Bootup sprint (#18)

* Did some stuff

* Fix gradle, start implementing mjpeg frame consumer

* Did some stuff

* bade changes

* rename camera config to USBCameraConfiguration, add name

* unrename cameraconfiguration

* Add pub/sub framework

* Add setResolution to mjpeg frame consumer

* add NTDataConsumer

* Add some totally broken hsv hacks

* Start refactoring UI data

* Update index.js

* Commit and push, he says

* Fix up some errors

* Fix input tab

* Fix fps

* Update index.js

* Add pipeline field setting, update PipelineManager, fix nullpointers and USBCameraSettables

* Change v-model to point to data()

* update hsv to use mutations

* Work on saving, fix hsv

* Rename shouldErode/shouldDilate to erode and dilate

* Hook all the tabs up to the Store

* Change handleData to handlePipelineData

* camera quirk redo, add ICCSub to SocketHandler

* Fix some property names

* Fixed tons of naming in UI, fix backend for multi-val PSCs, fix PSC enums

* change pipeline type to an int in store

* Fix mutation naming

* Attempt threshold fix

* Update SocketHandler.java

* Add truthy data sending

* Start adding logging support

* [UI] Add delay to slider input boxes (#1)

* [UI] [Backend] potentially fix camera settings, various logging tweaks

* Don't release raw input mat

* add setVideoModeIndex to vision settables

* Implement pipeline index in socket handler, add framework for renaming/changing pipes

* (ish) get pipeline change working

* Create index.html

* Cleanups, fix pipeline index bug, fix stream res for MJPG, add dashboard stream (unused)

* Refactor UI to use mutatePipeline, send pipeline results

* Update NetworkConfig.java

* Change double to number

* Run spotless

* Fix reversal of large/small comparators

* Fix left/right

* Fix pitch/yaw calculation bug, fix area bug

* Use Vue.set instead of assignment

This fixes {{ }}

* Update App.vue

* run spotless

* Actually add pipelines and reassign indecies

* Delete old pipeline configs

Fixes duplication on renaming pipeline

* Start working on deleting pipes

* Fix camera nickname change

* run spotless

* Fix some test stuff

* Update VisionModuleManagerTest.java

* vision source manager test is still broken

* Fix VisionSourceManager test

* Apply spotless 2 electric boogaloo

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Aaryan Agrawal <54345060+13Ducks@users.noreply.github.com>

.gitignore

@@ -123,3 +123,4 @@ New client/photon-client/*
 # *.iml
 photon-server/build
 photon-server/photon-vision
+photon-server/src/main/resources/web

photon-client/src/App.vue

@@ -118,14 +118,19 @@
         },
         methods: {
             handleMessage(key, value) {
-                if (this.$store.state.hasOwnProperty(key)) {
+                if (key === "logMessage") {
+                    console.log(value)
+                    this.logMessage(value, 0)
+                } else if (key === "updatePipelineResult") {
+                    this.$store.commit('mutatePipelineResults', value)
+                } else if (this.$store.state.hasOwnProperty(key)) {
                     this.$store.commit(key, value);
-                } else if (this.$store.state.pipeline.hasOwnProperty(key)) {
+                } else if (this.$store.getters.currentPipelineSettings.hasOwnProperty(key)) {
                     this.$store.commit('mutatePipeline', {'key': key, 'value': value});
                 } else {
                     switch (key) {
                         default: {
-                            console.log(key + " : " + value);
+                            console.log(value);
                         }
                     }
                 }
@@ -141,7 +146,7 @@
                 }
                 this.timer = setInterval(this.saveSettings, 4000);
             },
-            logMessage({message, level}) {
+            logMessage(message, level) {
                 const colors = ["\u001b[31m", "\u001b[32m", "\u001b[33m", "\u001b[34m"]
                 const reset = "\u001b[0m"
                 this.log += `${colors[level]}${message}${reset}\n`

photon-client/src/components/common/cv-icon.vue

@@ -23,6 +23,7 @@
 <script>
     export default {
         name: 'Icon',
+      // eslint-disable-next-line vue/require-prop-types
         props: ['color', 'tooltip', 'text', 'right', 'hover'],
         data() {
             return {}

photon-client/src/components/common/cv-image.vue

@@ -12,6 +12,7 @@
 <script>
     export default {
         name: "CvImage",
+      // eslint-disable-next-line vue/require-prop-types
         props: ['address', 'scale'],
         data: () => {
             return {}

photon-client/src/components/common/cv-input.vue

@@ -24,6 +24,7 @@ s
 <script>
     export default {
         name: 'Input',
+      // eslint-disable-next-line vue/require-prop-types
         props: ['name', 'value', 'disabled', 'errorMessage'],
         data() {
             return {}

photon-client/src/components/common/cv-number-input.vue

@@ -26,6 +26,7 @@
 <script>
     export default {
         name: 'NumberInput',
+      // eslint-disable-next-line vue/require-prop-types
         props: ['name', 'value', 'step'],
         data() {
             return {}

photon-client/src/components/common/cv-radio.vue

@@ -20,6 +20,7 @@
 <script>
     export default {
         name: 'Radio',
+      // eslint-disable-next-line vue/require-prop-types
         props: ['value', 'list'],
         data() {
             return {}

photon-client/src/components/common/cv-range-slider.vue

@@ -1,9 +1,6 @@
 <template>
   <div>
-    <v-row
-      dense
-      align="center"
-    >
+    <v-row dense align="center">
       <v-col :cols="2">
         <span>{{ name }}</span>
       </v-col>
@@ -62,46 +59,65 @@
 </template>
 
 <script>
-    export default {
-        name: 'RangeSlider',
-        props: ['name', 'min', 'max', 'value', 'step'],
-        data() {
-            return {
-                prependFocused: false,
-                appendFocused: false
-
-            }
-        },
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value)
-                }
-            }
-        },
-        methods: {
-            handleChange(val) {
-                let i = 0;
-                if (this.prependFocused === false && this.appendFocused === true) {
-                    i = 1;
-                }
-                if (this.prependFocused || this.appendFocused) {
-                    this.$set(this.localValue, i, val);
-                    this.$emit('rollback', this.localValue)
-                }
-            },
-            handleInput(val) {
-                if (!this.prependFocused || !this.appendFocused) {
-                    this.localValue = val;
-                }
-            }
-        }
+export default {
+  name: "RangeSlider",
+  // eslint-disable-next-line vue/require-prop-types
+  props: ["name", "min", "max", "value", "step"],
+  data() {
+    return {
+      prependFocused: false,
+      appendFocused: false,
+      currentBoxVals: [null, null]
+    };
+  },
+  computed: {
+    localValue: {
+      get() {
+        return Object.values(this.value);
+      },
+      set(value) {
+        this.$emit("input", value);
+      }
     }
+  },
+  methods: {
+    // handleChange(val) {
+    //     let i = 0;
+    //     if (this.prependFocused === false && this.appendFocused === true) {
+    //         i = 1;
+    //     }
+    //     if (this.prependFocused || this.appendFocused) {
+    //         this.$set(this.localValue, i, val);
+    //         this.$emit('rollback', this.localValue)
+    //     }
+    // },
+    handleChange(val) {
+      let i = 0;
+      if (this.prependFocused === false && this.appendFocused === true) {
+        i = 1;
+      }
+
+      this.currentBoxVals[i] = val;
+      setTimeout(() => {
+        if (this.currentBoxVals[i] !== val) return;
+        //if (this.prependFocused || this.appendFocused) {
+        let tmp = this.localValue;
+        let parsed = parseFloat(val);
+        if (isNaN(parsed)) return;
+        tmp[i] = parsed;
+        this.localValue = tmp;
+        this.$emit("rollback", this.localValue);
+        //}
+      }, 200);
+    },
+    handleInput(val) {
+      if (!this.prependFocused || !this.appendFocused) {
+        this.localValue = val;
+      }
+    }
+  }
+};
 </script>
 
 <style lang="" scoped>
-
 </style>

photon-client/src/components/common/cv-select.vue

@@ -27,6 +27,7 @@
 <script>
     export default {
         name: 'Select',
+      // eslint-disable-next-line vue/require-prop-types
         props: ['list', 'name', 'value', 'disabled'],
         data() {
             return {}

photon-client/src/components/common/cv-slider.vue

@@ -1,9 +1,6 @@
 <template>
   <div>
-    <v-row
-      dense
-      align="center"
-    >
+    <v-row dense align="center">
       <v-col :cols="2">
         <span>{{ name }}</span>
       </v-col>
@@ -19,7 +16,7 @@
           :step="step"
           @start="isClicked = true"
           @end="isClicked = false"
-          @change="handleclick"
+          @change="handleClick"
           @input="handleInput"
           @mousedown="$emit('rollback', localValue)"
         >
@@ -47,46 +44,51 @@
 </template>
 
 <script>
-    export default {
-        name: 'Slider',
-        props: ['min', 'max', 'name', 'value', 'step'],
-        data() {
-            return {
-                isFocused: false,
-                isClicked: false
-            }
-        },
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value)
-                }
-            }
-        },
-        methods: {
-            handleChange(val) {
-                if (this.isFocused) {
-                    this.localValue = parseFloat(val);
-                    this.$emit('rollback', this.localValue)
-                }
-            },
-            handleInput(val) {
-                if (!this.isFocused && this.isClicked) {
-                    this.localValue = val;
-                }
-            },
-            handleclick(val) {
-                if (!this.isFocused) {
-                    this.localValue = val;
-                }
-            }
-        }
+export default {
+  name: "Slider",
+  // eslint-disable-next-line vue/require-prop-types
+  props: ["min", "max", "name", "value", "step"],
+  data() {
+    return {
+      isFocused: false,
+      isClicked: false,
+      currentBoxVal: null
+    };
+  },
+  computed: {
+    localValue: {
+      get() {
+        return this.value;
+      },
+      set(value) {
+        this.$emit("input", value);
+      }
     }
+  },
+  methods: {
+    handleChange(val) {
+      this.currentBoxVal = val;
+      setTimeout(() => {
+        if (this.currentBoxVal !== val) return;
+        // if (this.isFocused) {
+        this.localValue = parseFloat(val);
+        this.$emit("rollback", this.localValue);
+        // }
+      }, 200);
+    },
+    handleInput(val) {
+      if (!this.isFocused && this.isClicked) {
+        this.localValue = val;
+      }
+    },
+    handleClick(val) {
+      if (!this.isFocused) {
+        this.localValue = val;
+      }
+    }
+  }
+};
 </script>
 
 <style lang="" scoped>
-
 </style>

photon-client/src/components/common/cv-switch.vue

@@ -23,6 +23,7 @@
 <script>
     export default {
         name: 'CVSwitch',
+      // eslint-disable-next-line vue/require-prop-types
         props: ['name', 'value', 'disabled'],
         data() {
             return {}

photon-client/src/components/pipeline/3D/MiniMap.vue

@@ -57,7 +57,9 @@
     export default {
         name: "MiniMap",
         props: {
+          // eslint-disable-next-line vue/require-default-prop
             targets: Array,
+          // eslint-disable-next-line vue/require-default-prop
             horizontalFOV: Number
         },
         data() {

photon-client/src/components/pipeline/CameraAndPipelineSelect.vue

@@ -58,7 +58,7 @@
           v-model="currentPipelineIndex"
           name="Pipeline"
           :list="['Driver Mode'].concat($store.getters.pipelineList)"
-          @input="handleInput('currentPipeline',currentPipelineIndex - 1)"
+          @input="handleInputWithIndex('currentPipeline',currentPipelineIndex - 1)"
         />
       </v-col>
       <v-col
@@ -265,7 +265,7 @@
                         for (let cam in this.cameraList) {
                             if (this.cameraList.hasOwnProperty(cam)) {
                                 if (this.newCameraName === this.cameraList[cam]) {
-                                    return "Camera by that name already Exists"
+                                    return "Camera by that name already exists"
                                 }
                             }
                         }
@@ -296,7 +296,7 @@
                     return this.$store.getters.currentCameraIndex;
                 },
                 set(value) {
-                    this.$store.commit('currentPipelineIndex', value - 1);
+                    this.$store.commit('currentCameraIndex', value);
                 }
             },
             currentPipelineIndex: {
@@ -315,7 +315,7 @@
             },
             saveCameraNameChange() {
                 if (this.checkCameraName === "") {
-                    this.handleInput("changeCameraName", this.newCameraName);
+                    this.handleInputWithIndex("changeCameraName", this.newCameraName);
                     this.discardCameraNameChange();
                 }
             },
@@ -342,7 +342,7 @@
             },
             deleteCurrentPipeline() {
                 if (this.$store.getters.pipelineList.length > 1) {
-                    this.handleInput('command', 'deleteCurrentPipeline');
+                    this.handleInputWithIndex('command', 'deleteCurrentPipeline');
                 } else {
                     this.snackbar = true;
                 }
@@ -350,9 +350,9 @@
             savePipelineNameChange() {
                 if (this.checkPipelineName === "") {
                     if (this.isPipelineNameEdit) {
-                        this.handleInput("changePipelineName", this.newPipelineName);
+                        this.handleInputWithIndex("changePipelineName", this.newPipelineName);
                     } else {
-                        this.handleInput("addNewPipeline", this.newPipelineName);
+                        this.handleInputWithIndex("addNewPipeline", this.newPipelineName);
                     }
                     this.discardPipelineNameChange();
                 }

photon-client/src/components/pipeline/OutputTab/DualCalibration.vue

@@ -44,6 +44,7 @@
 <script>
     export default {
         name: "DualCalibration",
+      // eslint-disable-next-line vue/require-prop-types
         props: ['rawPoint'],
         data() {
             return {

photon-client/src/components/pipeline/OutputTab/SingleCalibration.vue

@@ -32,6 +32,7 @@
 <script>
     export default {
         name: "SingleCalibration",
+      // eslint-disable-next-line vue/require-prop-types
         props: ['rawPoint'],
         methods: {
             clearPoint() {

photon-client/src/main.js

@@ -31,6 +31,7 @@ Vue.prototype.$msgPack = msgPack(true);
 import {dataHandleMixin} from './mixins/global/dataHandleMixin'
 
 Vue.mixin(dataHandleMixin);
+
 new Vue({
     router,
     store,

photon-client/src/mixins/global/dataHandleMixin.js

@@ -4,8 +4,35 @@ export const dataHandleMixin = {
             let msg = this.$msgPack.encode({[key]: value});
             this.$socket.send(msg);
         },
+        handleInputWithIndex(key, value) {
+            let msg = this.$msgPack.encode({
+                [key]: value,
+                ["cameraIndex"]: this.$store.getters.currentCameraIndex
+            });
+            this.$socket.send(msg);
+        },
         handleData(val) {
-            this.handleInput(val, this.value[val]);
+            this.handleInput(val, this[val]);
+            this.$emit('update')
+        },
+        handlePipelineData(val) {
+            let msg = this.$msgPack.encode({
+                ["changePipelineSetting"]: {
+                    [val]: this[val],
+                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
+                }
+            });
+            this.$socket.send(msg);
+            this.$emit('update')
+        },
+        handleTruthyPipelineData(val) {
+            let msg = this.$msgPack.encode({
+                ["changePipelineSetting"]: {
+                    [val]: !!(this[val]),
+                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
+                }
+            });
+            this.$socket.send(msg);
             this.$emit('update')
         },
         rollback(val, e) {

photon-client/src/store/index.js

@@ -1,9 +1,7 @@
 import Vue from 'vue'
 import Vuex from 'vuex'
 
