = new ArrayList<>();
 
     /*
-    * Runs the process for the pipe.
+     * Runs the process for the pipe.
-    *
+     *
-    * @param in Input for pipe processing.
+     * @param in Input for pipe processing.
-    * @return Result of processing.
+     * @return Result of processing.
-    */
+     */
     @Override
     protected List<CVShape> process(List<Contour> in) {
         shapeList.forEach(CVShape::release);

photon-core/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java

@@ -25,10 +25,10 @@ import org.photonvision.vision.pipe.MutatingPipe;
 /** Pipe that resizes an image to a given resolution */
 public class ResizeImagePipe extends MutatingPipe<Mat, ResizeImagePipe.ResizeImageParams> {
     /**
-    * Process this pipe
+     * Process this pipe
-    *
+     *
-    * @param in {@link Mat} to be resized
+     * @param in {@link Mat} to be resized
-    */
+     */
     @Override
     protected Void process(Mat in) {
         int width = in.cols() / params.getDivisor().value;

photon-core/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java

@@ -32,11 +32,11 @@ public class RotateImagePipe extends MutatingPipe<Mat, RotateImagePipe.RotateIma
     }
 
     /**
-    * Process this pipe
+     * Process this pipe
-    *
+     *
-    * @param in {@link Mat} to be rotated
+     * @param in {@link Mat} to be rotated
-    * @return Rotated {@link Mat}
+     * @return Rotated {@link Mat}
-    */
+     */
     @Override
     protected Void process(Mat in) {
         Core.rotate(in, in, params.rotation.value);

photon-core/src/main/java/org/photonvision/vision/pipe/impl/SolvePNPPipe.java

@@ -139,12 +139,12 @@ public class SolvePNPPipe
     }
 
     /**
-    * Element-wise scale a matrix by a given factor
+     * Element-wise scale a matrix by a given factor
-    *
+     *
-    * @param src the source matrix
+     * @param src the source matrix
-    * @param factor by how much to scale each element
+     * @param factor by how much to scale each element
-    * @return the scaled matrix
+     * @return the scaled matrix
-    */
+     */
     @SuppressWarnings("SameParameterValue")
     private static Mat matScale(Mat src, double factor) {
         Mat dst = new Mat(src.rows(), src.cols(), src.type());

photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java

@@ -28,9 +28,9 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
 
 /**
-* This is a "fake" pipeline that is just used to move identical pipe sets out of real pipelines. It
+ * This is a "fake" pipeline that is just used to move identical pipe sets out of real pipelines. It
-* shall not get its settings saved, nor shall it be managed by PipelineManager
+ * shall not get its settings saved, nor shall it be managed by PipelineManager
-*/
+ */
 public class OutputStreamPipeline {
     private final OutputMatPipe outputMatPipe = new OutputMatPipe();
     private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();

photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java

@@ -29,13 +29,13 @@ public class PipelineProfiler {
             new Logger(ColoredShapePipeline.class, LogGroup.VisionModule);
 
     /**
-    * Indices for Reflective profiling 0 - rotateImagePipe 1 - inputCopy (not a pipe) 2 - hsvPipe 3 -
+     * Indices for Reflective profiling 0 - rotateImagePipe 1 - inputCopy (not a pipe) 2 - hsvPipe 3 -
-    * findContoursPipe 4 - speckleRejectPipe 5 - filterContoursPipe 6 - groupContoursPipe 7 -
+     * findContoursPipe 4 - speckleRejectPipe 5 - filterContoursPipe 6 - groupContoursPipe 7 -
-    * sortContoursPipe 8 - collect2dTargetsPipe 9 - cornerDetectionPipe 10 - solvePNPPipe (OPTIONAL)
+     * sortContoursPipe 8 - collect2dTargetsPipe 9 - cornerDetectionPipe 10 - solvePNPPipe (OPTIONAL)
-    * 11 - outputMatPipe (OPTIONAL) 12 - draw2dCrosshairPipe (on input) 13 - draw2dCrosshairPipe (on
+     * 11 - outputMatPipe (OPTIONAL) 12 - draw2dCrosshairPipe (on input) 13 - draw2dCrosshairPipe (on
-    * output) 14 - draw2dTargetsPipe (on input) 15 - draw2dTargetsPipe (on output) 16 -
+     * output) 14 - draw2dTargetsPipe (on input) 15 - draw2dTargetsPipe (on output) 16 -
-    * draw3dTargetsPipe (OPTIONAL, on input) 17 - draw3dTargetsPipe (OPTIONAL, on output)
+     * draw3dTargetsPipe (OPTIONAL, on input) 17 - draw3dTargetsPipe (OPTIONAL, on output)
-    */
+     */
     private static final String[] ReflectivePipeNames =
             new String[] {
                 "RotateImage",

photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java

@@ -63,10 +63,10 @@ public class CVPipelineResult implements Releasable {
     }
 
     /**
-    * Get the latency between now (wpi::Now) and the time at which the image was captured. FOOTGUN:
+     * Get the latency between now (wpi::Now) and the time at which the image was captured. FOOTGUN:
-    * the latency is relative to the time at which this method is called. Waiting to call this method
+     * the latency is relative to the time at which this method is called. Waiting to call this method
-    * will change the latency this method returns.
+     * will change the latency this method returns.
-    */
+     */
     public double getLatencyMillis() {
         var now = MathUtils.wpiNanoTime();
         return MathUtils.nanosToMillis(now - imageCaptureTimestampNanos);

photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java

@@ -43,18 +43,18 @@ public class PipelineManager {
     private CVPipeline currentUserPipeline = driverModePipeline;
 
     /**
-    * Index of the last active user-created pipeline. <br>
+     * Index of the last active user-created pipeline. <br>
-    * <br>
+     * <br>
-    * Used only when switching from any of the built-in pipelines back to a user-created pipeline.
+     * Used only when switching from any of the built-in pipelines back to a user-created pipeline.
-    */
+     */
     private int lastPipelineIndex;
 
     /**
-    * Creates a PipelineManager with a DriverModePipeline, a Calibration3dPipeline, and all provided
+     * Creates a PipelineManager with a DriverModePipeline, a Calibration3dPipeline, and all provided
-    * pipelines.
+     * pipelines.
-    *
+     *
-    * @param userPipelines Pipelines to add to the manager.
+     * @param userPipelines Pipelines to add to the manager.
-    */
+     */
     public PipelineManager(
             DriverModePipelineSettings driverSettings, List<CVPipelineSettings> userPipelines) {
         this.userPipelineSettings = new ArrayList<>(userPipelines);
@@ -70,11 +70,11 @@ public class PipelineManager {
     }
 
     /**
-    * Get the settings for a pipeline by index.
+     * Get the settings for a pipeline by index.
-    *
+     *
-    * @param index Index of pipeline whose settings need getting.
+     * @param index Index of pipeline whose settings need getting.
-    * @return The gotten settings of the pipeline whose index was provided.
+     * @return The gotten settings of the pipeline whose index was provided.
-    */
+     */
     public CVPipelineSettings getPipelineSettings(int index) {
         if (index < 0) {
             switch (index) {
@@ -92,10 +92,10 @@ public class PipelineManager {
     }
 
     /**
-    * Gets a list of nicknames for all user pipelines
+     * Gets a list of nicknames for all user pipelines
-    *
+     *
-    * @return The list of nicknames for all user pipelines
+     * @return The list of nicknames for all user pipelines
-    */
+     */
     public List<String> getPipelineNicknames() {
         List<String> ret = new ArrayList<>();
         for (var p : userPipelineSettings) {
@@ -105,19 +105,19 @@ public class PipelineManager {
     }
 