-import pipeline from "./modules/pipeline";
-import generalSettings from "./modules/generalSettings";
-import cameraSettings from "./modules/cameraSettings";
+import networkSettings from "./modules/networkSettings"
 import undoRedo from "./modules/undoRedo";
 
 Vue.use(Vuex);
@@ -14,53 +12,137 @@ const set = key => (state, val) => {
 
 export default new Vuex.Store({
     modules: {
-        pipeline: pipeline,
-        settings: generalSettings,
-        cameraSettings: cameraSettings,
+        reflectivePipelineSettings: {
+            state: {
+                currentResolutionIndex: 0,
+            },
+        },
+        networkSettings: networkSettings,
         undoRedo: undoRedo
     },
     state: {
-        resolutionList: [],
-        port: 1181,
         currentCameraIndex: 0,
-        currentPipelineIndex: 0,
-        cameraList: [],
-        pipelineList: [],
-        point: {},
-        saveBar: false
+        saveBar: false,
+        cameraSettings: [ // This is a list of objects representing the settings of all cameras
+            {
+                tiltDegrees: 0.0,
+                currentPipelineIndex: 0,
+                pipelineNicknames: ["Unknown"],
+                streamPort: 1181,
+                nickname: "Unknown",
+                videoFormatList: [
+                    {
+                        "width": 1920,
+                        "height": 1080,
+                        "fps": 30,
+                        "pixelFormat": "BGR"
+                    }
+                ],
+                fov: 70.0,
+                calibrated: false,
+                currentPipelineSettings: {
+                    pipelineType: 2, // One of "driver", "reflective", "shape"
+                    // 2 is reflective
+
+                    // Settings that apply to all pipeline types
+                    cameraExposure: 1,
+                    cameraBrightness: 2,
+                    cameraGain: 3,
+                    inputImageRotationMode: 0,
+                    cameraVideoModeIndex: 0,
+                    outputFrameDivisor: 0,
+
+                    // Settings that apply to reflective
+                    hsvHue: [0, 15],
+                    hsvSaturation: [0, 15],
+                    hsvValue: [0, 25],
+                    erode: false,
+                    dilate: false,
+                    contourArea: [0, 12],
+                    contourRatio: [0, 12],
+                    contourExtent: [0, 12],
+                    contourSpecklePercentage: 5,
+                    contourGroupingMode: 0,
+                    contourIntersection: 0,
+                    contourSortMode: 0,
+                    outputShowMultipleTargets: false,
+                    outputShowThresholded: 0,
+                    offsetRobotOffsetMode: 0,
+                    solvePNPEnabled: false,
+                    targetRegion: 0,
+                    contourTargetOrientation: 1
+
+                    // Settings that apply to shape
+                }
+            }
+        ],
+        pipelineResults: [
+            {
+                fps: 0,
+                targets: [{
+                    // Available in both 2D and 3D
+                    pitch: 0,
+                    yaw: 0,
+                    skew: 0,
+                    area: 0,
+                    // 3D only
+                    pose: {x: 0, y: 0, rot: 0},
+                }]
+            }
+        ]
     },
     mutations: {
-        settings: set('settings'),
-        pipeline: set('pipeline'),
         cameraSettings: set('cameraSettings'),
-        resolutionList: set('resolutionList'),
-        port: set('port'),
+        saveBar: set('saveBar'),
         currentCameraIndex: set('currentCameraIndex'),
-        currentPipelineIndex: set('currentPipelineIndex'),
-        cameraList: set('cameraList'),
-        pipelineList: set('pipelineList'),
-        point: set('point'),
-        driverMode: set('driverMode'),
-        saveBar: set("saveBar")
+        pipelineResults: set('pipelineResults'),
+        networkSettings: set('networkSettings'),
+
+        currentPipelineIndex: (state, val) => {
+            const settings = state.cameraSettings[state.currentCameraIndex];
+            Vue.set(settings, 'currentPipelineIndex', val);
+        },
+
+        // TODO change everything to use this
+        mutatePipeline: (state, payload) => {
+            for (let key in payload) {
+                if (!payload.hasOwnProperty(key)) continue;
+                const value = payload[key];
+                const settings = state.cameraSettings[state.currentCameraIndex].currentPipelineSettings;
+                if (settings.hasOwnProperty(key)) {
+                    Vue.set(settings, key, value);
+                }
+            }
+        },
+
+        mutatePipelineResults(state, payload) {
+            // Key: index, value: result
+            let newResultArray = [];
+            for (let key in payload) {
+                if (!payload.hasOwnProperty(key)) continue;
+                const index = parseInt(key);
+                newResultArray[index] = payload[key];
+            }
+
+            Vue.set(state, 'pipelineResults', newResultArray)
+        }
     },
     getters: {
-        streamAddress: state => {
-            return "http://" + location.hostname + ":" + state.port + "/stream.mjpg";
+        pipelineSettings: state => state.pipelineSettings,
+        streamAddress: state =>
+            "http://" + location.hostname + ":" + state.cameraSettings[state.currentCameraIndex].streamPort + "/stream.mjpg",
+        targets: state => state.pipelineResults.length,
+        currentPipelineResults: state =>
+            state.pipelineResults[state.cameraSettings[state.currentCameraIndex].currentPipelineIndex],
+        cameraList: state => state.cameraSettings.map(it => it.nickname),
+        currentCameraSettings: state => state.cameraSettings[state.currentCameraIndex],
+        currentCameraIndex: state => state.currentCameraIndex,
+        currentPipelineIndex: state => state.cameraSettings[state.currentCameraIndex].currentPipelineIndex,
+        currentPipelineSettings: state => state.cameraSettings[state.currentCameraIndex].currentPipelineSettings,
+        videoFormatList: state => {
+            return Object.values(state.cameraSettings[state.currentCameraIndex].videoFormatList); // convert to a list
         },
-        targets: state => {
-            return state.point['targets']
-        },
-        cameraList: state => {
-            return state.cameraList
-        },
-        pipelineList: state => {
-            return state.pipelineList
-        },
-        currentCameraIndex: state => {
-            return state.currentCameraIndex
-        },
-        currentPipelineIndex: state => {
-            return state.currentPipelineIndex
-        }
+        pipelineList: state => state.cameraSettings[state.currentCameraIndex].pipelineNicknames,
+        currentCameraFPS: state => state.pipelineResults[state.currentCameraIndex].fps
     }
-})
+})

photon-client/src/store/modules/cameraSettings.js

@@ -1,14 +0,0 @@
-export default {
-    state: {
-        calibration: [],
-        fov: 0,
-        resolution: 0,
-        streamDivisor: 0,
-        tilt: 0
-    },
-    getters: {
-        cameraSettings: state => {
-            return state
-        }
-    }
-}

photon-client/src/store/modules/generalSettings.js

@@ -1,10 +0,0 @@
-export default {
-    state:{
-        teamNumber: 0,
-        connectionType: 0,
-        ip: "",
-        gateway: "",
-        netmask: "",
-        hostname: "photon-vision"
-    }
-}

photon-client/src/store/modules/networkSettings.js

@@ -0,0 +1,17 @@
+export default {
+    state: {
+        netmask: "",
+        ip: "",
+        teamNumber: "",
+        connectionType: "",
+        gateway: ""
+    },
+    mutations: {
+    },
+    actions: {},
+    getters: {
+        pipeline: state => {
+            return state
+        }
+    }
+};

photon-client/src/views/PipelineView.vue

@@ -52,14 +52,14 @@
           <!-- camera image tabs -->
           <v-tabs
             v-if="($store.getters.currentPipelineIndex + 1) !== 0"
-            v-model="isBinaryNumber"
+            v-model="outputShowThresholded"
             background-color="#232c37"
             dark
             height="48"
             slider-color="#ffd843"
             centered
             style="padding-bottom:10px"
-            @change="handleInput('isBinary',$store.getters.pipeline.isBinary)"
+            @change="handleTruthyPipelineData('outputShowThresholded')"
           >
             <v-tab>Normal</v-tab>
             <v-tab>Threshold</v-tab>
@@ -106,7 +106,7 @@
                   </thead>
                   <tbody>
                     <tr
-                      v-for="(value, index) in $store.getters.targets"
+                      v-for="(value, index) in $store.getters.currentPipelineResults.targets"
                       :key="index"
                     >
                       <td>{{ index }}</td>
@@ -165,16 +165,15 @@
             return {
                 selectedTab: 0,
                 snackbar: false,
-
             }
         },
         computed: {
-            isBinaryNumber: {
+            outputShowThresholded: {
                 get() {
-                    return this.$store.getters.pipeline.isBinary ? 1 : 0
+                    return this.$store.getters.currentPipelineSettings.outputShowThresholded ? 1 : 0;
                 },
                 set(value) {
-                    this.$store.commit('isBinary', !!value);
+                    this.$store.commit('mutatePipeline', {'outputShowThresholded': !!value});
                 }
             },
             selectedComponent: {
@@ -184,7 +183,7 @@
             },
             fps: {
                 get() {
-                    return this.$store.state.point.fps;
+                    return this.$store.getters.currentCameraFPS;
                 }
             }
         },

photon-client/src/views/PipelineViews/3D.vue

@@ -90,6 +90,7 @@
             CVslider,
             miniMap
         },
+      // eslint-disable-next-line vue/require-prop-types
         props: ['value'],
         data() {
             return {
@@ -106,14 +107,14 @@
         computed: {
             targets: {
                 get() {
-                    return this.$store.state.point.targets;
+                    return 330; // TODO fix
                 }
             },
             horizontalFOV: {
                 get() {
                     let index = this.$store.state.cameraSettings.resolution;
                     let FOV = this.$store.state.cameraSettings.fov;
-                    let resolution = this.$store.state.resolutionList[index];
+                    let resolution = this.$store.getters.videoFormatList[index];
                     let diagonalView = FOV * (Math.PI / 180);
                     let diagonalAspect = Math.hypot(resolution.width, resolution.height);
                     return Math.atan(Math.tan(diagonalView / 2) * (resolution.width / diagonalAspect)) * 2 * (180 / Math.PI)
@@ -121,8 +122,9 @@
             },
             allow3D: {
                 get() {
-                    let currentRes = this.$store.state.resolutionList[this.$store.state.pipeline.videoModeIndex];
-                    for (let res of this.$store.state.cameraSettings.calibration) {
+                    let index = this.$store.state.cameraSettings.resolution;
+                    let currentRes = this.$store.getters.videoFormatList[index];
+                    for (let res of this.$store.state.cameraSettings.calibrated) {
                         if (currentRes.width === res.width && currentRes.height === res.height) {
                             return false;
                         }

photon-client/src/views/PipelineViews/ContoursTab.vue

@@ -1,55 +1,55 @@
 <template>
-  <div>
-    <CVrangeSlider
-      v-model="value.area"
-      name="Area"
-      :min="0"
-      :max="100"
-      :step="0.1"
-      @input="handleData('area')"
-      @rollback="e=> rollback('area',e)"
-    />
-    <CVrangeSlider
-      v-model="value.ratio"
-      name="Ratio (W/H)"
-      :min="0"
-      :max="100"
-      :step="0.1"
-      @input="handleData('ratio')"
-      @rollback="e=> rollback('ratio',e)"
-    />
-    <CVrangeSlider
-      v-model="value.extent"
-      name="Extent"
-      :min="0"
-      :max="100"
-      @input="handleData('extent')"
-      @rollback="e=> rollback('extent',e)"
-    />
-    <CVslider
-      v-model="value.speckle"
-      name="Speckle Rejection"
-      :min="0"
-      :max="100"
-      @input="handleData('speckle')"
-      @rollback="e=> rollback('speckle',e)"
-    />
-    <CVselect
-      v-model="value.targetGroup"
-      name="Target Group"
-      :list="['Single','Dual']"
-      @input="handleData('targetGroup')"
-      @rollback="e=> rollback('targetGroup',e)"
-    />
-    <CVselect
-      v-model="value.targetIntersection"
-      name="Target Intersection"
-      :list="['None','Up','Down','Left','Right']"
-      :disabled="isDisabled"
-      @input="handleData('targetIntersection')"
-      @rollback="e=> rollback('targetIntersection',e)"
-    />
-  </div>
+    <div>
+        <CVrangeSlider
+                v-model="contourArea"
+                name="Area"
+                :min="0"
+                :max="100"
+                :step="0.1"
+                @input="handlePipelineData('contourArea')"
+                @rollback="e=> rollback('contourArea',e)"
+        />
+        <CVrangeSlider
+                v-model="contourRatio"
+                name="Ratio (W/H)"
+                :min="0"
+                :max="100"
+                :step="0.1"
+                @input="handlePipelineData('contourRatio')"
+                @rollback="e=> rollback('contourRatio',e)"
+        />
+        <CVrangeSlider
+                v-model="contourExtent"
+                name="Extent"
+                :min="0"
+                :max="100"
+                @input="handlePipelineData('contourExtent')"
+                @rollback="e=> rollback('contourExtent',e)"
+        />
+        <CVslider
+                v-model="contourSpecklePercentage"
+                name="Speckle Rejection"
+                :min="0"
+                :max="100"
+                @input="handlePipelineData('contourSpecklePercentage')"
+                @rollback="e=> rollback('contourSpecklePercentage',e)"
+        />
+        <CVselect
+                v-model="contourGroupingMode"
+                name="Target Group"
+                :list="['Single','Dual']"
+                @input="handlePipelineData('targetGroup')"
+                @rollback="e=> rollback('targetGroup',e)"
+        />
+        <CVselect
+                v-model="contourIntersection"
+                name="Target Intersection"
+                :list="['None','Up','Down','Left','Right']"
+                :disabled="contourGroupingMode === 0"
+                @input="handlePipelineData('contourIntersection')"
+                @rollback="e=> rollback('contourIntersection',e)"
+        />
+    </div>
 </template>
 