     /**
-    * Gets the index of the currently active pipeline
+     * Gets the index of the currently active pipeline
-    *
+     *
-    * @return The index of the currently active pipeline
+     * @return The index of the currently active pipeline
-    */
+     */
     public int getCurrentPipelineIndex() {
         return currentPipelineIndex;
     }
 
     /**
-    * Get the currently active pipeline.
+     * Get the currently active pipeline.
-    *
+     *
-    * @return The currently active pipeline.
+     * @return The currently active pipeline.
-    */
+     */
     public CVPipeline getCurrentUserPipeline() {
         if (currentPipelineIndex < 0) {
             switch (currentPipelineIndex) {
@@ -149,22 +149,22 @@ public class PipelineManager {
     }
 
     /**
-    * Get the currently active pipelines settings
+     * Get the currently active pipelines settings
-    *
+     *
-    * @return The currently active pipelines settings
+     * @return The currently active pipelines settings
-    */
+     */
     public CVPipelineSettings getCurrentPipelineSettings() {
         return getPipelineSettings(currentPipelineIndex);
     }
 
     /**
-    * Internal method for setting the active pipeline. <br>
+     * Internal method for setting the active pipeline. <br>
-    * <br>
+     * <br>
-    * All externally accessible methods that intend to change the active pipeline MUST go through
+     * All externally accessible methods that intend to change the active pipeline MUST go through
-    * here to ensure all proper steps are taken.
+     * here to ensure all proper steps are taken.
-    *
+     *
-    * @param index Index of pipeline to be active
+     * @param index Index of pipeline to be active
-    */
+     */
     private void setPipelineInternal(int index) {
         if (index < 0) {
             lastPipelineIndex = currentPipelineIndex;
@@ -192,33 +192,33 @@ public class PipelineManager {
     }
 
     /**
-    * Enters or exits calibration mode based on the parameter. <br>
+     * Enters or exits calibration mode based on the parameter. <br>
-    * <br>
+     * <br>
-    * Exiting returns to the last used user pipeline.
+     * Exiting returns to the last used user pipeline.
-    *
+     *
-    * @param wantsCalibration True to enter calibration mode, false to exit calibration mode.
+     * @param wantsCalibration True to enter calibration mode, false to exit calibration mode.
-    */
+     */
     public void setCalibrationMode(boolean wantsCalibration) {
         if (!wantsCalibration) calibration3dPipeline.finishCalibration();
         setPipelineInternal(wantsCalibration ? CAL_3D_INDEX : lastPipelineIndex);
     }
 
     /**
-    * Enters or exits driver mode based on the parameter. <br>
+     * Enters or exits driver mode based on the parameter. <br>
-    * <br>
+     * <br>
-    * Exiting returns to the last used user pipeline.
+     * Exiting returns to the last used user pipeline.
-    *
+     *
-    * @param state True to enter driver mode, false to exit driver mode.
+     * @param state True to enter driver mode, false to exit driver mode.
-    */
+     */
     public void setDriverMode(boolean state) {
         setPipelineInternal(state ? DRIVERMODE_INDEX : lastPipelineIndex);
     }
 
     /**
-    * Returns whether or not driver mode is active.
+     * Returns whether or not driver mode is active.
-    *
+     *
-    * @return Whether or not driver mode is active.
+     * @return Whether or not driver mode is active.
-    */
+     */
     public boolean getDriverMode() {
         return currentPipelineIndex == DRIVERMODE_INDEX;
     }
@@ -227,10 +227,10 @@ public class PipelineManager {
             Comparator.comparingInt(o -> o.pipelineIndex);
 
     /**
-    * Sorts the pipeline list by index, and reassigns their indexes to match the new order. <br>
+     * Sorts the pipeline list by index, and reassigns their indexes to match the new order. <br>
-    * <br>
+     * <br>
-    * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯
+     * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯
-    */
+     */
     private void reassignIndexes() {
         userPipelineSettings.sort(PipelineSettingsIndexComparator);
         for (int i = 0; i < userPipelineSettings.size(); i++) {
@@ -283,10 +283,10 @@ public class PipelineManager {
     }
 
     /**
-    * Remove a pipeline settings at the given index and return the new current index
+     * Remove a pipeline settings at the given index and return the new current index
-    *
+     *
-    * @param index The idx to remove
+     * @param index The idx to remove
-    */
+     */
     private int removePipelineInternal(int index) {
         userPipelineSettings.remove(index);
         currentPipelineIndex = Math.min(index, userPipelineSettings.size() - 1);
@@ -311,11 +311,11 @@ public class PipelineManager {
     }
 
     /**
-    * Duplicate a pipeline at a given index
+     * Duplicate a pipeline at a given index
-    *
+     *
-    * @param index the index of the target pipeline
+     * @param index the index of the target pipeline
-    * @return The new index
+     * @return The new index
-    */
+     */
     public int duplicatePipeline(int index) {
         var settings = userPipelineSettings.get(index);
         var newSettings = settings.clone();

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -50,11 +50,11 @@ import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
 
 /**
-* This is the God Class
+ * This is the God Class
-*
+ *
-* <p>VisionModule has a pipeline manager, vision runner, and data providers. The data providers
+ * <p>VisionModule has a pipeline manager, vision runner, and data providers. The data providers
-* provide info on settings changes. VisionModuleManager holds a list of all current vision modules.
+ * provide info on settings changes. VisionModuleManager holds a list of all current vision modules.
-*/
+ */
 public class VisionModule {
     private static final int streamFPSCap = 30;
 

photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java

@@ -39,13 +39,13 @@ public class VisionRunner {
     private long loopCount;
 
     /**
-    * VisionRunner contains a thread to run a pipeline, given a frame, and will give the result to
+     * VisionRunner contains a thread to run a pipeline, given a frame, and will give the result to
-    * the consumer.
+     * the consumer.
-    *
+     *
-    * @param frameSupplier The supplier of the latest frame.
+     * @param frameSupplier The supplier of the latest frame.
-    * @param pipelineSupplier The supplier of the current pipeline.
+     * @param pipelineSupplier The supplier of the current pipeline.
-    * @param pipelineResultConsumer The consumer of the latest result.
+     * @param pipelineResultConsumer The consumer of the latest result.
-    */
+     */
     public VisionRunner(
             FrameProvider frameSupplier,
             Supplier<CVPipeline> pipelineSupplier,

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -61,11 +61,11 @@ public class VisionSourceManager {
     }
 
     /**
-    * Register new camera configs loaded from disk. This will add them to the list of configs to try
+     * Register new camera configs loaded from disk. This will add them to the list of configs to try
-    * to match, and also automatically spawn new vision processes as necessary.
+     * to match, and also automatically spawn new vision processes as necessary.
-    *
+     *
-    * @param configs The loaded camera configs.
+     * @param configs The loaded camera configs.
-    */
+     */
     public void registerLoadedConfigs(Collection<CameraConfiguration> configs) {
         unmatchedLoadedConfigs.addAll(configs);
     }
@@ -182,13 +182,13 @@ public class VisionSourceManager {
     }
 
     /**
-    * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
+     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
-    * disk.
+     * disk.
-    *
+     *
-    * @param detectedCamInfos Information about currently connected USB cameras.
+     * @param detectedCamInfos Information about currently connected USB cameras.
-    * @param loadedUsbCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
+     * @param loadedUsbCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
-    * @return the matched configurations.
+     * @return the matched configurations.
-    */
+     */
     private List<CameraConfiguration> matchUSBCameras(
             List<UsbCameraInfo> detectedCamInfos, List<CameraConfiguration> loadedUsbCamConfigs) {
         var detectedCameraList = new ArrayList<>(detectedCamInfos);
@@ -319,12 +319,12 @@ public class VisionSourceManager {
     }
 
     /**
-    * Check if a given config list contains the given unique name.
+     * Check if a given config list contains the given unique name.
-    *
+     *
-    * @param configList A list of camera configs.
+     * @param configList A list of camera configs.
-    * @param uniqueName The unique name.
+     * @param uniqueName The unique name.
-    * @return If the list of configs contains the unique name.
+     * @return If the list of configs contains the unique name.
-    */
+     */
     private boolean containsName(
             final List<CameraConfiguration> configList, final String uniqueName) {
         return configList.stream()

photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java

@@ -57,10 +57,10 @@ public class TrackedTarget implements Releasable {
     }
 
     /**
-    * Set the approximate bouding polygon.
+     * Set the approximate bouding polygon.
-    *
+     *
-    * @param boundingPolygon List of points to copy. Not modified.
+     * @param boundingPolygon List of points to copy. Not modified.
-    */
+     */
     public void setApproximateBoundingPolygon(MatOfPoint2f boundingPolygon) {
         if (m_approximateBoundingPolygon == null) m_approximateBoundingPolygon = new MatOfPoint2f();
         boundingPolygon.copyTo(m_approximateBoundingPolygon);

photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java

@@ -16,21 +16,21 @@
  */
 package org.photonvision.common;
 /*
-* Copyright (C) 2020 Photon Vision.
+ * Copyright (C) 2020 Photon Vision.
-*
+ *
-* This program is free software: you can redistribute it and/or modify
+ * This program is free software: you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as published by
+ * it under the terms of the GNU General Public License as published by
-* the Free Software Foundation, either version 3 of the License, or
+ * the Free Software Foundation, either version 3 of the License, or
-* (at your option) any later version.
+ * (at your option) any later version.
-*
+ *
-* This program is distributed in the hope that it will be useful,
+ * This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
+ * GNU General Public License for more details.
-*
+ *
-* You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public License
-* along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
-*/
+ */
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;

photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java

@@ -314,15 +314,15 @@ public class Calibrate3dPipeTest {
     }
 
     /**
-    * Uses a given camera coefficents matrix set to "undistort" every image file found in a given
+     * Uses a given camera coefficents matrix set to "undistort" every image file found in a given
-    * directory and display them. Provides an easy way to visually debug the results of the
+     * directory and display them. Provides an easy way to visually debug the results of the
-    * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't
+     * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't
-    * usually be left active in tests.
+     * usually be left active in tests.
-    *
+     *
-    * @param directoryListing
+     * @param directoryListing
-    * @param imgRes
+     * @param imgRes
-    * @param cal
+     * @param cal
-    */
+     */
     @SuppressWarnings("unused")
     private void visuallyDebugDistortion(
             File[] directoryListing, Size imgRes, CameraCalibrationCoefficients cal) {

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -40,10 +40,10 @@ public class PhotonCamera {
     Packet packet = new Packet(1);
 
     /**
-    * Constructs a PhotonCamera from a root table.
+     * Constructs a PhotonCamera from a root table.
-    *
+     *
-    * @param rootTable The root table that the camera is broadcasting information over.
+     * @param rootTable The root table that the camera is broadcasting information over.
-    */
+     */
     public PhotonCamera(NetworkTable rootTable) {
         path = rootTable.getPath();
         rawBytesEntry = rootTable.getEntry("rawBytes");
@@ -56,19 +56,19 @@ public class PhotonCamera {
     }
 
     /**
-    * Constructs a PhotonCamera from the name of the camera.
+     * Constructs a PhotonCamera from the name of the camera.
-    *
+     *
-    * @param cameraName The nickname of the camera (found in the PhotonVision UI).
+     * @param cameraName The nickname of the camera (found in the PhotonVision UI).
-    */
+     */
     public PhotonCamera(String cameraName) {
         this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
     }
 
     /**
-    * Returns the latest pipeline result.
+     * Returns the latest pipeline result.
-    *
+     *
-    * @return The latest pipeline result.
+     * @return The latest pipeline result.
-    */
+     */
     public PhotonPipelineResult getLatestResult() {
         verifyVersion();
 
@@ -88,66 +88,66 @@ public class PhotonCamera {
     }
 
     /**
-    * Returns whether the camera is in driver mode.
+     * Returns whether the camera is in driver mode.
-    *
+     *
-    * @return Whether the camera is in driver mode.
+     * @return Whether the camera is in driver mode.
-    */
+     */
     public boolean getDriverMode() {
         return driverModeEntry.getBoolean(false);
     }
 
     /**
-    * Toggles driver mode.
+     * Toggles driver mode.
-    *
+     *
-    * @param driverMode Whether to set driver mode.
+     * @param driverMode Whether to set driver mode.
-    */
+     */
     public void setDriverMode(boolean driverMode) {
         driverModeEntry.setBoolean(driverMode);
     }
 
     /**
-    * Request the camera to save a new image file from the input camera stream with overlays. Images
+     * Request the camera to save a new image file from the input camera stream with overlays. Images
-    * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk
+     * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk
-    * space and eventually cause the system to stop working. Clear out images in
+     * space and eventually cause the system to stop working. Clear out images in
-    * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
+     * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
-    */
+     */
     public void takeInputSnapshot() {
         inputSaveImgEntry.setBoolean(true);
     }
 
     /**
-    * Request the camera to save a new image file from the output stream with overlays. Images take
+     * Request the camera to save a new image file from the output stream with overlays. Images take
-    * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space
+     * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space
-    * and eventually cause the system to stop working. Clear out images in
+     * and eventually cause the system to stop working. Clear out images in
-    * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
+     * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
-    */
+     */
     public void takeOutputSnapshot() {
         outputSaveImgEntry.setBoolean(true);
     }
 
     /**
-    * Returns the active pipeline index.
+     * Returns the active pipeline index.
-    *
+     *
-    * @return The active pipeline index.
+     * @return The active pipeline index.
-    */
+     */
     public int getPipelineIndex() {
         return pipelineIndexEntry.getNumber(0).intValue();
     }
 
     /**
-    * Allows the user to select the active pipeline index.
+     * Allows the user to select the active pipeline index.
-    *
+     *
-    * @param index The active pipeline index.
+     * @param index The active pipeline index.
-    */
+     */
     public void setPipelineIndex(int index) {
         pipelineIndexEntry.setNumber(index);
     }
 
     /**
-    * Returns the current LED mode.
+     * Returns the current LED mode.
-    *
+     *
-    * @return The current LED mode.
+     * @return The current LED mode.
-    */
+     */
     public VisionLEDMode getLEDMode() {
         int value = ledModeEntry.getNumber(-1).intValue();
         switch (value) {
@@ -164,22 +164,22 @@ public class PhotonCamera {
     }
 
     /**
-    * Sets the LED mode.
+     * Sets the LED mode.
-    *
+     *
-    * @param led The mode to set to.
+     * @param led The mode to set to.
-    */
+     */
     public void setLED(VisionLEDMode led) {
         ledModeEntry.setNumber(led.value);
     }
 