 <script>
@@ -64,15 +64,60 @@
             CVselect,
             CVslider
         },
+        // eslint-disable-next-line vue/require-prop-types
         props: ['value'],
 
         data() {
             return {}
         },
         computed: {
-            isDisabled() {
-                return this.value.targetGroup === 0;
-
+            contourArea: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourArea
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourArea": val});
+                }
+            },
+            contourRatio: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourRatio
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourRatio": val});
+                }
+            },
+            contourExtent: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourExtent
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourExtent": val});
+                }
+            },
+            contourSpecklePercentage: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourSpecklePercentage
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
+                }
+            },
+            contourGroupingMode: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourGroupingMode
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourGroupingMode": val});
+                }
+            },
+            contourIntersection: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourIntersection
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourIntersection": val});
+                }
             }
         },
         methods: {},

photon-client/src/views/PipelineViews/InputTab.vue

@@ -1,50 +1,50 @@
 <template>
   <div>
     <CVslider
-      v-model="value.exposure"
+      v-model="cameraExposure"
       name="Exposure"
       :min="0"
       :max="100"
-      @input="handleData('exposure')"
-      @rollback="e => rollback('exposure', e)"
+      @input="handlePipelineData('cameraExposure')"
+      @rollback="e => rollback('cameraExposure', e)"
     />
     <CVslider
-      v-model="value.brightness"
+      v-model="cameraBrightness"
       name="Brightness"
       :min="0"
       :max="100"
-      @input="handleData('brightness')"
-      @rollback="e => rollback('brightness', e)"
+      @input="handlePipelineData('cameraBrightness')"
+      @rollback="e => rollback('cameraBrightness', e)"
     />
     <CVslider
-      v-if="value.gain !== -1"
-      v-model="value.gain"
+      v-if="cameraGain !== -1"
+      v-model="cameraGain"
       name="Gain"
       :min="0"
       :max="100"
-      @input="handleData('gain')"
-      @rollback="e => rollback('gain', e)"
+      @input="handlePipelineData('cameraGain')"
+      @rollback="e => rollback('cameraGain', e)"
     />
     <CVselect
-      v-model="value.rotationMode"
+      v-model="inputImageRotationMode"
       name="Orientation"
       :list="['Normal','90° CW','180°','90° CCW']"
-      @input="handleData('rotationMode')"
-      @rollback="e => e => rollback('rotationMode',e)"
+      @input="handlePipelineData('inputImageRotationMode')"
+      @rollback="e => rollback('inputImageRotationMode',e)"
     />
     <CVselect
-      v-model="value.videoModeIndex"
+      v-model="cameraVideoModeIndex"
       name="Resolution"
       :list="resolutionList"
-      @input="handleData('videoModeIndex')"
-      @rollback="e => rollback('videoModeIndex', e)"
+      @input="handlePipelineData('cameraVideoModeIndex')"
+      @rollback="e => rollback('cameraVideoModeIndex', e)"
     />
     <CVselect
-      v-model="value.streamDivisor"
+      v-model="outputFrameDivisor"
       name="Stream Resolution"
       :list="streamResolutionList"
-      @input="handleData('streamDivisor')"
-      @rollback="e => rollback('streamDivisor', e)"
+      @input="handlePipelineData('outputFrameDivisor')"
+      @rollback="e => rollback('outputFrameDivisor', e)"
     />
   </div>
 </template>
@@ -59,24 +59,75 @@
             CVslider,
             CVselect,
         },
-      // eslint-disable-next-line vue/require-prop-types
+        // eslint-disable-next-line vue/require-prop-types
         props: ['value'],
         data() {
             return {}
         },
         computed: {
+            cameraExposure: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraExposure);
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraExposure": parseInt(val)});
+                }
+            },
+            cameraBrightness: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraBrightness)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraBrightness": parseInt(val)});
+                }
+            },
+            cameraGain: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraGain)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
+                }
+            },
+            inputImageRotationMode: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.inputImageRotationMode
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"inputImageRotationMode": val});
+                }
+            },
+            cameraVideoModeIndex: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.cameraVideoModeIndex
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraVideoModeIndex": val});
+                }
+            },
+            outputFrameDivisor: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.outputFrameDivisor
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"outputFrameDivisor": val});
+                }
+            },
+
             resolutionList: {
                 get() {
                     let tmp_list = [];
-                    for (let i of this.$store.state.resolutionList) {
+                    for (let i of this.$store.getters.videoFormatList) {
                         tmp_list.push(`${i['width']} X ${i['height']} at ${i['fps']} FPS, ${i['pixelFormat']}`)
                     }
                     return tmp_list;
                 }
             },
+
             streamResolutionList: {
                 get() {
-                    let cam_res = this.$store.state.resolutionList[this.value.videoModeIndex];
+                    let cam_res = this.$store.getters.videoFormatList[
+                        this.$store.getters.currentCameraSettings.currentPipelineSettings.cameraVideoModeIndex]
                     let tmp_list = [];
                     tmp_list.push(`${Math.floor(cam_res['width'])} X ${Math.floor(cam_res['height'])}`);
                     for (let x = 2; x <= 6; x += 2) {

photon-client/src/views/PipelineViews/OutputTab.vue

@@ -1,46 +1,46 @@
 <template>
   <div>
     <CVselect
-      v-model="value.sortMode"
+      v-model="contourSortMode"
       name="Sort Mode"
       :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
-      @input="handleData('sortMode')"
-      @rollback="rollback('sortMode',e)"
+      @input="handlePipelineData('contourSortMode')"
+      @rollback="e => rollback('contourSortMode', e)"
     />
 
     <CVselect
-      v-model="value.targetRegion"
-      name="Target Region"
+      v-model="contourTargetOffsetPointEdge"
+      name="Target Offset Point"
       :list="['Center','Top','Bottom','Left','Right']"
-      @input="handleData('targetRegion')"
-      @rollback="e=> rollback('targetRegion',e)"
+      @input="handlePipelineData('contourTargetOffsetPointEdge')"
+      @rollback="e=> rollback('contourTargetOffsetPointEdge', e)"
     />
 
     <CVselect
-      v-model="value.targetOrientation"
+      v-model="contourTargetOrientation"
       name="Target Orientation"
       :list="['Portrait', 'Landscape']"
-      @input="handleData('targetOrientation')"
-      @rollback="e=> rollback('targetOrientation',e)"
+      @input="handlePipelineData('contourTargetOrientation')"
+      @rollback="e=> rollback('contourTargetOrientation', e)"
     />
 
     <CVswitch
-      v-model="value.multiple"
-      name="Output multiple"
-      @input="handleData('multiple')"
-      @rollback="e=> rollback('multiple',e)"
+      v-model="outputShowMultipleTargets"
+      name="Show Multiple Targets"
+      @input="handlePipelineData('outputShowMultipleTargets')"
+      @rollback="e=> rollback('outputShowMultipleTargets', e)"
     />
-    <span>Calibrate:</span>
+    <span>Robot Offset:</span>
     <v-divider
       dark
       color="white"
     />
     <CVselect
-      v-model="value.calibrationMode"
-      name="Calibration Mode"
-      :list="['None','Single point','Dual point']"
-      @input="handleData('calibrationMode')"
-      @rollback="e=> rollback('calibrationMode',e)"
+      v-model="offsetRobotOffsetMode"
+      name="Robot Offset Mode"
+      :list="['None','Single Point','Dual Point']"
+      @input="handlePipelineData('offsetRobotOffsetMode')"
+      @rollback="e=> rollback('offsetRobotOffsetMode',e)"
     />
     <component
       :is="selectedComponent"
@@ -82,6 +82,7 @@
             DualCalibration,
 
         },
+        // eslint-disable-next-line vue/require-prop-types
         props: ['value'],
 
         data() {
@@ -91,22 +92,65 @@
             }
         },
         computed: {
+
+            contourSortMode: {
+
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourSortMode
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourSortMode": val});
+                }
+            },
+            contourTargetOffsetPointEdge: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourTargetOffsetPointEdge
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourTargetOffsetPointEdge": val});
+                }
+            },
+            contourTargetOrientation: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.contourTargetOrientation
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"contourTargetOrientation": val});
+                }
+            },
+            outputShowMultipleTargets: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.outputShowMultipleTargets
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"outputShowMultipleTargets": val});
+                }
+            },
+            offsetRobotOffsetMode: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.offsetRobotOffsetMode
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"offsetRobotOffsetMode": val});
+                }
+            },
+
             selectedComponent: {
                 get() {
                     switch (this.value.calibrationMode) {
                         case 0:
                             return "";
                         case 1:
-                            return "SingleCalibration";
+                            return "Single Point";
                         case 2:
-                            return "DualCalibration"
+                            return "Dual Point"
                     }
                     return ""
                 }
             },
             rawPoint: {
                 get() {
-                    return this.$store.state.point.rawPoint;
+                    return undefined; // TODO fix
                 }
             }
         },

photon-client/src/views/PipelineViews/ThresholdTab.vue

@@ -1,76 +1,76 @@
 <template>
-  <div>
-    <CVrangeSlider
-      v-model="value.hue"
-      name="Hue"
-      :min="0"
-      :max="180"
-      @input="handleData('hue')"
-      @rollback="e => rollback('hue',e)"
-    />
-    <CVrangeSlider
-      v-model="value.saturation"
-      name="Saturation"
-      :min="0"
-      :max="255"
-      @input="handleData('saturation')"
-      @rollback="e => rollback('saturation',e)"
-    />
-    <CVrangeSlider
-      v-model="value.value"
-      name="Value"
-      :min="0"
-      :max="255"
-      @input="handleData('value')"
-      @rollback="e => rollback('value',e)"
-    />
-    <v-divider
-      color="black"
-      style="margin-top: 5px"
-    />
-    <v-row justify="center">
-      <v-btn
-        style="margin: 20px;"
-        color="#ffd843"
-        small
-        @click="setFunction(1)"
-      >
-        <v-icon>colorize</v-icon>
-        Eye drop
-      </v-btn>
-      <v-btn
-        style="margin: 20px;"
-        color="#ffd843"
-        small
-        @click="setFunction(2)"
-      >
-        <v-icon>add</v-icon>
-        Expand Selection
-      </v-btn>
-      <v-btn
-        style="margin: 20px;"
-        color="#ffd843"
-        small
-        @click="setFunction(3)"
-      >
-        <v-icon>remove</v-icon>
-        Shrink Selection
-      </v-btn>
-    </v-row>
-    <v-divider color="black" />
-    <CVswitch
-      v-model="value.erode"
-      name="Erode"
-      @input="handleData('erode')"
-      @rollback="e => rollback('erode',e)"
-    />
-    <CVswitch
-      v-model="value.dilate"
-      name="Dilate"
-      @input="handleData('dilate')"
-      @rollback="e => rollback('dilate',e)"
-    />
-  </div>
+    <div>
+        <CVrangeSlider
+                v-model="hsvHue"
+                name="Hue"
+                :min="0"
+                :max="180"
+                @input="handlePipelineData('hsvHue')"
+                @rollback="e => rollback('hue',e)"
+        />
+        <CVrangeSlider
+                v-model="hsvSaturation"
+                name="Saturation"
+                :min="0"
+                :max="255"
+                @input="handlePipelineData('hsvSaturation')"
+                @rollback="e => rollback('saturation',e)"
+        />
+        <CVrangeSlider
+                v-model="hsvValue"
+                name="Value"
+                :min="0"
+                :max="255"
+                @input="handlePipelineData('hsvValue')"
+                @rollback="e => rollback('value',e)"
+        />
+        <v-divider
+                color="black"
+                style="margin-top: 5px"
+        />
+        <v-row justify="center">
+            <v-btn
+                    style="margin: 20px;"
+                    color="#ffd843"
+                    small
+                    @click="setFunction(1)"
+            >
+                <v-icon>colorize</v-icon>
+                Eye drop
+            </v-btn>
+            <v-btn
+                    style="margin: 20px;"
+                    color="#ffd843"
+                    small
+                    @click="setFunction(2)"
+            >
+                <v-icon>add</v-icon>
+                Expand Selection
+            </v-btn>
+            <v-btn
+                    style="margin: 20px;"
+                    color="#ffd843"
+                    small
+                    @click="setFunction(3)"
+            >
+                <v-icon>remove</v-icon>
+                Shrink Selection
+            </v-btn>
+        </v-row>
+        <v-divider color="black"/>
+        <CVswitch
+                v-model="erode"
+                name="Erode"
+                @input="handlePipelineData('erode')"
+                @rollback="e => rollback('erode',e)"
+        />
+        <CVswitch
+                v-model="dilate"
+                name="Dilate"
+                @input="handlePipelineData('dilate')"
+                @rollback="e => rollback('dilate',e)"
+        />
+    </div>
 </template>
 
 <script>
@@ -83,28 +83,56 @@
             CVrangeSlider,
             CVswitch
         },
+        // eslint-disable-next-line vue/require-prop-types
         props: ['value'],
         data() {
             return {
                 currentFunction: undefined,
                 colorPicker: undefined,
-                currentBinaryState: 0
+                showThresholdState: 0
             }
         },
         computed: {
-            pipeline: {
+            hsvHue: {
                 get() {
-                    return this.$store.state.pipeline;
-                }
-            },
-            driverState: {
-                get() {
-                    return this.$store.state.driverMode;
+                    return this.$store.getters.currentPipelineSettings.hsvHue
                 },
                 set(val) {
-                    this.$store.commit("driverMode", val);
+                    this.$store.commit("mutatePipeline", {"hsvHue": val})
                 }
-            }
+            },
+            hsvSaturation: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.hsvSaturation
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"hsvSaturation": val})
+                }
+            },
+            hsvValue: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.hsvValue
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"hsvValue": val})
+                }
+            },
+            erode: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.erode
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"erode": val});
+                }
+            },
+            dilate: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.dilate
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"dilate": val});
+                }
+            },
         },
         mounted: function () {
             const self = this;
@@ -119,25 +147,24 @@
                     let hsvArray = this.colorPicker.colorPickerClick(event, this.currentFunction,
                         [[this.value.hue[0], this.value.saturation[0], this.value.value[0]], [this.value.hue[1], this.value.saturation[1], this.value.value[1]]]);
                     this.currentFunction = undefined;
-                    this.value.hue = [hsvArray[0][0], hsvArray[1][0]];
-                    this.value.saturation = [hsvArray[0][1], hsvArray[1][1]];
-                    this.value.value = [hsvArray[0][2], hsvArray[1][2]];
-                    this.value.isBinary = this.currentBinaryState;
                     let msg = this.$msgPack.encode({
-                        'hue': this.value.hue,
-                        'saturation': this.value.saturation,
-                        'value': this.value.value,
-                        'isBinary': this.value.isBinary
+                        "changePipelineSetting": {
+                            'hsvHue': [hsvArray[0][0], hsvArray[1][0]],
+                            'hsvSaturation': [hsvArray[0][1], hsvArray[1][1]],
+                            'hsvValue': [hsvArray[0][2], hsvArray[1][2]],
+                            'outputShowThresholded': this.showThresholdState,
+                            'cameraIndex': this.$store.state.currentCameraIndex
+                        }
                     });
                     this.$socket.send(msg);
                     this.$emit('update');
                 }
             },
             setFunction(index) {
-                this.currentBinaryState = this.value.isBinary;
-                if (this.currentBinaryState === true) {
-                    this.value.isBinary = false;
-                    this.handleData('isBinary')
+                this.showThresholdState = this.value.outputShowThresholded;
+                if (this.showThresholdState === true) {
+                    this.value.outputShowThresholded = false;
+                    this.handlePipelineData('outputShowThresholded')
                 }
                 switch (index) {
                     case 0:

photon-server/.gitignore

@@ -3,8 +3,8 @@ bin/*
 .project
 .classpath
 *.prefs
-photonvision
 .gradle
 .gradle/*
 build
-build/*
+build/*
+photonvision/*

photon-server/build.gradle

@@ -1,16 +1,16 @@
 plugins {
     id 'java'
+    id 'application'
     id 'com.github.johnrengelman.shadow' version '5.2.0'
     id "com.diffplug.gradle.spotless" version "3.28.0"
-    id "application"
     id "jacoco"
 }
 
+mainClassName = 'org.photonvision.Main'
+
 group 'org.photonvision'
 version '2020.6.1'
 