     /**
-    * Returns whether the latest target result has targets.
+     * Returns whether the latest target result has targets.
-    *
+     *
-    * <p>This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead.
+     * <p>This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead.
-    *
+     *
-    * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()}
+     * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()}
-    * @return Whether the latest target result has targets.
+     * @return Whether the latest target result has targets.
-    */
+     */
     @Deprecated
     public boolean hasTargets() {
         return getLatestResult().hasTargets();

photon-lib/src/main/java/org/photonvision/PhotonUtils.java

@@ -27,25 +27,25 @@ public final class PhotonUtils {
     }
 
     /**
-    * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates
+     * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates
-    * range to a target using the target's elevation. This method can produce more stable results
+     * range to a target using the target's elevation. This method can produce more stable results
-    * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method
+     * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method
-    * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and
+     * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and
-    * for there to exist a height differential between goal and camera. The larger this differential,
+     * for there to exist a height differential between goal and camera. The larger this differential,
-    * the more accurate the distance estimate will be.
+     * the more accurate the distance estimate will be.
-    *
+     *
-    * <p>Units can be converted using the {@link edu.wpi.first.math.util.Units} class.
+     * <p>Units can be converted using the {@link edu.wpi.first.math.util.Units} class.
-    *
+     *
-    * @param cameraHeightMeters The physical height of the camera off the floor in meters.
+     * @param cameraHeightMeters The physical height of the camera off the floor in meters.
-    * @param targetHeightMeters The physical height of the target off the floor in meters. This
+     * @param targetHeightMeters The physical height of the target off the floor in meters. This
-    *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
+     *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
-    *     top, this should be the height of the top of the target).
+     *     top, this should be the height of the top of the target).
-    * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
+     * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
-    *     Positive values up.
+     *     Positive values up.
-    * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
+     * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
-    *     values up.
+     *     values up.
-    * @return The estimated distance to the target in meters.
+     * @return The estimated distance to the target in meters.
-    */
+     */
     public static double calculateDistanceToTargetMeters(
             double cameraHeightMeters,
             double targetHeightMeters,
@@ -56,12 +56,12 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimate the {@link Translation2d} of the target relative to the camera.
+     * Estimate the {@link Translation2d} of the target relative to the camera.
-    *
+     *
-    * @param targetDistanceMeters The distance to the target in meters.
+     * @param targetDistanceMeters The distance to the target in meters.
-    * @param yaw The observed yaw of the target.
+     * @param yaw The observed yaw of the target.
-    * @return The target's camera-relative translation.
+     * @return The target's camera-relative translation.
-    */
+     */
     public static Translation2d estimateCameraToTargetTranslation(
             double targetDistanceMeters, Rotation2d yaw) {
         return new Translation2d(
@@ -69,25 +69,25 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimate the position of the robot in the field.
+     * Estimate the position of the robot in the field.
-    *
+     *
-    * @param cameraHeightMeters The physical height of the camera off the floor in meters.
+     * @param cameraHeightMeters The physical height of the camera off the floor in meters.
-    * @param targetHeightMeters The physical height of the target off the floor in meters. This
+     * @param targetHeightMeters The physical height of the target off the floor in meters. This
-    *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
+     *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
-    *     top, this should be the height of the top of the target).
+     *     top, this should be the height of the top of the target).
-    * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
+     * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
-    *     Positive values up.
+     *     Positive values up.
-    * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
+     * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
-    *     values up.
+     *     values up.
-    * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and
+     * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and
-    *     Photon returns CW-positive.
+     *     Photon returns CW-positive.
-    * @param gyroAngle The current robot gyro angle, likely from odometry.
+     * @param gyroAngle The current robot gyro angle, likely from odometry.
-    * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
+     * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
-    * @param cameraToRobot The position of the robot relative to the camera. If the camera was
+     * @param cameraToRobot The position of the robot relative to the camera. If the camera was
-    *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
+     *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
-    *     Transform2d(3 inches, 0 inches, 0 degrees).
+     *     Transform2d(3 inches, 0 inches, 0 degrees).
-    * @return The position of the robot in the field.
+     * @return The position of the robot in the field.
-    */
+     */
     public static Pose2d estimateFieldToRobot(
             double cameraHeightMeters,
             double targetHeightMeters,
@@ -110,17 +110,17 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimates a {@link Transform2d} that maps the camera position to the target position, using the
+     * Estimates a {@link Transform2d} that maps the camera position to the target position, using the
-    * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system
+     * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system
-    * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and
+     * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and
-    * increase as the robot rotates CCW.
+     * increase as the robot rotates CCW.
-    *
+     *
-    * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target
+     * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target
-    *     relative to the camera.
+     *     relative to the camera.
-    * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
+     * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
-    * @param gyroAngle The current robot gyro angle, likely from odometry.
+     * @param gyroAngle The current robot gyro angle, likely from odometry.
-    * @return A Transform2d that takes us from the camera to the target.
+     * @return A Transform2d that takes us from the camera to the target.
-    */
+     */
     public static Transform2d estimateCameraToTarget(
             Translation2d cameraToTargetTranslation, Pose2d fieldToTarget, Rotation2d gyroAngle) {
         // This pose maps our camera at the origin out to our target, in the robot
@@ -133,31 +133,31 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimates the pose of the robot in the field coordinate system, given the position of the
+     * Estimates the pose of the robot in the field coordinate system, given the position of the
-    * target relative to the camera, the target relative to the field, and the robot relative to the
+     * target relative to the camera, the target relative to the field, and the robot relative to the
-    * camera.
+     * camera.
-    *
+     *
-    * @param cameraToTarget The position of the target relative to the camera.
+     * @param cameraToTarget The position of the target relative to the camera.
-    * @param fieldToTarget The position of the target in the field.
+     * @param fieldToTarget The position of the target in the field.
-    * @param cameraToRobot The position of the robot relative to the camera. If the camera was
+     * @param cameraToRobot The position of the robot relative to the camera. If the camera was
-    *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
+     *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
-    *     Transform2d(3 inches, 0 inches, 0 degrees).
+     *     Transform2d(3 inches, 0 inches, 0 degrees).
-    * @return The position of the robot in the field.
+     * @return The position of the robot in the field.
-    */
+     */
     public static Pose2d estimateFieldToRobot(
             Transform2d cameraToTarget, Pose2d fieldToTarget, Transform2d cameraToRobot) {
         return estimateFieldToCamera(cameraToTarget, fieldToTarget).transformBy(cameraToRobot);
     }
 
     /**
-    * Estimates the pose of the camera in the field coordinate system, given the position of the
+     * Estimates the pose of the camera in the field coordinate system, given the position of the
-    * target relative to the camera, and the target relative to the field. This *only* tracks the
+     * target relative to the camera, and the target relative to the field. This *only* tracks the
-    * position of the camera, not the position of the robot itself.
+     * position of the camera, not the position of the robot itself.
-    *
+     *
-    * @param cameraToTarget The position of the target relative to the camera.
+     * @param cameraToTarget The position of the target relative to the camera.
-    * @param fieldToTarget The position of the target in the field.
+     * @param fieldToTarget The position of the target in the field.
-    * @return The position of the camera in the field.
+     * @return The position of the camera in the field.
-    */
+     */
     public static Pose2d estimateFieldToCamera(Transform2d cameraToTarget, Pose2d fieldToTarget) {
         var targetToCamera = cameraToTarget.inverse();
         return fieldToTarget.transformBy(targetToCamera);

photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java

@@ -36,10 +36,10 @@ public class SimPhotonCamera extends PhotonCamera {
     private final NetworkTableEntry targetPoseEntry;
 
     /**
-    * Constructs a Simulated PhotonCamera from a root table.
+     * Constructs a Simulated PhotonCamera from a root table.
-    *
+     *
-    * @param rootTable The root table that the camera is broadcasting information over.
+     * @param rootTable The root table that the camera is broadcasting information over.
-    */
+     */
     public SimPhotonCamera(NetworkTable rootTable) {
         super(rootTable);
 