-mainClassName = "org.photonvision.server.Main"
-
 sourceCompatibility = 11
 
 repositories {

photon-server/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java

@@ -11,6 +11,7 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import java.util.HashMap;
 import java.util.Objects;
 
 /** Represents a 2d pose containing translational and rotational elements. */
@@ -228,4 +229,12 @@ public class Pose2d {
     public int hashCode() {
         return Objects.hash(m_translation, m_rotation);
     }
+
+    public HashMap<String, Object> toHashMap() {
+        var ret = new HashMap<String, Object>();
+        ret.put("x", getTranslation().getX());
+        ret.put("y", getTranslation().getY());
+        ret.put("rot", getRotation().getDegrees());
+        return ret;
+    }
 }

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

@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision;
+
+import java.util.HashMap;
+import java.util.List;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.datatransfer.networktables.NetworkTablesManager;
+import org.photonvision.common.logging.Level;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.networking.NetworkManager;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.server.Server;
+import org.photonvision.vision.camera.USBCameraSource;
+import org.photonvision.vision.pipeline.CVPipelineSettings;
+import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.processes.VisionSource;
+import org.photonvision.vision.processes.VisionSourceManager;
+
+public class Main {
+    private static final Logger logger = new Logger(Main.class, LogGroup.General);
+
+    public static final int DEFAULT_WEBPORT = 5800;
+
+    public static void main(String[] args) {
+        Logger.setLevel(LogGroup.Camera, Level.DE_PEST);
+        Logger.setLevel(LogGroup.Server, Level.DE_PEST);
+        Logger.setLevel(LogGroup.VisionProcess, Level.DE_PEST);
+        Logger.setLevel(LogGroup.Data, Level.DE_PEST);
+        Logger.setLevel(LogGroup.General, Level.DE_PEST);
+
+        TestUtils.loadLibraries();
+        ConfigManager.getInstance(); // init config manager
+        NetworkManager.getInstance().initialize(false); // basically empty. todo: link to ConfigManager?
+        NetworkTablesManager.setClientMode("127.0.0.1");
+
+        HashMap<String, CameraConfiguration> camConfigs =
+                ConfigManager.getInstance().getConfig().getCameraConfigurations();
+        logger.info("Loaded " + camConfigs.size() + " configs from disk!");
+        List<VisionSource> sources = VisionSourceManager.loadAllSources(camConfigs.values());
+
+        var collectedSources = new HashMap<VisionSource, List<CVPipelineSettings>>();
+        for (var src : sources) {
+            var usbSrc = (USBCameraSource) src;
+            collectedSources.put(usbSrc, usbSrc.configuration.pipelineSettings);
+        }
+
+        logger.info("Adding " + collectedSources.size() + " configs to VMM");
+        VisionModuleManager.getInstance().addSources(collectedSources);
+        ConfigManager.getInstance().addCameraConfigurations(collectedSources);
+
+        VisionModuleManager.getInstance().startModules();
+        Server.main(DEFAULT_WEBPORT);
+    }
+}

photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -40,7 +40,14 @@ public class CameraConfiguration {
     public String path = "";
     public CameraType cameraType = CameraType.UsbCamera;
     public CameraCalibrationCoefficients calibration;
-    public List<Integer> CameraLEDs = new ArrayList<>();
+    public List<Integer> cameraLeds = new ArrayList<>();
+    public int currentPipelineIndex = -1;
+
+    @JsonIgnore // this ignores the pipes as we serialize them to their own subfolder
+    public List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
+
+    @JsonIgnore
+    public DriverModePipelineSettings driveModeSettings = new DriverModePipelineSettings();
 
     public CameraConfiguration(String baseName, String path) {
         this(baseName, baseName, baseName, path);
@@ -51,6 +58,15 @@ public class CameraConfiguration {
         this.uniqueName = uniqueName;
         this.nickname = nickname;
         this.path = path;
+
+        logger.debug(
+                "Creating USB camera configuration for "
+                        + cameraType
+                        + baseName
+                        + " (AKA "
+                        + nickname
+                        + ") at "
+                        + path);
     }
 
     @JsonCreator
@@ -62,7 +78,8 @@ public class CameraConfiguration {
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
             @JsonProperty("calibration") CameraCalibrationCoefficients calibration,
-            @JsonProperty("CameraLEDs") List<Integer> cameraLEDs) {
+            @JsonProperty("cameraLEDs") List<Integer> cameraLeds,
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.baseName = baseName;
         this.uniqueName = uniqueName;
         this.nickname = nickname;
@@ -70,15 +87,19 @@ public class CameraConfiguration {
         this.path = path;
         this.cameraType = cameraType;
         this.calibration = calibration;
-        this.CameraLEDs = cameraLEDs;
+        this.cameraLeds = cameraLeds;
+        this.currentPipelineIndex = currentPipelineIndex;
+
+        logger.debug(
+                "Creating camera configuration for "
+                        + cameraType
+                        + baseName
+                        + " (AKA "
+                        + nickname
+                        + ") at "
+                        + path);
     }
 
-    @JsonIgnore // this ignores the pipes as we serialize them to their own subfolder
-    public final List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
-
-    @JsonIgnore
-    public DriverModePipelineSettings driveModeSettings = new DriverModePipelineSettings();
-
     public void addPipelineSettings(List<CVPipelineSettings> settings) {
         for (var setting : settings) {
             addPipelineSetting(setting);
@@ -101,4 +122,8 @@ public class CameraConfiguration {
         pipelineSettings.add(setting);
         pipelineSettings.sort(PipelineManager.PipelineSettingsIndexComparator);
     }
+
+    public void setPipelineSettings(List<CVPipelineSettings> settings) {
+        pipelineSettings = settings;
+    }
 }

photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -32,6 +32,7 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
+import org.photonvision.vision.processes.VisionSource;
 
 public class ConfigManager {
     private static final Logger logger = new Logger(ConfigManager.class, LogGroup.General);
@@ -65,10 +66,11 @@ public class ConfigManager {
         this.networkConfigFile =
                 new File(Path.of(rootFolder.toString(), "networkSettings.json").toUri());
         this.camerasFolder = new File(Path.of(rootFolder.toString(), "cameras").toUri());
+
         load();
     }
 
-    public void load() {
+    private void load() {
         logger.info("Loading settings...");
         if (!rootFolder.exists()) {
             if (rootFolder.mkdirs()) {
@@ -150,6 +152,7 @@ public class ConfigManager {
             var subdir = Path.of(camerasFolder.toPath().toString(), subdirName);
 
             if (!subdir.toFile().exists()) {
+                // TODO: check for error
                 subdir.toFile().mkdirs();
             }
 
@@ -166,10 +169,20 @@ public class ConfigManager {
                 logger.error("Could not save drivermode.json for " + subdir);
             }
 
+            // Delete old pipe configs so that we don't get any conflicts
+            try {
+                var pipelineFolder = Path.of(subdir.toString(), "pipelines");
+                Files.list(pipelineFolder).forEach(it -> it.toFile().delete());
+            } catch (IOException e) {
+                logger.error("Exception while deleting old configs!");
+                e.printStackTrace();
+            }
+
             for (var pipe : camConfig.pipelineSettings) {
                 var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json");
 
                 if (!pipePath.getParent().toFile().exists()) {
+                    // TODO: check for error
                     pipePath.getParent().toFile().mkdirs();
                 }
 
@@ -235,9 +248,7 @@ public class ConfigManager {
                                             var relativizedFilePath =
                                                     getRootFolder().toAbsolutePath().relativize(p).toString();
                                             try {
-                                                var ret = JacksonUtils.deserialize(p, CVPipelineSettings.class);
-                                                return ret;
-
+                                                return JacksonUtils.deserialize(p, CVPipelineSettings.class);
                                             } catch (JsonProcessingException e) {
                                                 logger.error("Exception while deserializing " + relativizedFilePath);
                                                 e.printStackTrace();
@@ -260,4 +271,18 @@ public class ConfigManager {
         }
         return loadedConfigurations;
     }
+
+    public void addCameraConfigurations(HashMap<VisionSource, List<CVPipelineSettings>> sources) {
+        List<CameraConfiguration> list =
+                sources.keySet().stream()
+                        .map(it -> it.getSettables().getConfiguration())
+                        .collect(Collectors.toList());
+        getConfig().addCameraConfigs(list);
+        save();
+    }
+
+    public void saveModule(CameraConfiguration config, String uniqueName) {
+        getConfig().addCameraConfig(uniqueName, config);
+        save();
+    }
 }

photon-server/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -17,13 +17,24 @@
 
 package org.photonvision.common.configuration;
 
+import java.util.HashMap;
 import org.photonvision.common.networking.NetworkMode;
 
 public class NetworkConfig {
-    public int teamNumber = 1577;
+    public int teamNumber = 1;
     public NetworkMode connectionType = NetworkMode.DHCP;
     public String ip = "";
     public String gateway = "";
     public String netmask = "";
     public String hostname = "photonvision";
+
+    public HashMap<String, Object> toHashMap() {
+        HashMap<String, Object> tmp = new HashMap<>();
+        tmp.put("teamNumber", teamNumber);
+        tmp.put("connectionType", connectionType.ordinal());
+        tmp.put("ip", ip);
+        tmp.put("gateway", gateway);
+        tmp.put("netmask", netmask);
+        return tmp;
+    }
 }

photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -18,6 +18,12 @@
 package org.photonvision.common.configuration;
 
 import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
+import org.photonvision.common.util.SerializationUtils;
+import org.photonvision.vision.processes.VisionModule;
+import org.photonvision.vision.processes.VisionModuleManager;
 
 // TODO rename this class
 public class PhotonConfiguration {
@@ -33,6 +39,12 @@ public class PhotonConfiguration {
         return cameraConfigurations;
     }
 
+    public void addCameraConfigs(List<CameraConfiguration> config) {
+        for (var c : config) {
+            addCameraConfig(c);
+        }
+    }
+
     public void addCameraConfig(CameraConfiguration config) {
         addCameraConfig(config.uniqueName, config);
     }
@@ -58,4 +70,29 @@ public class PhotonConfiguration {
         this.networkConfig = networkConfig;
         this.cameraConfigurations = cameraConfigurations;
     }
+
+    public Map<String, Object> toHashMap() {
+        Map<String, Object> map = new HashMap<>();
+
+        map.put("networkSettings", networkConfig.toHashMap());
+        map.put(
+                "cameraSettings",
+                VisionModuleManager.getInstance().getModules().stream()
+                        .map(VisionModule::toUICameraConfig)
+                        .map(SerializationUtils::objectToHashMap)
+                        .collect(Collectors.toList()));
+
+        return map;
+    }
+
+    public static class UICameraConfiguration {
+        @SuppressWarnings("unused")
+        public double fov, tiltDegrees;
+        public String nickname;
+        public HashMap<String, Object> currentPipelineSettings;
+        public int currentPipelineIndex;
+        public List<String> pipelineNicknames;
+        public HashMap<Integer, HashMap<String, Object>> videoFormatList;
+        public int streamPort;
+    }
 }

photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeDestination.java

@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+public enum DataChangeDestination {
+    DCD_ACTIVEMODULE,
+    DCD_ACTIVEPIPELINESETTINGS,
+    DCD_GENSETTINGS,
+    DCD_UI,
+    DCD_OTHER;
+
+    public static final List<DataChangeDestination> AllDestinations =
+            Arrays.asList(DataChangeDestination.values());
+
+    public static class DataChangeDestinationList extends ArrayList<DataChangeDestination> {}
+}

photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeService.java

@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow;
+
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.stream.Collectors;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
+import org.photonvision.common.logging.Level;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+@SuppressWarnings("rawtypes")
+public class DataChangeService {
+
+    private static final Logger logger = new Logger(DataChangeService.class, LogGroup.Server);
+
+    private static class ThreadSafeSingleton {
+        private static final DataChangeService INSTANCE = new DataChangeService();
+    }
+
+    public static DataChangeService getInstance() {
+        return ThreadSafeSingleton.INSTANCE;
+    }
+
+    private final CopyOnWriteArrayList<DataChangeSubscriber> subscribers;
+
+    @SuppressWarnings("FieldCanBeLocal")
+    private final Thread dispatchThread;
+
+    private final BlockingQueue<DataChangeEvent> eventQueue = new LinkedBlockingQueue<>();
+
+    private DataChangeService() {
+        subscribers = new CopyOnWriteArrayList<>();
+        dispatchThread = new Thread(this::dispatchFromQueue);
+        dispatchThread.setName("EventDispatchThread");
+        dispatchThread.start();
+    }
+
+    public boolean hasEvents() {
+        return !eventQueue.isEmpty();
+    }
+
+    private void dispatchFromQueue() {
+        while (true) {
+            try {
+                var taken = eventQueue.take();
+                for (var sub : subscribers) {
+                    if (sub.wantedSources.contains(taken.sourceType)
+                            && sub.wantedDestinations.contains(taken.destType)) {
+                        sub.onDataChangeEvent(taken);
+                    }
+                }
+            } catch (Exception e) {
+                logger.error("Exception when dispatching event!");
+                e.printStackTrace();
+            }
+        }
+    }
+
+    public void addSubscriber(DataChangeSubscriber subscriber) {
+        if (!subscribers.addIfAbsent(subscriber)) {
+            logger.warn("Attempted to add already added subscriber!");
+        } else {
+            if (Logger.shouldLog(Level.TRACE, LogGroup.Data)) {
+                var sources =
+                        subscriber.wantedSources.stream().map(Enum::toString).collect(Collectors.joining(", "));
+                var dests =
+                        subscriber.wantedDestinations.stream()
+                                .map(Enum::toString)
+                                .collect(Collectors.joining(", "));
+
+                logger.trace("Added subscriber - " + "Sources: " + sources + ", Destinations: " + dests);
+            }
+        }
+    }
+
+    public void addSubscribers(DataChangeSubscriber... subs) {
+        for (var sub : subs) {
+            addSubscriber(sub);
+        }
+    }
+
+    public void publishEvent(DataChangeEvent event) {
+        eventQueue.offer(event);
+    }
+
+    public void publishEvents(DataChangeEvent... events) {
+        for (var event : events) {
+            publishEvent(event);
+        }
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+public enum DataChangeSource {
+    DCS_WEBSOCKET,
+    DCS_HTTP,
+    DCS_NETWORKTABLES,
+    DCS_VISIONMODULE,
+    DCS_OTHER;
+
+    public static final List<DataChangeSource> AllSources = Arrays.asList(DataChangeSource.values());
+
+    public static class DataChangeSourceList extends ArrayList<DataChangeSource> {}
+}

photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java

@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow;
+
+import java.util.List;
+import java.util.Objects;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
+
+@SuppressWarnings("rawtypes")
+public abstract class DataChangeSubscriber {
+    public final List<DataChangeSource> wantedSources;
+    public final List<DataChangeDestination> wantedDestinations;
+
+    private final int hash;
+
+    public DataChangeSubscriber(
+            List<DataChangeSource> wantedSources, List<DataChangeDestination> wantedDestinations) {
+        this.wantedSources = wantedSources;
+        this.wantedDestinations = wantedDestinations;
+        hash = Objects.hash(wantedSources, wantedDestinations);
+    }
+
+    public DataChangeSubscriber() {
+        this(DataChangeSource.AllSources, DataChangeDestination.AllDestinations);
+    }
+
+    public DataChangeSubscriber(DataChangeSource.DataChangeSourceList wantedSources) {
+        this(wantedSources, DataChangeDestination.AllDestinations);
+    }
+
+    public DataChangeSubscriber(DataChangeDestination.DataChangeDestinationList wantedDestinations) {
+        this(DataChangeSource.AllSources, wantedDestinations);
+    }
+
+    public abstract void onDataChangeEvent(DataChangeEvent event);
+
+    @Override
+    public int hashCode() {
+        return hash;
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/DataProvider.java

@@ -0,0 +1,20 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow;
+
+public interface DataProvider {}

photon-server/src/main/java/org/photonvision/common/dataflow/camera/IncomingCameraCommandSubscriber.java

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.camera;
+
+import org.photonvision.common.dataflow.DataChangeSubscriber;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.processes.VisionModuleManager;
+
+public class IncomingCameraCommandSubscriber extends DataChangeSubscriber {
+    private static final Logger logger =
+            new Logger(IncomingCameraCommandSubscriber.class, LogGroup.Camera);
+
+    private final VisionModuleManager vmm;
+
+    public IncomingCameraCommandSubscriber(VisionModuleManager instance) {
+        this.vmm = instance;
+    }
+
+    @Override
+    public void onDataChangeEvent(DataChangeEvent event) {
+        //        logger.de_pest("Got event from [" + event.sourceType + "] and dest [" + event.destType
+        //            + "] with property name [" + event.propertyName
+        //            + "] and value [" + event.data + "]");
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/events/DataChangeEvent.java

@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.events;
+
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeSource;
+
+public class DataChangeEvent<T> {
+    public final DataChangeSource sourceType;
+    public final DataChangeDestination destType;
+    public final String propertyName;
+    public final T data;
+
+    public DataChangeEvent(
+            DataChangeSource sourceType,
+            DataChangeDestination destType,
+            String propertyName,
+            T newValue) {
+        this.sourceType = sourceType;
+        this.destType = destType;
+        this.propertyName = propertyName;
+        this.data = newValue;
+    }
+
+    @Override
+    public String toString() {
+        return "DataChangeEvent{"
+                + "sourceType="
+                + sourceType
+                + ", destType="
+                + destType
+                + ", propertyName='"
+                + propertyName
+                + '\''
+                + ", data="
+                + data
+                + '}';
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/events/HTTPRequestEvent.java

@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.events;
+
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeSource;
+
+public class HTTPRequestEvent<T> extends DataChangeEvent<T> {
+    public HTTPRequestEvent(
+            DataChangeSource sourceType,
+            DataChangeDestination destType,
+            String propertyName,
+            T newValue) {
+        super(sourceType, destType, propertyName, newValue);
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java

@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.events;
+
+import java.util.HashMap;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeSource;
+
+public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
+
+    public final Integer cameraIndex;
+
+    public IncomingWebSocketEvent(DataChangeDestination destType, String propertyName, T newValue) {
+        this(destType, propertyName, newValue, null);
+    }
+
+    public IncomingWebSocketEvent(
+            DataChangeDestination destType, String propertyName, T newValue, Integer cameraIndex) {
+        super(DataChangeSource.DCS_WEBSOCKET, destType, propertyName, newValue);
+        this.cameraIndex = cameraIndex;
+    }
+
+    @SuppressWarnings("unchecked")
+    public IncomingWebSocketEvent(
+            DataChangeDestination destType, String dataKey, HashMap<String, Object> data) {
+        this(destType, dataKey, (T) data.get(dataKey));
+    }
+
+    @Override
+    public String toString() {
+        return "IncomingWebSocketEvent{"
+                + "cameraIndex="
+                + cameraIndex
+                + ", sourceType="
+                + sourceType
+                + ", destType="
+                + destType
+                + ", propertyName='"
+                + propertyName
+                + '\''
+                + ", data="
+                + data
+                + '}';
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.events;
+
+import java.util.HashMap;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeSource;
+import org.photonvision.server.UIUpdateType;
+
+public class OutgoingUIEvent<T> extends DataChangeEvent<T> {
+    public final UIUpdateType updateType;
+
+    public OutgoingUIEvent(UIUpdateType updateType, String propertyName, T newValue) {
+        super(DataChangeSource.DCS_WEBSOCKET, DataChangeDestination.DCD_UI, propertyName, newValue);
+        this.updateType = updateType;
+    }
+
+    @SuppressWarnings("unchecked")
+    public OutgoingUIEvent(UIUpdateType updateType, String dataKey, HashMap<String, Object> data) {
+        this(updateType, dataKey, (T) data.get(dataKey));
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataConsumer.java

@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.networktables;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import org.photonvision.common.datatransfer.DataConsumer;
+import org.photonvision.vision.pipeline.result.SimplePipelineResult;
+import org.photonvision.vision.processes.Data;
+
+public class NTDataConsumer implements DataConsumer {
+
+    private final NetworkTable rootTable;
+    NetworkTable subTable;
+    NetworkTableEntry rawData;
+
+    public NTDataConsumer(NetworkTable root, String camName) {
+        this.rootTable = root;
+        this.subTable = root.getSubTable(camName);
+        rawData = subTable.getEntry("rawData");
+    }
+
+    public void setCameraName(String camName) {
+        this.subTable = rootTable.getSubTable(camName);
+        rawData = subTable.getEntry("rawData");
+    }
+
+    @Override
+    public void accept(Data data) {
+        var simplified = new SimplePipelineResult(data.result);
+        var bytes = simplified.toByteArray();
+        rawData.setRaw(bytes);
+        rootTable.getInstance().flush();
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.networktables;
+
+import edu.wpi.first.networktables.LogMessage;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.function.Consumer;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.scripting.ScriptEventType;
+import org.photonvision.common.scripting.ScriptManager;
+
+public class NetworkTablesManager {
+
+    private NetworkTablesManager() {}
+
+    private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);
+
+    private static final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
+
+    public static final String kRootTableName = "/chameleon-vision";
+    public static final NetworkTable kRootTable =
+            NetworkTableInstance.getDefault().getTable(kRootTableName);
+
+    public static boolean isServer = false;
+
+    private static int getTeamNumber() {
+        // TODO: FIX
+        return 0;
+        //        return ConfigManager.settings.teamNumber;
+    }
+
+    private static class NTLogger implements Consumer<LogMessage> {
+
+        private boolean hasReportedConnectionFailure = false;
+
+        @Override
+        public void accept(LogMessage logMessage) {
+            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
+                logger.error("NT Connection has failed! Will retry in background.");
+                hasReportedConnectionFailure = true;
+            } else if (logMessage.message.contains("connected")) {
+                logger.info("NT Connected!");
+                hasReportedConnectionFailure = false;
+                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
+            }
+        }
+    }
+
+    static {
+        NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
+    }
+
+    public static void setClientMode(String host) {
+        isServer = false;
+        logger.info("Starting NT Client");
+        ntInstance.stopServer();
+        if (host != null) {
+            ntInstance.startClient(host);
+        } else {
+            ntInstance.startClientTeam(getTeamNumber());
+            if (ntInstance.isConnected()) {
+                logger.info("[NetworkTablesManager] Connected to the robot!");
+            } else {
+                logger.info(
+                        "[NetworkTablesManager] Could NOT to the robot! Will retry in the background...");
+            }
+        }
+    }
+
+    public static void setTeamClientMode() {
+        setClientMode(null);
+    }
+
+    public static void setServerMode() {
+        isServer = true;
+        logger.info("Starting NT Server");
+        ntInstance.stopClient();
+        ntInstance.startServer();
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/structures/BytePackable.java

@@ -0,0 +1,141 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.structures;
+
+@SuppressWarnings("PointlessBitwiseExpression")
+public abstract class BytePackable {
+    public abstract byte[] toByteArray();
+
+    public abstract void fromByteArray(byte[] src);
+
+    protected int bufferPosition = 0;
+
+    public int getBufferPosition() {
+        return bufferPosition;
+    }
+
+    public void resetBufferPosition() {
+        bufferPosition = 0;
+    }
+
+    protected void bufferData(byte[] src, byte[] dest) {
+        System.arraycopy(src, 0, dest, bufferPosition, src.length);
+        bufferPosition += src.length;
+    }
+
+    protected void bufferData(byte src, byte[] dest) {
+        System.arraycopy(new byte[] {src}, 0, dest, bufferPosition, 1);
+        bufferPosition++;
+    }
+
+    protected void bufferData(int src, byte[] dest) {
+        System.arraycopy(toBytes(src), 0, dest, bufferPosition, Integer.BYTES);
+        bufferPosition += Integer.BYTES;
+    }
+
+    protected void bufferData(double src, byte[] dest) {
+        System.arraycopy(toBytes(src), 0, dest, bufferPosition, Double.BYTES);
+        bufferPosition += Double.BYTES;
+    }
+
+    protected void bufferData(boolean src, byte[] dest) {
+        System.arraycopy(toBytes(src), 0, dest, bufferPosition, 1);
+        bufferPosition += 1;
+    }
+
+    protected boolean unbufferBoolean(byte[] src) {
+        return toBoolean(src, bufferPosition++);
+    }
+
+    protected byte unbufferByte(byte[] src) {
+        var value = src[bufferPosition];
+        bufferPosition++;
+        return value;
+    }
+
+    protected byte[] unbufferBytes(byte[] src, int len) {
+        var bytes = new byte[len];
+        System.arraycopy(src, bufferPosition, bytes, 0, len);
+        return bytes;
+    }
+
+    protected int unbufferInt(byte[] src) {
+        var value = toInt(src, bufferPosition);
+        bufferPosition += Integer.BYTES;
+        return value;
+    }
+
+    protected double unbufferDouble(byte[] src) {
+        var value = toDouble(src, bufferPosition);
+        bufferPosition += Double.BYTES;
+        return value;
+    }
+
+    private static boolean toBoolean(byte[] src, int pos) {
+        return src[pos] != 0;
+    }
+
+    private static int toInt(byte[] src, int pos) {
+        return (0xff & src[pos]) << 24
+                | (0xff & src[pos + 1]) << 16
+                | (0xff & src[pos + 2]) << 8
+                | (0xff & src[pos + 3]) << 0;
+    }
+
+    private static long toLong(byte[] src, int pos) {
+        return (long) (0xff & src[pos]) << 56
+                | (long) (0xff & src[pos + 1]) << 48
+                | (long) (0xff & src[pos + 2]) << 40
+                | (long) (0xff & src[pos + 3]) << 32
+                | (long) (0xff & src[pos + 4]) << 24
+                | (long) (0xff & src[pos + 5]) << 16
+                | (long) (0xff & src[pos + 6]) << 8
+                | (long) (0xff & src[pos + 7]) << 0;
+    }
+
+    private static double toDouble(byte[] src, int pos) {
+        return Double.longBitsToDouble(toLong(src, pos));
+    }
+
+    protected byte[] toBytes(double value) {
+        long data = Double.doubleToRawLongBits(value);
+        return new byte[] {
+            (byte) ((data >> 56) & 0xff),
+            (byte) ((data >> 48) & 0xff),
+            (byte) ((data >> 40) & 0xff),
+            (byte) ((data >> 32) & 0xff),
+            (byte) ((data >> 24) & 0xff),
+            (byte) ((data >> 16) & 0xff),
+            (byte) ((data >> 8) & 0xff),
+            (byte) ((data >> 0) & 0xff),
+        };
+    }
+
+    protected byte[] toBytes(int value) {
+        return new byte[] {
+            (byte) ((value >> 24) & 0xff),
+            (byte) ((value >> 16) & 0xff),
+            (byte) ((value >> 8) & 0xff),
+            (byte) ((value >> 0) & 0xff)
+        };
+    }
+
+    protected byte[] toBytes(boolean value) {
+        return new byte[] {(byte) (value ? 1 : 0)};
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/structures/SimplePipelineResult.java

@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.structures;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+
+public class SimplePipelineResult extends BytePackable {
+
+    private double latencyMillis;
+    private boolean hasTargets;
+    public final List<SimpleTrackedTarget> targets = new ArrayList<>();
+
+    public SimplePipelineResult() {}
+
+    public SimplePipelineResult(
+            double latencyMillis, boolean hasTargets, List<SimpleTrackedTarget> targets) {
+        this.latencyMillis = latencyMillis;
+        this.hasTargets = hasTargets;
+        this.targets.addAll(targets);
+    }
+
+    public SimplePipelineResult(CVPipelineResult origResult) {
+        update(origResult);
+    }
+
+    public void update(CVPipelineResult origResult) {
+        latencyMillis = origResult.getLatencyMillis();
+        hasTargets = origResult.hasTargets();
+        targets.clear();
+        for (var origTarget : origResult.targets) {
+            targets.add(new SimpleTrackedTarget(origTarget));
+        }
+    }
+
+    public double getLatencyMillis() {
+        return latencyMillis;
+    }
+
+    public boolean hasTargets() {
+        return hasTargets;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        SimplePipelineResult that = (SimplePipelineResult) o;
+        boolean latencyMatch = Double.compare(that.latencyMillis, latencyMillis) == 0;
+        boolean hasTargetsMatch = that.hasTargets == hasTargets;
+        boolean targetsMatch = that.targets.equals(targets);
+        return latencyMatch && hasTargetsMatch && targetsMatch;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(latencyMillis, hasTargets, targets);
+    }
+
+    @Override
+    public byte[] toByteArray() {
+        bufferPosition = 0;
+        int bufferSize =
+                8 + 1 + 1 + (targets.size() * 48); // latencyMillis + hasTargets + targetCount + targets
+        var buff = new byte[bufferSize];
+
+        bufferData(latencyMillis, buff);
+        bufferData(hasTargets, buff);
+        bufferData((byte) targets.size(), buff);
+        for (var target : targets) {
+            bufferData(target.toByteArray(), buff);
+        }
+
+        return buff;
+    }
+
+    @Override
+    public void fromByteArray(byte[] src) {
+        bufferPosition = 0;
+
+        latencyMillis = unbufferDouble(src);
+        hasTargets = unbufferBoolean(src);
+        byte targetCount = unbufferByte(src);
+
+        targets.clear();
+        for (int i = 0; i < targetCount; i++) {
+            var target = new SimpleTrackedTarget();
+            target.fromByteArray(unbufferBytes(src, 48));
+            bufferPosition += 48;
+            targets.add(target);
+        }
+    }
+}

photon-server/src/main/java/org/photonvision/common/dataflow/structures/SimpleTrackedTarget.java