@@ -53,53 +53,53 @@ public class SimPhotonCamera extends PhotonCamera {
     }
 
     /**
-    * Constructs a Simulated PhotonCamera from the name of the camera.
+     * Constructs a Simulated PhotonCamera from the name of the camera.
-    *
+     *
-    * @param cameraName The nickname of the camera (found in the PhotonVision UI).
+     * @param cameraName The nickname of the camera (found in the PhotonVision UI).
-    */
+     */
     public SimPhotonCamera(String cameraName) {
         this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
     }
 
     /**
-    * Simulate one processed frame of vision data, putting one result to NT.
+     * Simulate one processed frame of vision data, putting one result to NT.
-    *
+     *
-    * @param latencyMillis Latency of the provided frame
+     * @param latencyMillis Latency of the provided frame
-    * @param targets Each target detected
+     * @param targets Each target detected
-    */
+     */
     public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) {
         submitProcessedFrame(latencyMillis, Arrays.asList(targets));
     }
 
     /**
-    * Simulate one processed frame of vision data, putting one result to NT.
+     * Simulate one processed frame of vision data, putting one result to NT.
-    *
+     *
-    * @param latencyMillis Latency of the provided frame
+     * @param latencyMillis Latency of the provided frame
-    * @param sortMode Order in which to sort targets
+     * @param sortMode Order in which to sort targets
-    * @param targets Each target detected
+     * @param targets Each target detected
-    */
+     */
     public void submitProcessedFrame(
             double latencyMillis, PhotonTargetSortMode sortMode, PhotonTrackedTarget... targets) {
         submitProcessedFrame(latencyMillis, sortMode, Arrays.asList(targets));
     }
 
     /**
-    * Simulate one processed frame of vision data, putting one result to NT.
+     * Simulate one processed frame of vision data, putting one result to NT.
-    *
+     *
-    * @param latencyMillis Latency of the provided frame
+     * @param latencyMillis Latency of the provided frame
-    * @param targetList List of targets detected
+     * @param targetList List of targets detected
-    */
+     */
     public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> targetList) {
         submitProcessedFrame(latencyMillis, null, targetList);
     }
 
     /**
-    * Simulate one processed frame of vision data, putting one result to NT.
+     * Simulate one processed frame of vision data, putting one result to NT.
-    *
+     *
-    * @param latencyMillis Latency of the provided frame
+     * @param latencyMillis Latency of the provided frame
-    * @param sortMode Order in which to sort targets
+     * @param sortMode Order in which to sort targets
-    * @param targetList List of targets detected
+     * @param targetList List of targets detected
-    */
+     */
     public void submitProcessedFrame(
             double latencyMillis, PhotonTargetSortMode sortMode, List<PhotonTrackedTarget> targetList) {
         latencyMillisEntry.setDouble(latencyMillis);

photon-lib/src/main/java/org/photonvision/SimVisionSystem.java

@@ -38,28 +38,28 @@ public class SimVisionSystem {
     ArrayList<SimVisionTarget> tgtList;
 
     /**
-    * Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
+     * Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
-    * running PhotonVision, detecting one or more targets scattered around the field. This assumes a
+     * running PhotonVision, detecting one or more targets scattered around the field. This assumes a
-    * fairly simple and distortion-less pinhole camera model.
+     * fairly simple and distortion-less pinhole camera model.
-    *
+     *
-    * @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
+     * @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
-    *     the PhotonVision GUI.
+     *     the PhotonVision GUI.
-    * @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
+     * @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
-    *     manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
+     *     manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
-    *     page.
+     *     page.
-    * @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
+     * @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
-    *     as whatever is configured in the PhotonVision Setting page.
+     *     as whatever is configured in the PhotonVision Setting page.
-    * @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
+     * @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
-    *     position
+     *     position
-    * @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
+     * @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
-    * @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
+     * @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
-    *     make it visible. Set to 9000 or more if your vision system does not rely on LED's.
+     *     make it visible. Set to 9000 or more if your vision system does not rely on LED's.
-    * @param cameraResWidth Width of your camera's image sensor in pixels
+     * @param cameraResWidth Width of your camera's image sensor in pixels
-    * @param cameraResHeight Height of your camera's image sensor in pixels
+     * @param cameraResHeight Height of your camera's image sensor in pixels
-    * @param minTargetArea Minimum area that that the target should be before it's recognized as a
+     * @param minTargetArea Minimum area that that the target should be before it's recognized as a
-    *     target by the camera. Match this with your contour filtering settings in the PhotonVision
+     *     target by the camera. Match this with your contour filtering settings in the PhotonVision
-    *     GUI.
+     *     GUI.
-    */
+     */
     public SimVisionSystem(
             String camName,
             double camDiagFOVDegrees,
@@ -88,24 +88,24 @@ public class SimVisionSystem {
     }
 
     /**
-    * Add a target on the field which your vision system is designed to detect. The PhotonCamera from
+     * Add a target on the field which your vision system is designed to detect. The PhotonCamera from
-    * this system will report the location of the robot relative to the subset of these targets which
+     * this system will report the location of the robot relative to the subset of these targets which
-    * are visible from the given robot position.
+     * are visible from the given robot position.
-    *
+     *
-    * @param target Target to add to the simulated field
+     * @param target Target to add to the simulated field
-    */
+     */
     public void addSimVisionTarget(SimVisionTarget target) {
         tgtList.add(target);
     }
 
     /**
-    * Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
+     * Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
-    * turret or some other mobile platform.
+     * turret or some other mobile platform.
-    *
+     *
-    * @param newCameraToRobot New Transform from the robot to the camera
+     * @param newCameraToRobot New Transform from the robot to the camera
-    * @param newCamHeightMeters New height of the camera off the floor
+     * @param newCamHeightMeters New height of the camera off the floor
-    * @param newCamPitchDegrees New pitch of the camera axis back from horizontal
+     * @param newCamPitchDegrees New pitch of the camera axis back from horizontal
-    */
+     */
     public void moveCamera(
             Transform2d newCameraToRobot, double newCamHeightMeters, double newCamPitchDegrees) {
         this.cameraToRobot = newCameraToRobot;
@@ -114,13 +114,13 @@ public class SimVisionSystem {
     }
 
     /**
-    * Periodic update. Call this once per frame of image data you wish to process and send to
+     * Periodic update. Call this once per frame of image data you wish to process and send to
-    * NetworkTables
+     * NetworkTables
-    *
+     *
-    * @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
+     * @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
-    *     targets are actually in view, where they are at relative to the robot, and relevant
+     *     targets are actually in view, where they are at relative to the robot, and relevant
-    *     PhotonVision parameters.
+     *     PhotonVision parameters.
-    */
+     */
     public void processFrame(Pose2d robotPoseMeters) {
         Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse());
 

photon-lib/src/main/java/org/photonvision/SimVisionTarget.java

@@ -26,15 +26,15 @@ public class SimVisionTarget {
     double tgtAreaMeters2;
 
     /**
-    * Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
+     * Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
-    *
+     *
-    * @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on
+     * @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on
-    *     the middle of the field facing the target, the Y axis points to your left, and the X axis
+     *     the middle of the field facing the target, the Y axis points to your left, and the X axis
-    *     points away from you.
+     *     points away from you.
-    * @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
+     * @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
-    * @param targetWidthMeters Width of the outer bounding box of the target in meters.
+     * @param targetWidthMeters Width of the outer bounding box of the target in meters.
-    * @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
+     * @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
-    */
+     */
     public SimVisionTarget(
             Pose2d targetPos,
             double targetHeightAboveGroundMeters,

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -233,9 +233,9 @@ public class RequestHandler {
     }
 
     /**
-    * Note that this doesn't actually restart the program itself -- instead, it relies on systemd or
+     * Note that this doesn't actually restart the program itself -- instead, it relies on systemd or
-    * an equivalent.
+     * an equivalent.
-    */
+     */
     public static void restartProgramInternal() {
         if (Platform.isRaspberryPi()) {
             try {

photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java

@@ -29,8 +29,8 @@ import org.photonvision.common.logging.Logger;
 
 @SuppressWarnings("rawtypes")
 /*
-* DO NOT use logging in this class. If you do, the logs will recurse forever!
+ * DO NOT use logging in this class. If you do, the logs will recurse forever!
-*/
+ */
 class UIOutboundSubscriber extends DataChangeSubscriber {
     Logger logger = new Logger(UIOutboundSubscriber.class, LogGroup.WebServer);
 

photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java

@@ -26,20 +26,20 @@ public class Packet {
     int readPos, writePos;
 
     /**
-    * Constructs an empty packet.
+     * Constructs an empty packet.
-    *
+     *
-    * @param size The size of the packet buffer.
+     * @param size The size of the packet buffer.
-    */
+     */
     public Packet(int size) {
         this.size = size;
         packetData = new byte[size];
     }
 
     /**
-    * Constructs a packet with the given data.
+     * Constructs a packet with the given data.
-    *
+     *
-    * @param data The packet data.
+     * @param data The packet data.
-    */
+     */
     public Packet(byte[] data) {
         packetData = data;
         size = packetData.length;
@@ -57,38 +57,38 @@ public class Packet {
     }
 
     /**
-    * Returns the packet data.
+     * Returns the packet data.
-    *
+     *
-    * @return The packet data.
+     * @return The packet data.
-    */
+     */
     public byte[] getData() {
         return packetData;
     }
 
     /**
-    * Sets the packet data.
+     * Sets the packet data.
-    *
+     *
-    * @param data The packet data.
+     * @param data The packet data.
-    */
+     */
     public void setData(byte[] data) {
         packetData = data;
         size = data.length;
     }
 
     /**
-    * Encodes the byte into the packet.
+     * Encodes the byte into the packet.
-    *
+     *
-    * @param src The byte to encode.
+     * @param src The byte to encode.
-    */
+     */
     public void encode(byte src) {
         packetData[writePos++] = src;
     }
 
     /**
-    * Encodes the integer into the packet.
+     * Encodes the integer into the packet.
-    *
+     *
-    * @param src The integer to encode.
+     * @param src The integer to encode.
-    */
+     */
     public void encode(int src) {
         packetData[writePos++] = (byte) (src >>> 24);
         packetData[writePos++] = (byte) (src >>> 16);
@@ -97,10 +97,10 @@ public class Packet {
     }
 
     /**
-    * Encodes the double into the packet.
+     * Encodes the double into the packet.
-    *
+     *
-    * @param src The double to encode.
+     * @param src The double to encode.
-    */
+     */
     public void encode(double src) {
         long data = Double.doubleToRawLongBits(src);
         packetData[writePos++] = (byte) ((data >> 56) & 0xff);
@@ -114,28 +114,28 @@ public class Packet {
     }
 
     /**
-    * Encodes the boolean into the packet.
+     * Encodes the boolean into the packet.
-    *
+     *
-    * @param src The boolean to encode.
+     * @param src The boolean to encode.
-    */
+     */
     public void encode(boolean src) {
         packetData[writePos++] = src ? (byte) 1 : (byte) 0;
     }
 
     /**
-    * Returns a decoded byte from the packet.
+     * Returns a decoded byte from the packet.
-    *
+     *
-    * @return A decoded byte from the packet.
+     * @return A decoded byte from the packet.
-    */
+     */
     public byte decodeByte() {
         return packetData[readPos++];
     }
 
     /**
-    * Returns a decoded int from the packet.
+     * Returns a decoded int from the packet.
-    *
+     *
-    * @return A decoded int from the packet.
+     * @return A decoded int from the packet.
-    */
+     */
     public int decodeInt() {
         return (0xff & packetData[readPos++]) << 24
                 | (0xff & packetData[readPos++]) << 16
@@ -144,10 +144,10 @@ public class Packet {
     }
 
     /**
-    * Returns a decoded double from the packet.
+     * Returns a decoded double from the packet.
-    *
+     *
-    * @return A decoded double from the packet.
+     * @return A decoded double from the packet.
-    */
+     */
     public double decodeDouble() {
         long data =
                 (long) (0xff & packetData[readPos++]) << 56
@@ -162,10 +162,10 @@ public class Packet {
     }
 
     /**
-    * Returns a decoded boolean from the packet.
+     * Returns a decoded boolean from the packet.
-    *
+     *
-    * @return A decoded boolean from the packet.
+     * @return A decoded boolean from the packet.
-    */
+     */
     public boolean decodeBoolean() {
         return packetData[readPos++] == 1;
     }

photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java

@@ -35,31 +35,31 @@ public class PhotonPipelineResult {
     public PhotonPipelineResult() {}
 
     /**
-    * Constructs a pipeline result.
+     * Constructs a pipeline result.
-    *
+     *
-    * @param latencyMillis The latency in the pipeline.
+     * @param latencyMillis The latency in the pipeline.
-    * @param targets The list of targets identified by the pipeline.
+     * @param targets The list of targets identified by the pipeline.
-    */
+     */
     public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets) {
         this.latencyMillis = latencyMillis;
         this.targets.addAll(targets);
     }
 
     /**
-    * Returns the size of the packet needed to store this pipeline result.
+     * Returns the size of the packet needed to store this pipeline result.
-    *
+     *
-    * @return The size of the packet needed to store this pipeline result.
+     * @return The size of the packet needed to store this pipeline result.
-    */
+     */
     public int getPacketSize() {
         return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2;
     }
 
     /**
-    * Returns the best target in this pipeline result. If there are no targets, this method will
+     * Returns the best target in this pipeline result. If there are no targets, this method will
-    * return null. The best target is determined by the target sort mode in the PhotonVision UI.
+     * return null. The best target is determined by the target sort mode in the PhotonVision UI.
-    *
+     *
-    * @return The best target of the pipeline result.
+     * @return The best target of the pipeline result.
-    */
+     */
     public PhotonTrackedTarget getBestTarget() {
         if (!hasTargets() && !HAS_WARNED) {
             String errStr =
@@ -74,28 +74,28 @@ public class PhotonPipelineResult {
     }
 
     /**
-    * Returns the latency in the pipeline.
+     * Returns the latency in the pipeline.
-    *
+     *
-    * @return The latency in the pipeline.
+     * @return The latency in the pipeline.
-    */
+     */
     public double getLatencyMillis() {
         return latencyMillis;
     }
 
     /**
-    * Returns whether the pipeline has targets.
+     * Returns whether the pipeline has targets.
-    *
+     *
-    * @return Whether the pipeline has targets.
+     * @return Whether the pipeline has targets.
-    */
+     */
     public boolean hasTargets() {
         return targets.size() > 0;
     }
 
     /**
-    * Returns a copy of the vector of targets.
+     * Returns a copy of the vector of targets.
-    *
+     *
-    * @return A copy of the vector of targets.
+     * @return A copy of the vector of targets.
-    */
+     */
     public List<PhotonTrackedTarget> getTargets() {
         return new ArrayList<>(targets);
     }
@@ -116,11 +116,11 @@ public class PhotonPipelineResult {
     }
 