@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.structures;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import java.util.Objects;
+import org.photonvision.vision.target.TrackedTarget;
+
+public class SimpleTrackedTarget extends BytePackable {
+    public static final int PACK_SIZE_BYTES = Double.BYTES * 6;
+
+    private double yaw;
+    private double pitch;
+    private double area;
+    private Pose2d robotRelativePose = new Pose2d();
+
+    public SimpleTrackedTarget() {}
+
+    public SimpleTrackedTarget(double yaw, double pitch, double area, Pose2d pose) {
+        this.yaw = yaw;
+        this.pitch = pitch;
+        this.area = area;
+        robotRelativePose = pose;
+    }
+
+    public SimpleTrackedTarget(TrackedTarget origTarget) {
+        yaw = origTarget.getYaw();
+        pitch = origTarget.getPitch();
+        area = origTarget.getArea();
+        robotRelativePose = origTarget.getRobotRelativePose();
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        SimpleTrackedTarget that = (SimpleTrackedTarget) o;
+        return Double.compare(that.yaw, yaw) == 0
+                && Double.compare(that.pitch, pitch) == 0
+                && Double.compare(that.area, area) == 0
+                && Objects.equals(robotRelativePose, that.robotRelativePose);
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(yaw, pitch, area, robotRelativePose);
+    }
+
+    @Override
+    public byte[] toByteArray() {
+        resetBufferPosition();
+        byte[] data = new byte[PACK_SIZE_BYTES];
+
+        bufferData(yaw, data);
+        bufferData(pitch, data);
+        bufferData(area, data);
+        bufferData(robotRelativePose.getTranslation().getX(), data);
+        bufferData(robotRelativePose.getTranslation().getY(), data);
+        bufferData(robotRelativePose.getRotation().getDegrees(), data);
+
+        return data;
+    }
+
+    @Override
+    public void fromByteArray(byte[] src) {
+        resetBufferPosition();
+        if (src.length < PACK_SIZE_BYTES) {
+            // TODO: log error?
+            return;
+        }
+
+        yaw = unbufferDouble(src);
+        pitch = unbufferDouble(src);
+        area = unbufferDouble(src);
+
+        var poseX = unbufferDouble(src);
+        var poseY = unbufferDouble(src);
+        var poseR = unbufferDouble(src);
+        robotRelativePose = new Pose2d(poseX, poseY, Rotation2d.fromDegrees(poseR));
+    }
+}

photon-server/src/main/java/org/photonvision/common/datatransfer/networktables/NetworkTablesManager.java

@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.function.Consumer;
+import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.scripting.ScriptEventType;
@@ -41,9 +42,7 @@ public class NetworkTablesManager {
     public static boolean isServer = false;
 
     private static int getTeamNumber() {
-        // TODO: FIX
-        return 0;
-        //        return ConfigManager.settings.teamNumber;
+        return ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber;
     }
 
     private static class NTLogger implements Consumer<LogMessage> {

photon-server/src/main/java/org/photonvision/common/logging/LogGroup.java

@@ -21,5 +21,6 @@ public enum LogGroup {
     Camera,
     Server,
     VisionProcess,
+    Data,
     General
 }

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

@@ -27,11 +27,12 @@ import java.util.ArrayList;
 import java.util.Date;
 import java.util.HashMap;
 import java.util.List;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.server.UIUpdateType;
 
 public class Logger {
 
-    private final String className;
-
     public static final String ANSI_RESET = "\u001B[0m";
     public static final String ANSI_BLACK = "\u001B[30m";
     public static final String ANSI_RED = "\u001B[31m";
@@ -42,7 +43,10 @@ public class Logger {
     public static final String ANSI_CYAN = "\u001B[36m";
     public static final String ANSI_WHITE = "\u001B[37m";
 
-    private static SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+    private static final SimpleDateFormat simpleDateFormat =
+            new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+
+    private final String className;
     private final LogGroup group;
 
     public Logger(Class<?> clazz, LogGroup group) {
@@ -50,6 +54,11 @@ public class Logger {
         this.group = group;
     }
 
+    public Logger(Class<?> clazz, String suffix, LogGroup group) {
+        this.className = clazz.getSimpleName() + " - " + suffix;
+        this.group = group;
+    }
+
     public static String getDate() {
         return simpleDateFormat.format(new Date());
     }
@@ -81,11 +90,13 @@ public class Logger {
         levelMap.put(LogGroup.Camera, Level.INFO);
         levelMap.put(LogGroup.General, Level.INFO);
         levelMap.put(LogGroup.Server, Level.INFO);
+        levelMap.put(LogGroup.Data, Level.INFO);
         levelMap.put(LogGroup.VisionProcess, Level.INFO);
     }
 
     static {
         currentAppenders.add(new ConsoleAppender());
+        currentAppenders.add(new UILogAppender());
     }
 
     public static void addFileAppender(Path logFilePath) {
@@ -113,7 +124,7 @@ public class Logger {
         }
     }
 
-    private static boolean shouldLog(Level logLevel, LogGroup group) {
+    public static boolean shouldLog(Level logLevel, LogGroup group) {
         return logLevel.code <= levelMap.get(group).code;
     }
 
@@ -152,8 +163,18 @@ public class Logger {
         }
     }
 
+    private static class UILogAppender extends Appender {
+        @Override
+        void log(String message) {
+            var message_ = new HashMap<>();
+            message_.put("logMessage", message);
+            DataChangeService.getInstance()
+                    .publishEvent(new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "log", message_));
+        }
+    }
+
     private static class AsyncFileAppender extends Appender {
-        private Path filePath;
+        private final Path filePath;
 
         public AsyncFileAppender(Path logFilePath) {
             this.filePath = logFilePath;

photon-server/src/main/java/org/photonvision/common/util/SerializationUtils.java

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.util;
+
+import java.util.HashMap;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public final class SerializationUtils {
+    private static final Logger LOGGER = new Logger(SerializationUtils.class, LogGroup.General);
+
+    public static HashMap<String, Object> objectToHashMap(Object src) {
+        var ret = new HashMap<String, Object>();
+        for (var field : src.getClass().getFields()) {
+            try {
+                if (!field
+                        .getType()
+                        .isEnum()) { // if the field is not an enum, get it based on the current pipeline
+                    ret.put(field.getName(), field.get(src));
+                } else {
+                    var ordinal = (Enum) field.get(src);
+                    ret.put(field.getName(), ordinal.ordinal());
+                }
+            } catch (IllegalArgumentException | IllegalAccessException e) {
+                LOGGER.error("Could not serialize " + src.getClass().getSimpleName());
+                e.printStackTrace();
+            }
+        }
+        return ret;
+    }
+}

photon-server/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java

@@ -25,6 +25,10 @@ public class DoubleCouple extends NumberCouple<Double> {
         super(0.0, 0.0);
     }
 
+    public DoubleCouple(Number first, Number second) {
+        super(first.doubleValue(), second.doubleValue());
+    }
+
     public DoubleCouple(Double first, Double second) {
         super(first, second);
     }

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

@@ -18,24 +18,54 @@
 package org.photonvision.server;
 
 import io.javalin.Javalin;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 
 public class Server {
+    private static final Logger logger = new Logger(Server.class, LogGroup.Server);
 
     public static void main(int port) {
+
         Javalin app =
                 Javalin.create(
-                        javalinConfig -> {
-                            javalinConfig.showJavalinBanner = false;
-                            javalinConfig.addStaticFiles("web");
-                            javalinConfig.enableCorsForAllOrigins();
+                        config -> {
+                            config.showJavalinBanner = false;
+                            config.addStaticFiles("web");
+                            config.enableCorsForAllOrigins();
+
+                            config.requestLogger(
+                                    (ctx, ms) ->
+                                            logger.debug(
+                                                    "Handled HTTP "
+                                                            + ctx.req.getMethod()
+                                                            + " request from "
+                                                            + ctx.req.getRemoteHost()
+                                                            + " in "
+                                                            + ms.toString()
+                                                            + "ms"));
+
+                            config.wsLogger(
+                                    ws ->
+                                            ws.onMessage(
+                                                    ctx -> logger.debug("Got WebSockets message: " + ctx.message())));
+
+                            config.wsLogger(
+                                    ws ->
+                                            ws.onBinaryMessage(
+                                                    ctx ->
+                                                            logger.debug(
+                                                                    "Got WebSockets binary message from host " + ctx.host())));
                         });
+
+        var socketHandler = SocketHandler.getInstance();
+
         /*Web Socket Events */
         app.ws(
                 "/websocket",
                 ws -> {
-                    ws.onConnect(SocketHandler::onConnect);
-                    ws.onClose(SocketHandler::onClose);
-                    ws.onBinaryMessage(SocketHandler::onBinaryMessage);
+                    ws.onConnect(socketHandler::onConnect);
+                    ws.onClose(socketHandler::onClose);
+                    ws.onBinaryMessage(socketHandler::onBinaryMessage);
                 });
         /*API Events*/
         app.post("/api/settings/general", RequestHandler::onGeneralSettings);

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

@@ -23,49 +23,273 @@ import com.fasterxml.jackson.databind.ObjectMapper;
 import io.javalin.websocket.*;
 import java.io.IOException;
 import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
+import org.apache.commons.lang3.tuple.Pair;
 import org.msgpack.jackson.dataformat.MessagePackFactory;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.camera.IncomingCameraCommandSubscriber;
+import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.pipeline.PipelineType;
+import org.photonvision.vision.processes.PipelineManager;
+import org.photonvision.vision.processes.VisionModuleManager;
 
+@SuppressWarnings("rawtypes")
 public class SocketHandler {
-    static List<WsContext> users = new ArrayList<>();
-    static ObjectMapper objectMapper = new ObjectMapper(new MessagePackFactory());
 
-    public static void onConnect(WsConnectContext context) {
-        users.add(context);
+    private final Logger logger = new Logger(SocketHandler.class, LogGroup.Server);
+    private final List<WsContext> users = new ArrayList<>();
+    private final ObjectMapper objectMapper = new ObjectMapper(new MessagePackFactory());
+    private final DataChangeService dcService = DataChangeService.getInstance();
+
+    @SuppressWarnings("FieldCanBeLocal")
+    private final UIOutboundSubscriber uiOutboundSubscriber = new UIOutboundSubscriber(this);
+
+    private final IncomingCameraCommandSubscriber cameraChangeSubscriber =
+            new IncomingCameraCommandSubscriber(VisionModuleManager.getInstance());
+
+    public static class UIMap extends HashMap<String, Object> {}
+
+    abstract static class SelectiveBroadcastPair extends Pair<UIMap, WsContext> {}
+
+    private static class ThreadSafeSingleton {
+        private static final SocketHandler INSTANCE = new SocketHandler();
     }
 
-    static void onClose(WsCloseContext context) {
+    public static SocketHandler getInstance() {
+        return SocketHandler.ThreadSafeSingleton.INSTANCE;
+    }
+
+    private SocketHandler() {
+        dcService.addSubscribers(
+                uiOutboundSubscriber,
+                cameraChangeSubscriber,
+                new UIInboundSubscriber()); // Subscribe outgoing messages to the data change service
+    }
+
+    public void onConnect(WsConnectContext context) {
+        context.session.setIdleTimeout(Long.MAX_VALUE); // TODO: determine better value
+        var host = context.session.getRemote().getInetSocketAddress().getHostName();
+        logger.info("New websocket connection from " + host);
+        users.add(context);
+        dcService.publishEvent(
+                new IncomingWebSocketEvent<>(
+                        DataChangeDestination.DCD_GENSETTINGS, "userConnected", context));
+    }
+
+    protected void onClose(WsCloseContext context) {
+        var host = context.session.getRemote().getInetSocketAddress().getHostName();
+        var reason = context.reason() != null ? context.reason() : "Connection closed by client";
+        logger.info("Closing websocket connection from " + host + " for reason: " + reason);
         users.remove(context);
     }
 
-    public static void onBinaryMessage(WsBinaryMessageContext context) {
+    @SuppressWarnings({"unchecked"})
+    public void onBinaryMessage(WsBinaryMessageContext context) {
         try {
-            Map<String, Object> data =
-                    objectMapper.readValue(context.data(), new TypeReference<Map<String, Object>>() {});
-            // TODO pass data to ui data provider
+            Map<String, Object> deserializedData =
+                    objectMapper.readValue(context.data(), new TypeReference<>() {});
+
+            // Special case the current camera index
+            var camIndexValue = deserializedData.get("cameraIndex");
+            Integer cameraIndex = null;
+            if (camIndexValue instanceof Integer) {
+                cameraIndex = (Integer) camIndexValue;
+                deserializedData.remove("cameraIndex");
+            }
+
+            for (Map.Entry<String, Object> entry : deserializedData.entrySet()) {
+                try {
+                    var entryKey = entry.getKey();
+                    var entryValue = entry.getValue();
+                    var socketMessageType = SocketMessageType.fromEntryKey(entryKey);
+
+                    logger.debug(
+                            "Got WS message: ["
+                                    + socketMessageType
+                                    + "] ==> ["
+                                    + entryKey
+                                    + "], ["
+                                    + entryValue
+                                    + "]");
+
+                    if (socketMessageType == null) {
+                        logger.warn("Got unknown socket message type: " + entryKey);
+                        continue;
+                    }
+
+                    switch (socketMessageType) {
+                        case SMT_DRIVERMODE:
+                            {
+                                // TODO: what is this event?
+                                var data = (HashMap<String, Object>) entryValue;
+                                var dmExpEvent =
+                                        new IncomingWebSocketEvent<Integer>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE, "driverExposure", data);
+                                var dmBrightEvent =
+                                        new IncomingWebSocketEvent<Integer>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE, "driverBrightness", data);
+                                var dmIsDriverEvent =
+                                        new IncomingWebSocketEvent<Boolean>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE, "isDriver", data);
+
+                                dcService.publishEvents(dmExpEvent, dmBrightEvent, dmIsDriverEvent);
+                                break;
+                            }
+                        case SMT_CHANGECAMERANAME:
+                            {
+                                var ccnEvent =
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "cameraNickname",
+                                                (String) entryValue,
+                                                cameraIndex);
+                                dcService.publishEvent(ccnEvent);
+                                break;
+                            }
+                        case SMT_CHANGEPIPELINENAME:
+                            {
+                                var cpnEvent =
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "pipelineName",
+                                                (String) entryValue,
+                                                cameraIndex);
+                                dcService.publishEvent(cpnEvent);
+                                break;
+                            }
+                        case SMT_ADDNEWPIPELINE:
+                            {
+                                //                                HashMap<String, Object> data = (HashMap<String,
+                                // Object>) entryValue;
+                                //                                var type = (PipelineType)
+                                // data.get("pipelineType");
+                                //                                var name = (String) data.get("pipelineName");
+                                var type = PipelineType.Reflective;
+                                var name = (String) entryValue;
+
+                                var newPipelineEvent =
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "newPipelineInfo",
+                                                Pair.of(name, type),
+                                                cameraIndex);
+                                dcService.publishEvent(newPipelineEvent);
+                                break;
+                            }
+                        case SMT_COMMAND:
+                            {
+                                var cmd = SocketMessageCommandType.fromEntryKey((String) entryValue);
+                                switch (cmd) {
+                                    case SMCT_DELETECURRENTPIPELINE:
+                                        {
+                                            var deleteCurrentPipelineEvent =
+                                                    new IncomingWebSocketEvent<>(
+                                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                                            "deleteCurrPipeline",
+                                                            0,
+                                                            cameraIndex);
+                                            dcService.publishEvent(deleteCurrentPipelineEvent);
+                                            break;
+                                        }
+                                    case SMCT_SAVE:
+                                        {
+                                            var saveEvent =
+                                                    new IncomingWebSocketEvent<>(DataChangeDestination.DCD_OTHER, "save", 0);
+                                            dcService.publishEvent(saveEvent);
+                                            break;
+                                        }
+                                }
+                                break;
+                            }
+                        case SMT_CURRENTCAMERA:
+                            {
+                                var changeCurrentCameraEvent =
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
+                                dcService.publishEvent(changeCurrentCameraEvent);
+                                break;
+                            }
+                        case SMT_CURRENTPIPELINE:
+                            {
+                                var changePipelineEvent =
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "changePipeline",
+                                                (Integer) entryValue,
+                                                cameraIndex);
+                                dcService.publishEvent(changePipelineEvent);
+                                break;
+                            }
+                        case SMT_ISPNPCALIBRATION:
+                            {
+                                var changePipelineEvent =
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "changePipeline",
+                                                PipelineManager.CAL_3D_INDEX,
+                                                cameraIndex);
+                                dcService.publishEvent(changePipelineEvent);
+                                break;
+                            }
+                        case SMT_TAKECALIBRATIONSNAPSHOT:
+                            {
+                                var takeCalSnapshotEvent =
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE, "takeCalSnapshot", 0, cameraIndex);
+                                dcService.publishEvent(takeCalSnapshotEvent);
+                                break;
+                            }
+                        case SMT_PIPELINESETTINGCHANGE:
+                            {
+                                HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
+
+                                if (data.size() >= 2) {
+                                    var cameraIndex2 = (int) data.get("cameraIndex");
+                                    for (var dataEntry : data.entrySet()) {
+                                        if (dataEntry.getKey().equals("cameraIndex")) {
+                                            continue;
+                                        }
+                                        var pipelineSettingChangeEvent =
+                                                new IncomingWebSocketEvent(
+                                                        DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
+                                                        dataEntry.getKey(),
+                                                        dataEntry.getValue(),
+                                                        cameraIndex2);
+                                        dcService.publishEvent(pipelineSettingChangeEvent);
+                                    }
+                                } else {
+                                    logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
+                                }
+                                break;
+                            }
+                    }
+                } catch (Exception ex) {
+                    logger.error("unknown booboo");
+                    ex.printStackTrace();
+                }
+            }
         } catch (IOException e) {
+            // TODO: log
             e.printStackTrace();
         }
     }
 