     /**
-    * Populates the fields of the pipeline result from the packet.
+     * Populates the fields of the pipeline result from the packet.
-    *
+     *
-    * @param packet The incoming packet.
+     * @param packet The incoming packet.
-    * @return The incoming packet.
+     * @return The incoming packet.
-    */
+     */
     public Packet createFromPacket(Packet packet) {
         // Decode latency, existence of targets, and number of targets.
         latencyMillis = packet.decodeDouble();
@@ -139,11 +139,11 @@ public class PhotonPipelineResult {
     }
 
     /**
-    * Populates the outgoing packet with information from this pipeline result.
+     * Populates the outgoing packet with information from this pipeline result.
-    *
+     *
-    * @param packet The outgoing packet.
+     * @param packet The outgoing packet.
-    * @return The outgoing packet.
+     * @return The outgoing packet.
-    */
+     */
     public Packet populatePacket(Packet packet) {
         // Encode latency, existence of targets, and number of targets.
         packet.encode(latencyMillis);

photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java

@@ -78,11 +78,11 @@ public class PhotonTrackedTarget {
     }
 
     /**
-    * Populates the fields of this class with information from the incoming packet.
+     * Populates the fields of this class with information from the incoming packet.
-    *
+     *
-    * @param packet The incoming packet.
+     * @param packet The incoming packet.
-    * @return The incoming packet.
+     * @return The incoming packet.
-    */
+     */
     public Packet createFromPacket(Packet packet) {
         yaw = packet.decodeDouble();
         pitch = packet.decodeDouble();
@@ -99,11 +99,11 @@ public class PhotonTrackedTarget {
     }
 
     /**
-    * Populates the outgoing packet with information from the current target.
+     * Populates the outgoing packet with information from the current target.
-    *
+     *
-    * @param packet The outgoing packet.
+     * @param packet The outgoing packet.
-    * @return The outgoing packet.
+     * @return The outgoing packet.
-    */
+     */
     public Packet populatePacket(Packet packet) {
         packet.encode(yaw);
         packet.encode(pitch);

photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.aimandrange;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
+ * call.
-*/
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
+     * Main initialization function. Do not perform any initialization here.
-    *
+     *
-    * <p>If you change your main robot class, change the parameter type.
+     * <p>If you change your main robot class, change the parameter type.
-    */
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java

@@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
+ * the package after creating this project, you must also update the build.gradle file in the
-* project.
+ * project.
-*/
+ */
 public class Robot extends TimedRobot {
     // Constants such as camera and target height stored. Change per robot and goal!
     final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);

photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.aimattarget;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
+ * call.
-*/
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
+     * Main initialization function. Do not perform any initialization here.
-    *
+     *
-    * <p>If you change your main robot class, change the parameter type.
+     * <p>If you change your main robot class, change the parameter type.
-    */
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java

@@ -25,11 +25,11 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.photonvision.PhotonCamera;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
+ * the package after creating this project, you must also update the build.gradle file in the
-* project.
+ * project.
-*/
+ */
 public class Robot extends TimedRobot {
     // Constants such as camera and target height stored. Change per robot and goal!
     final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);

photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.getinrange;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
+ * call.
-*/
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
+     * Main initialization function. Do not perform any initialization here.
-    *
+     *
-    * <p>If you change your main robot class, change the parameter type.
+     * <p>If you change your main robot class, change the parameter type.
-    */
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java

@@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
+ * the package after creating this project, you must also update the build.gradle file in the
-* project.
+ * project.
-*/
+ */
 public class Robot extends TimedRobot {
     // Constants such as camera and target height stored. Change per robot and goal!
     final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);

photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.simaimandrange;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
+ * call.
-*/
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
+     * Main initialization function. Do not perform any initialization here.
-    *
+     *
-    * <p>If you change your main robot class, change the parameter type.
+     * <p>If you change your main robot class, change the parameter type.
-    */
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java

@@ -27,11 +27,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
+ * the package after creating this project, you must also update the build.gradle file in the
-* project.
+ * project.
-*/
+ */
 public class Robot extends TimedRobot {
     // 2020 High goal target height above ground
     public static final double TARGET_HEIGHT_METERS = Units.inchesToMeters(81.19);

photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java

@@ -36,12 +36,12 @@ import org.photonvision.SimVisionSystem;
 import org.photonvision.SimVisionTarget;
 
 /**
-* Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
+ * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
-* PhotonVision system and one vision target.
+ * PhotonVision system and one vision target.
-*
+ *
-* <p>This class and its methods are only relevant during simulation. While on the real robot, the
+ * <p>This class and its methods are only relevant during simulation. While on the real robot, the
-* real motors/sensors/physics are used instead.
+ * real motors/sensors/physics are used instead.
-*/
+ */
 public class DrivetrainSim {
     // Simulated Motor Controllers
     PWMSim leftLeader = new PWMSim(0);
@@ -108,9 +108,9 @@ public class DrivetrainSim {
     }
 
     /**
-    * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
+     * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
-    * physics forward by a single 20ms step.
+     * physics forward by a single 20ms step.
-    */
+     */
     public void update() {
         double leftMotorCmd = 0;
         double rightMotorCmd = 0;
@@ -132,11 +132,11 @@ public class DrivetrainSim {
     }
 
     /**
-    * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
+     * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
-    * robot onto a specific spot in the field (IE, at the start of each match).
+     * robot onto a specific spot in the field (IE, at the start of each match).
-    *
+     *
-    * @param pose
+     * @param pose
-    */
+     */
     public void resetPose(Pose2d pose) {
         drivetrainSimulator.setPose(pose);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java

@@ -20,18 +20,18 @@ import edu.wpi.first.wpilibj.RobotBase;
 import org.photonlib.examples.simposeest.robot.Robot;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
+ * call.
-*/
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
+     * Main initialization function. Do not perform any initialization here.
-    *
+     *
-    * <p>If you change your main robot class, change the parameter type.
+     * <p>If you change your main robot class, change the parameter type.
-    */
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java

@@ -27,11 +27,11 @@ import edu.wpi.first.wpilibj.Timer;
 import java.util.List;
 
 /**
-* Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current
+ * Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current
-* estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain.
+ * estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain.
-* The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it
+ * The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it
-* thinks it ought to be.
+ * thinks it ought to be.
-*/
+ */
 public class AutoController {
     private Trajectory trajectory;
 
@@ -72,13 +72,13 @@ public class AutoController {
     }
 
     /**
-    * Given the current estimate of the robot's position, calculate drivetrain speed commands which
+     * Given the current estimate of the robot's position, calculate drivetrain speed commands which
-    * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this
+     * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this
-    * method.
+     * method.
-    *
+     *
-    * @param curEstPose Current estimate of drivetrain pose on the field
+     * @param curEstPose Current estimate of drivetrain pose on the field
-    * @return The commanded drivetrain motion
+     * @return The commanded drivetrain motion
-    */
+     */
     public ChassisSpeeds getCurMotorCmds(Pose2d curEstPose) {
         if (isRunning) {
             double elapsed = timer.get();
@@ -91,9 +91,9 @@ public class AutoController {
     }
 
     /**
-    * @return The position which the auto controller is attempting to move the drivetrain to right
+     * @return The position which the auto controller is attempting to move the drivetrain to right
-    *     now.
+     *     now.
-    */
+     */
     public Pose2d getCurPose2d() {
         return desiredDtState.poseMeters;
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java

@@ -24,11 +24,11 @@ import edu.wpi.first.math.util.Units;
 import org.photonvision.SimVisionTarget;
 