-    public static void sendMessage(Object message, WsContext user) throws JsonProcessingException {
+    // TODO: change to use the DataFlow system
+    private void sendMessage(Object message, WsContext user) throws JsonProcessingException {
         ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
         user.send(b);
     }
 
-    public static void broadcastMessage(Object message, WsContext userToSkip)
+    // TODO: change to use the DataFlow system
+    public void broadcastMessage(Object message, WsContext userToSkip)
             throws JsonProcessingException {
         for (WsContext user : users) {
             if (user != userToSkip) {
                 sendMessage(message, user);
             }
         }
-        return;
-    }
-
-    public static void broadcastMessage(Object message) throws JsonProcessingException {
-        broadcastMessage(message, null);
     }
 }

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

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.server;
+
+public enum SocketMessageCommandType {
+    SMCT_DELETECURRENTPIPELINE("deleteCurrentPipeline"),
+    SMCT_SAVE("save");
+
+    public final String entryValue;
+
+    SocketMessageCommandType(String entryValue) {
+        this.entryValue = entryValue;
+    }
+
+    public static SocketMessageCommandType fromEntryKey(String entryValue) {
+        if (entryValue.equalsIgnoreCase(SMCT_SAVE.entryValue)) return SMCT_SAVE;
+        else return SMCT_DELETECURRENTPIPELINE;
+    }
+}

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

@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.server;
+
+import java.util.EnumSet;
+import java.util.HashMap;
+import java.util.Map;
+
+@SuppressWarnings("unused")
+public enum SocketMessageType {
+    SMT_DRIVERMODE("driverMode"),
+    SMT_CHANGECAMERANAME("changeCameraName"),
+    SMT_CHANGEPIPELINENAME("changePipelineName"),
+    SMT_ADDNEWPIPELINE("addNewPipeline"),
+    SMT_COMMAND("command"),
+    SMT_CURRENTCAMERA("currentCamera"),
+    SMT_PIPELINESETTINGCHANGE("changePipelineSetting"),
+    SMT_CURRENTPIPELINE("currentPipeline"),
+    SMT_ISPNPCALIBRATION("isPNPCalibration"),
+    SMT_TAKECALIBRATIONSNAPSHOT("takeCalibrationSnapshot");
+
+    public final String entryKey;
+
+    SocketMessageType(String entryKey) {
+        this.entryKey = entryKey;
+    }
+
+    private static final Map<String, SocketMessageType> entryKeyToValueMap = new HashMap<>();
+
+    static {
+        for (var value : EnumSet.allOf(SocketMessageType.class)) {
+            entryKeyToValueMap.put(value.entryKey, value);
+        }
+    }
+
+    public static SocketMessageType fromEntryKey(String entryKey) {
+        return entryKeyToValueMap.get(entryKey);
+    }
+}

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

@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.server;
+
+import java.util.Collections;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.DataChangeSource;
+import org.photonvision.common.dataflow.DataChangeSubscriber;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
+import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+
+public class UIInboundSubscriber extends DataChangeSubscriber {
+
+    public UIInboundSubscriber() {
+        super(
+                Collections.singletonList(DataChangeSource.DCS_WEBSOCKET),
+                Collections.singletonList(DataChangeDestination.DCD_GENSETTINGS));
+    }
+
+    @Override
+    public void onDataChangeEvent(DataChangeEvent event) {
+        if (event instanceof IncomingWebSocketEvent) {
+            var incomingWSEvent = (IncomingWebSocketEvent) event;
+            if (incomingWSEvent.propertyName.equals("userConnected")
+                    || incomingWSEvent.propertyName.equals("sendFullSettings")) {
+                // Send full settings
+                var settings = ConfigManager.getInstance().getConfig().toHashMap();
+                var message = new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "fullsettings", settings);
+                DataChangeService.getInstance().publishEvent(message);
+            }
+        }
+    }
+}

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

@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.server;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import java.util.Collections;
+import java.util.HashMap;
+import org.apache.commons.lang3.tuple.Pair;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeSource;
+import org.photonvision.common.dataflow.DataChangeSubscriber;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+@SuppressWarnings("rawtypes")
+/*
+* DO NOT use logging in this class. If you do, the logs will recuse forever!
+*/
+class UIOutboundSubscriber extends DataChangeSubscriber {
+    Logger logger = new Logger(UIOutboundSubscriber.class, LogGroup.Server);
+
+    private final SocketHandler socketHandler;
+
+    public UIOutboundSubscriber(SocketHandler socketHandler) {
+        super(DataChangeSource.AllSources, Collections.singletonList(DataChangeDestination.DCD_UI));
+        this.socketHandler = socketHandler;
+    }
+
+    @Override
+    public void onDataChangeEvent(DataChangeEvent event) {
+        if (event instanceof OutgoingUIEvent) {
+            var thisEvent = (OutgoingUIEvent) event;
+            try {
+                switch (thisEvent.updateType) {
+                    case BROADCAST:
+                        {
+                            //                        logger.debug("Broadcasting message");
+                            if (event.data instanceof HashMap) {
+                                var data = (HashMap) event.data;
+                                socketHandler.broadcastMessage(data, null);
+                            } else {
+                                socketHandler.broadcastMessage(event.data, null);
+                            }
+                            break;
+                        }
+                    case SINGLEUSER:
+                        {
+                            //                        logger.debug("Sending single user message");
+                            if (event.data instanceof Pair) {
+                                var pair = (SocketHandler.SelectiveBroadcastPair) event.data;
+                                socketHandler.broadcastMessage(pair.getLeft(), pair.getRight());
+                            }
+                            break;
+                        }
+                }
+            } catch (JsonProcessingException e) {
+                // TODO: Log
+                e.printStackTrace();
+            }
+        }
+    }
+}

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

@@ -0,0 +1,26 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.server;
+
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.NetworkConfig;
+
+public class UISettings {
+    public NetworkConfig networkConfig;
+    public CameraConfiguration currentCameraConfiguration;
+}

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

@@ -0,0 +1,23 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.server;
+
+public enum UIUpdateType {
+    BROADCAST,
+    SINGLEUSER
+}

photon-server/src/main/java/org/photonvision/vision/camera/CameraQuirk.java

@@ -0,0 +1,25 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.camera;
+
+public enum CameraQuirk {
+    /** Camera settable for controllable image gain */
+    Gain,
+    /** For cameras that need a bit of encouragement for settings to stick */
+    DoubleSet
+}

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

@@ -17,36 +17,65 @@
 
 package org.photonvision.vision.camera;
 
-import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Objects;
 
 public class QuirkyCamera {
-    public static final List<QuirkyCamera> quirkyCameras =
+    private static final List<QuirkyCamera> quirkyCameras =
             List.of(
-                    // ps3 eye
-                    new QuirkyCamera(0x1415, 0x2000, "PS3Eye", List.of(CameraQuirks.Gain)));
+                    new QuirkyCamera(0x1415, 0x2000, "PS3Eye", CameraQuirk.Gain),
+                    new QuirkyCamera(0x72E, 0x45D, "LifeCam VX-5500", CameraQuirk.DoubleSet));
 
     public final int usbVid;
     public final int usbPid;
-    public final String name;
-    public List<CameraQuirks> quirks;
+    public final String baseName;
+    public final HashMap<CameraQuirk, Boolean> quirks;
 
-    public QuirkyCamera(int usbVid, int usbPid, String baseName, List<CameraQuirks> quirks) {
+    private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk quirk) {
+        this(usbVid, usbPid, baseName, List.of(quirk));
+    }
+
+    private QuirkyCamera(int usbVid, int usbPid, String baseName, List<CameraQuirk> quirks) {
         this.usbVid = usbVid;
         this.usbPid = usbPid;
-        this.name = baseName;
-        this.quirks = quirks;
-    }
+        this.baseName = baseName;
 
-    public QuirkyCamera(int usbVid, int usbPid, String baseName) {
-        this(usbVid, usbPid, baseName, new ArrayList<>());
-        QuirkyCamera quirky =
-                quirkyCameras.stream()
-                        .filter(quirkyCamera -> quirkyCamera.usbPid == usbPid && quirkyCamera.usbVid == usbVid)
-                        .findFirst()
-                        .orElse(null);
-        if (quirky != null) {
-            this.quirks = quirky.quirks;
+        this.quirks = new HashMap<>();
+        for (var q : quirks) {
+            this.quirks.put(q, true);
+        }
+        for (var q : CameraQuirk.values()) {
+            this.quirks.putIfAbsent(q, false);
         }
     }
+
+    public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid, String baseName) {
+        for (var qc : quirkyCameras) {
+            if (qc.usbVid == usbVid && qc.usbPid == usbPid) {
+                return qc;
+            }
+        }
+        return new QuirkyCamera(usbVid, usbPid, baseName, List.of());
+    }
+
+    public boolean hasQuirk(CameraQuirk quirk) {
+        return quirks.get(quirk);
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        QuirkyCamera that = (QuirkyCamera) o;
+        return usbVid == that.usbVid
+                && usbPid == that.usbPid
+                && Objects.equals(baseName, that.baseName)
+                && Objects.equals(quirks, that.quirks);
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(usbVid, usbPid, baseName, quirks);
+    }
 }

photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java

@@ -23,47 +23,34 @@ import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.cameraserver.CameraServer;
 import java.util.*;
 import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.USBFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
 public class USBCameraSource implements VisionSource {
+    private final Logger logger;
     private final UsbCamera camera;
     private final USBCameraSettables usbCameraSettables;
     private final USBFrameProvider usbFrameProvider;
-    private final CameraConfiguration configuration;
+    public final CameraConfiguration configuration;
+    private final CvSink cvSink;
 
     private final QuirkyCamera cameraQuirks;
 
     public USBCameraSource(CameraConfiguration config) {
-        this.configuration = config;
-        this.camera = new UsbCamera(config.nickname, config.path);
-        this.cameraQuirks =
-                new QuirkyCamera(camera.getInfo().productId, camera.getInfo().vendorId, config.baseName);
-        CvSink cvSink = CameraServer.getInstance().getVideo(this.camera);
-        this.usbCameraSettables = new USBCameraSettables(config);
-        this.usbFrameProvider =
-                new USBFrameProvider(cvSink, usbCameraSettables.getFrameStaticProperties());
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-        if (obj.getClass() != USBCameraSource.class) {
-            return false;
-        }
-        USBCameraSource tmp = (USBCameraSource) obj;
-        boolean i = this.cameraQuirks.quirks.equals(tmp.cameraQuirks.quirks);
-
-        boolean r = this.configuration.uniqueName.equals(tmp.configuration.uniqueName);
-        boolean c = this.configuration.baseName.equals(tmp.configuration.baseName);
-        boolean j = this.configuration.nickname.equals(tmp.configuration.nickname);
-
-        boolean k = this.camera.getInfo().name.equals(tmp.camera.getInfo().name);
-        boolean x = this.camera.getInfo().productId == tmp.camera.getInfo().productId;
-        boolean y = this.camera.getInfo().vendorId == tmp.camera.getInfo().vendorId;
-        var t = i && r && c && j && k && x && y;
-        return t;
+        logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
+        configuration = config;
+        camera = new UsbCamera(config.nickname, config.path);
+        cameraQuirks =
+                QuirkyCamera.getQuirkyCamera(
+                        camera.getInfo().productId, camera.getInfo().vendorId, config.baseName);
+        cvSink = CameraServer.getInstance().getVideo(this.camera);
+        usbCameraSettables = new USBCameraSettables(config);
+        usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables.getFrameStaticProperties());
     }
 
     @Override
@@ -79,6 +66,9 @@ public class USBCameraSource implements VisionSource {
     public class USBCameraSettables extends VisionSourceSettables {
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
+            getAllVideoModes();
+            setCurrentVideoMode(videoModes.get(0));
+            frameStaticProperties = new FrameStaticProperties(getCurrentVideoMode(), getFOV());
         }
 
         @Override
@@ -89,6 +79,7 @@ public class USBCameraSource implements VisionSource {
         @Override
         public void setExposure(int exposure) {
             camera.setExposureManual(exposure);
+            camera.setExposureManual(exposure);
         }
 
         @Override
@@ -99,16 +90,17 @@ public class USBCameraSource implements VisionSource {
         @Override
         public void setBrightness(int brightness) {
             camera.setBrightness(brightness);
+            camera.setBrightness(brightness);
         }
 
         @Override
         public int getGain() {
-            return camera.getProperty("gain").get();
+            return !cameraQuirks.hasQuirk(CameraQuirk.Gain) ? -1 : camera.getProperty("gain").get();
         }
 
         @Override
         public void setGain(int gain) {
-            if (cameraQuirks.quirks.contains(CameraQuirks.Gain)) {
+            if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
                 camera.getProperty("gain_automatic").set(0);
                 camera.getProperty("gain").set(gain);
             }
@@ -116,19 +108,31 @@ public class USBCameraSource implements VisionSource {
 
         @Override
         public VideoMode getCurrentVideoMode() {
-            return camera.getVideoMode();
+            return camera.isConnected() ? camera.getVideoMode() : null;
         }
 
         @Override
         public void setCurrentVideoMode(VideoMode videoMode) {
+            if (videoMode == null) {
+                logger.error("Got a null video mode! Doing nothing...");
+                return;
+            }
             camera.setVideoMode(videoMode);
+            this.frameStaticProperties = new FrameStaticProperties(getCurrentVideoMode(), getFOV());
         }
 