 /**
-* Holding class for all physical constants that must be used throughout the codebase. These values
+ * Holding class for all physical constants that must be used throughout the codebase. These values
-* should be set by one of a few methods: 1) Talk to your mechanical and electrical teams and
+ * should be set by one of a few methods: 1) Talk to your mechanical and electrical teams and
-* determine how the physical robot is being built and configured. 2) Read the game manual and look
+ * determine how the physical robot is being built and configured. 2) Read the game manual and look
-* at the field drawings 3) Match with how your vision coprocessor is configured.
+ * at the field drawings 3) Match with how your vision coprocessor is configured.
-*/
+ */
 public class Constants {
     //////////////////////////////////////////////////////////////////
     // Drivetrain Physical

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java

@@ -27,10 +27,10 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 
 /**
-* Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor
+ * Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor
-* controller PWM values which attempt to speed up or slow down the wheels to match the desired
+ * controller PWM values which attempt to speed up or slow down the wheels to match the desired
-* speed.
+ * speed.
-*/
+ */
 public class Drivetrain {
     // PWM motor controller output definitions
     PWMVictorSPX leftLeader = new PWMVictorSPX(Constants.kDtLeftLeaderPin);
@@ -77,12 +77,12 @@ public class Drivetrain {
     }
 
     /**
-    * Given a set of chassis (fwd/rev + rotate) speed commands, perform all periodic tasks to assign
+     * Given a set of chassis (fwd/rev + rotate) speed commands, perform all periodic tasks to assign
-    * new outputs to the motor controllers.
+     * new outputs to the motor controllers.
-    *
+     *
-    * @param xSpeed Desired chassis Forward or Reverse speed (in meters/sec). Positive is forward.
+     * @param xSpeed Desired chassis Forward or Reverse speed (in meters/sec). Positive is forward.
-    * @param rot Desired chassis rotation speed in radians/sec. Positive is counter-clockwise.
+     * @param rot Desired chassis rotation speed in radians/sec. Positive is counter-clockwise.
-    */
+     */
     public void drive(double xSpeed, double rot) {
         // Convert our fwd/rev and rotate commands to wheel speed commands
         DifferentialDriveWheelSpeeds speeds =
@@ -111,12 +111,12 @@ public class Drivetrain {
     }
 
     /**
-    * Force the pose estimator and all sensors to a particular pose. This is useful for indicating to
+     * Force the pose estimator and all sensors to a particular pose. This is useful for indicating to
-    * the software when you have manually moved your robot in a particular position on the field (EX:
+     * the software when you have manually moved your robot in a particular position on the field (EX:
-    * when you place it on the field at the start of the match).
+     * when you place it on the field at the start of the match).
-    *
+     *
-    * @param pose
+     * @param pose
-    */
+     */
     public void resetOdometry(Pose2d pose) {
         leftEncoder.reset();
         rightEncoder.reset();

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java

@@ -31,10 +31,10 @@ import edu.wpi.first.wpilibj.Timer;
 import org.photonvision.PhotonCamera;
 
 /**
-* Performs estimation of the drivetrain's current position on the field, using a vision system,
+ * Performs estimation of the drivetrain's current position on the field, using a vision system,
-* drivetrain encoders, and a gyroscope. These sensor readings are fused together using a Kalman
+ * drivetrain encoders, and a gyroscope. These sensor readings are fused together using a Kalman
-* filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at.
+ * filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at.
-*/
+ */
 public class DrivetrainPoseEstimator {
     // Sensors used as part of the Pose Estimation
     private final AnalogGyro gyro = new AnalogGyro(Constants.kGyroPin);
@@ -65,12 +65,12 @@ public class DrivetrainPoseEstimator {
     public DrivetrainPoseEstimator() {}
 
     /**
-    * Perform all periodic pose estimation tasks.
+     * Perform all periodic pose estimation tasks.
-    *
+     *
-    * @param actWheelSpeeds Current Speeds (in m/s) of the drivetrain wheels
+     * @param actWheelSpeeds Current Speeds (in m/s) of the drivetrain wheels
-    * @param leftDist Distance (in m) the left wheel has traveled
+     * @param leftDist Distance (in m) the left wheel has traveled
-    * @param rightDist Distance (in m) the right wheel has traveled
+     * @param rightDist Distance (in m) the right wheel has traveled
-    */
+     */
     public void update(
             DifferentialDriveWheelSpeeds actWheelSpeeds, double leftDist, double rightDist) {
         m_poseEstimator.update(gyro.getRotation2d(), actWheelSpeeds, leftDist, rightDist);
@@ -86,12 +86,12 @@ public class DrivetrainPoseEstimator {
     }
 
     /**
-    * Force the pose estimator to a particular pose. This is useful for indicating to the software
+     * Force the pose estimator to a particular pose. This is useful for indicating to the software
-    * when you have manually moved your robot in a particular position on the field (EX: when you
+     * when you have manually moved your robot in a particular position on the field (EX: when you
-    * place it on the field at the start of the match).
+     * place it on the field at the start of the match).
-    *
+     *
-    * @param pose
+     * @param pose
-    */
+     */
     public void resetToPose(Pose2d pose) {
         m_poseEstimator.resetPosition(pose, gyro.getRotation2d());
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java

@@ -34,12 +34,12 @@ import org.photonlib.examples.simposeest.robot.Constants;
 import org.photonvision.SimVisionSystem;
 
 /**
-* Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
+ * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
-* PhotonVision system and one vision target.
+ * PhotonVision system and one vision target.
-*
+ *
-* <p>This class and its methods are only relevant during simulation. While on the real robot, the
+ * <p>This class and its methods are only relevant during simulation. While on the real robot, the
-* real motors/sensors/physics are used instead.
+ * real motors/sensors/physics are used instead.
-*/
+ */
 public class DrivetrainSim {
     // Simulated Sensors
     AnalogGyroSim gyroSim = new AnalogGyroSim(Constants.kGyroPin);
@@ -94,9 +94,9 @@ public class DrivetrainSim {
     }
 
     /**
-    * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
+     * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
-    * physics forward by a single 20ms step.
+     * physics forward by a single 20ms step.
-    */
+     */
     public void update() {
         double leftMotorCmd = 0;
         double rightMotorCmd = 0;
@@ -135,11 +135,11 @@ public class DrivetrainSim {
     }
 
     /**
-    * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
+     * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
-    * robot onto a specific spot in the field (IE, at the start of each match).
+     * robot onto a specific spot in the field (IE, at the start of each match).
-    *
+     *
-    * @param pose
+     * @param pose
-    */
+     */
     public void resetPose(Pose2d pose) {
         drivetrainSimulator.setPose(pose);
     }
@@ -150,11 +150,11 @@ public class DrivetrainSim {
     }
 
     /**
-    * For testing purposes only! Applies an unmodeled, undetected offset to the pose Similar to if
+     * For testing purposes only! Applies an unmodeled, undetected offset to the pose Similar to if
-    * you magically kicked your robot to the side in a way the encoders and gyro didn't measure.
+     * you magically kicked your robot to the side in a way the encoders and gyro didn't measure.
-    *
+     *
-    * <p>This distrubance should be corrected for once a vision target is in view.
+     * <p>This distrubance should be corrected for once a vision target is in view.
-    */
+     */
     public void applyKick() {
         Pose2d newPose =
                 drivetrainSimulator

shared/PhotonVersion.java.in

@@ -17,9 +17,9 @@
 package org.photonvision;
 
 /*
-* Autogenerated file! Do not manually edit this file. This version is regenerated
+ * Autogenerated file! Do not manually edit this file. This version is regenerated
-* any time the publish task is run, or when this file is deleted.
+ * any time the publish task is run, or when this file is deleted.
-*/
+ */
 
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;