         @Override
         public HashMap<Integer, VideoMode> getAllVideoModes() {
             if (videoModes == null) {
                 videoModes = new HashMap<>();
-                List<VideoMode> videoModesList = Arrays.asList(camera.enumerateVideoModes());
+                List<VideoMode> videoModesList;
+                try {
+                    videoModesList = Arrays.asList(camera.enumerateVideoModes());
+                } catch (Exception e) {
+                    logger.error("Exception while enumerating video modes!");
+                    e.printStackTrace();
+                    videoModesList = List.of();
+                }
                 for (VideoMode videoMode : videoModesList) {
                     videoModes.put(videoModesList.indexOf(videoMode), videoMode);
                 }
@@ -136,4 +140,18 @@ public class USBCameraSource implements VisionSource {
             return videoModes;
         }
     }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        USBCameraSource that = (USBCameraSource) o;
+        return cameraQuirks.equals(that.cameraQuirks);
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(
+                camera, usbCameraSettables, usbFrameProvider, configuration, cvSink, cameraQuirks);
+    }
 }

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

@@ -41,7 +41,7 @@ public class FrameStaticProperties {
     * @param fov The fov of the image.
     */
     public FrameStaticProperties(VideoMode mode, double fov) {
-        this(mode.width, mode.height, fov);
+        this(mode != null ? mode.width : 1, mode != null ? mode.height : 1, fov);
     }
 
     /**

photon-server/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java

@@ -17,13 +17,57 @@
 
 package org.photonvision.vision.frame.consumer;
 
-import org.apache.commons.lang3.NotImplementedException;
+import edu.wpi.cscore.CvSource;
+import edu.wpi.cscore.MjpegServer;
+import edu.wpi.cscore.VideoMode;
+import edu.wpi.first.cameraserver.CameraServer;
+import org.opencv.core.Mat;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameConsumer;
+import org.photonvision.vision.frame.FrameDivisor;
 
 public class MJPGFrameConsumer implements FrameConsumer {
+
+    private final CvSource cvSource;
+    private final MjpegServer mjpegServer;
+    private FrameDivisor divisor = FrameDivisor.NONE;
+
+    public MJPGFrameConsumer(String sourceName, int width, int height) {
+        // TODO h264?
+        this.cvSource = new CvSource(sourceName, VideoMode.PixelFormat.kMJPEG, width, height, 30);
+        this.mjpegServer = CameraServer.getInstance().startAutomaticCapture(cvSource);
+    }
+
+    public MJPGFrameConsumer(String name) {
+        this(name, 320, 240);
+    }
+
+    public void setFrameDivisor(FrameDivisor divisor) {
+        this.divisor = divisor;
+    }
+
     @Override
     public void accept(Frame frame) {
-        throw new NotImplementedException("");
+        if (!frame.image.getMat().empty()) {
+            if (divisor != FrameDivisor.NONE) {
+                var tempMat = new Mat();
+                Imgproc.resize(
+                        frame.image.getMat(), tempMat, getScaledSize(frame.image.getMat().size(), divisor));
+                cvSource.putFrame(tempMat);
+                tempMat.release();
+            } else {
+                cvSource.putFrame(frame.image.getMat());
+            }
+        }
+    }
+
+    private Size getScaledSize(Size orig, FrameDivisor divisor) {
+        return new Size(orig.width / divisor.value, orig.height / divisor.value);
+    }
+
+    public int getCurrentStreamPort() {
+        return mjpegServer.getPort();
     }
 }

photon-server/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java

@@ -24,20 +24,20 @@ import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.CVMat;
 
 public class USBFrameProvider implements FrameProvider {
-    private static int count = 0;
-    private CvSink cvSink;
-    private FrameStaticProperties frameStaticProperties;
-    private CVMat mat;
+    private final CvSink cvSink;
+    private final FrameStaticProperties frameStaticProperties;
+    private final CVMat mat;
 
     public USBFrameProvider(CvSink sink, FrameStaticProperties frameStaticProperties) {
         cvSink = sink;
+        cvSink.setEnabled(true);
         this.frameStaticProperties = frameStaticProperties;
         mat = new CVMat();
     }
 
     @Override
     public Frame get() {
-        if (mat != null && mat.getMat() != null) {
+        if (mat.getMat() != null) {
             mat.release();
         }
         long time = cvSink.grabFrame(mat.getMat());
@@ -46,6 +46,6 @@ public class USBFrameProvider implements FrameProvider {
 
     @Override
     public String getName() {
-        return "USBFrameProvider" + count++;
+        return "USBFrameProvider - " + cvSink.getName();
     }
 }

photon-server/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java

@@ -22,11 +22,13 @@ import org.apache.commons.math3.util.FastMath;
 import org.photonvision.vision.target.PotentialTarget;
 
 public enum ContourSortMode {
-    Largest(Comparator.comparingDouble(PotentialTarget::getArea)),
+    Largest(
+            Comparator.comparingDouble(PotentialTarget::getArea)
+                    .reversed()), // reversed so that zero index has the largest size
     Smallest(Largest.getComparator().reversed()),
     Highest(Comparator.comparingDouble(rect -> rect.getMinAreaRect().center.y)),
     Lowest(Highest.getComparator().reversed()),
-    Leftmost(Comparator.comparingDouble(target -> target.getMinAreaRect().center.x)),
+    Leftmost(Comparator.comparingDouble(target -> target.getMinAreaRect().center.x * -1)),
     Rightmost(Leftmost.getComparator().reversed()),
     Centermost(
             Comparator.comparingDouble(

photon-server/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java

@@ -35,7 +35,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
     public IntegerCouple hsvSaturation = new IntegerCouple(50, 255);
     public IntegerCouple hsvValue = new IntegerCouple(50, 255);
 
-    public boolean outputShowThresholded = false;
+    public boolean outputShowThresholded = true;
     public boolean outputShowMultipleTargets = false;
 
     public boolean erode = false;

photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java

@@ -17,9 +17,11 @@
 
 package org.photonvision.vision.pipeline;
 
+import java.util.List;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings> {
     protected S settings;
@@ -32,6 +34,7 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
         return settings;
     }
 
+    // TODO (BANKS) ACTUALLY SET THE CAMERA RESOLUTION
     public R run(Frame frame) {
         long pipelineStartNanos = System.nanoTime();
 
@@ -40,6 +43,9 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
         }
         setPipeParams(frame.frameStaticProperties, settings);
 
+        if (frame.image.getMat().empty()) {
+            return (R) new CVPipelineResult(0, List.of(), frame);
+        }
         R result = process(frame, settings);
 
         result.setLatencyMillis(MathUtils.nanosToMillis(System.nanoTime() - pipelineStartNanos));

photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java

@@ -39,9 +39,9 @@ public class CVPipelineSettings {
     public ImageFlipMode inputImageFlipMode = ImageFlipMode.NONE;
     public ImageRotationMode inputImageRotationMode = ImageRotationMode.DEG_0;
     public String pipelineNickname = "New Pipeline";
-    public double cameraExposure = 50.0;
-    public double cameraBrightness = 50.0;
-    public double cameraGain = 50.0;
+    public int cameraExposure = 50;
+    public int cameraBrightness = 50;
+    public int cameraGain = 50;
     public int cameraVideoModeIndex = 0;
     public FrameDivisor inputFrameDivisor = FrameDivisor.NONE;
     public FrameDivisor outputFrameDivisor = FrameDivisor.NONE;

photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipeline.java

@@ -19,6 +19,8 @@ package org.photonvision.vision.pipeline;
 
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.processes.PipelineManager;
 
 public class Calibration3dPipeline extends CVPipeline<CVPipelineResult, CVPipelineSettings> {
 
@@ -26,6 +28,7 @@ public class Calibration3dPipeline extends CVPipeline<CVPipelineResult, CVPipeli
 
     public Calibration3dPipeline() {
         settings = new CVPipelineSettings();
+        settings.pipelineIndex = PipelineManager.CAL_3D_INDEX;
     }
 
     @Override

photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java

@@ -29,6 +29,7 @@ import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.*;
 import org.photonvision.vision.pipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.*;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.PotentialTarget;
 import org.photonvision.vision.target.TrackedTarget;
 
@@ -64,6 +65,10 @@ public class ColoredShapePipeline
         settings = new ColoredShapePipelineSettings();
     }
 
+    public ColoredShapePipeline(ColoredShapePipelineSettings settings) {
+        this.settings = settings;
+    }
+
     @Override
     protected void setPipeParams(
             FrameStaticProperties frameStaticProperties, ColoredShapePipelineSettings settings) {

photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java

@@ -52,7 +52,7 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
     public boolean solvePNPEnabled = false;
     public CameraCalibrationCoefficients cameraCalibration;
     public TargetModel targetModel;
-    public Rotation2d cameraPitch = Rotation2d.fromDegrees(0.0);
+    public Rotation2d cameraPitch = Rotation2d.fromDegrees(0.0); // TODO where should pitch live?
 
     // Corner detection settings
     public CornerDetectionPipe.DetectionStrategy cornerDetectionStrategy =

photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java

@@ -26,6 +26,7 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
 import org.photonvision.vision.pipe.impl.ResizeImagePipe;
 import org.photonvision.vision.pipe.impl.RotateImagePipe;
+import org.photonvision.vision.pipeline.result.DriverModePipelineResult;
 
 public class DriverModePipeline
         extends CVPipeline<DriverModePipelineResult, DriverModePipelineSettings> {

photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipelineSettings.java

@@ -19,6 +19,7 @@ package org.photonvision.vision.pipeline;
 
 import com.fasterxml.jackson.annotation.JsonTypeName;
 import org.photonvision.common.util.numbers.DoubleCouple;
+import org.photonvision.vision.processes.PipelineManager;
 import org.photonvision.vision.target.RobotOffsetPointMode;
 
 @JsonTypeName("DriverModePipelineSettings")
@@ -28,6 +29,8 @@ public class DriverModePipelineSettings extends CVPipelineSettings {
 
     public DriverModePipelineSettings() {
         super();
+        pipelineNickname = "Driver Mode";
+        pipelineIndex = PipelineManager.DRIVERMODE_INDEX;
         pipelineType = PipelineType.DriverMode;
     }
 }

photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java

@@ -42,6 +42,7 @@ import org.photonvision.vision.pipe.impl.RotateImagePipe;
 import org.photonvision.vision.pipe.impl.SolvePNPPipe;
 import org.photonvision.vision.pipe.impl.SortContoursPipe;
 import org.photonvision.vision.pipe.impl.SpeckleRejectPipe;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.PotentialTarget;
 import org.photonvision.vision.target.TrackedTarget;
 
@@ -71,6 +72,10 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
         settings = new ReflectivePipelineSettings();
     }
 
+    public ReflectivePipeline(ReflectivePipelineSettings settings) {
+        this.settings = settings;
+    }
+
     @Override
     protected void setPipeParams(
             FrameStaticProperties frameStaticProperties, ReflectivePipelineSettings settings) {
@@ -162,6 +167,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
 
         long sumPipeNanosElapsed = 0L;
 
+        rawInputMat.release();
         frame.image.getMat().copyTo(rawInputMat);
 
         CVPipeResult<Mat> rotateImageResult = rotateImagePipe.apply(frame.image.getMat());
@@ -187,8 +193,12 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                 speckleRejectPipe.apply(findContoursResult.result);
         sumPipeNanosElapsed += speckleRejectResult.nanosElapsed;
 
+        CVPipeResult<List<Contour>> filterContoursResult =
+                filterContoursPipe.apply(speckleRejectResult.result);
+        sumPipeNanosElapsed += filterContoursResult.nanosElapsed;
+
         CVPipeResult<List<PotentialTarget>> groupContoursResult =
-                groupContoursPipe.apply(speckleRejectResult.result);
+                groupContoursPipe.apply(filterContoursResult.result);
         sumPipeNanosElapsed += groupContoursResult.nanosElapsed;
 
         CVPipeResult<List<PotentialTarget>> sortContoursResult =
@@ -234,11 +244,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
             result = draw2dContoursResult;
         }
 
-        // TODO: better way?
-        if (settings.outputShowThresholded) {
-            rawInputMat.release();
-        }
-
         // TODO: Implement all the things
         return new CVPipelineResult(
                 MathUtils.nanosToMillis(sumPipeNanosElapsed),

photon-server/src/main/java/org/photonvision/vision/pipeline/result/BytePackable.java

@@ -0,0 +1,141 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipeline.result;
+
+@SuppressWarnings("PointlessBitwiseExpression")
+public abstract class BytePackable {
+    public abstract byte[] toByteArray();
+
+    public abstract void fromByteArray(byte[] src);
+
+    protected int bufferPosition = 0;
+
+    public int getBufferPosition() {
+        return bufferPosition;
+    }
+
+    public void resetBufferPosition() {
+        bufferPosition = 0;
+    }
+
+    protected void bufferData(byte[] src, byte[] dest) {
+        System.arraycopy(src, 0, dest, bufferPosition, src.length);
+        bufferPosition += src.length;
+    }
+
+    protected void bufferData(byte src, byte[] dest) {
+        System.arraycopy(new byte[] {src}, 0, dest, bufferPosition, 1);
+        bufferPosition++;
+    }
+
+    protected void bufferData(int src, byte[] dest) {
+        System.arraycopy(toBytes(src), 0, dest, bufferPosition, Integer.BYTES);
+        bufferPosition += Integer.BYTES;
+    }
+
+    protected void bufferData(double src, byte[] dest) {
+        System.arraycopy(toBytes(src), 0, dest, bufferPosition, Double.BYTES);
+        bufferPosition += Double.BYTES;
+    }
+
+    protected void bufferData(boolean src, byte[] dest) {
+        System.arraycopy(toBytes(src), 0, dest, bufferPosition, 1);
+        bufferPosition += 1;
+    }
+
+    protected boolean unbufferBoolean(byte[] src) {
+        return toBoolean(src, bufferPosition++);
+    }
+
+    protected byte unbufferByte(byte[] src) {
+        var value = src[bufferPosition];
+        bufferPosition++;
+        return value;
+    }
+
+    protected byte[] unbufferBytes(byte[] src, int len) {
+        var bytes = new byte[len];
+        System.arraycopy(src, bufferPosition, bytes, 0, len);
+        return bytes;
+    }
+
+    protected int unbufferInt(byte[] src) {
+        var value = toInt(src, bufferPosition);
+        bufferPosition += Integer.BYTES;
+        return value;
+    }
+
+    protected double unbufferDouble(byte[] src) {
+        var value = toDouble(src, bufferPosition);
+        bufferPosition += Double.BYTES;
+        return value;
+    }
+
+    private static boolean toBoolean(byte[] src, int pos) {
+        return src[pos] != 0;
+    }
+
+    private static int toInt(byte[] src, int pos) {
+        return (0xff & src[pos]) << 24
+                | (0xff & src[pos + 1]) << 16
+                | (0xff & src[pos + 2]) << 8
+                | (0xff & src[pos + 3]) << 0;
+    }
+
+    private static long toLong(byte[] src, int pos) {
+        return (long) (0xff & src[pos]) << 56
+                | (long) (0xff & src[pos + 1]) << 48
+                | (long) (0xff & src[pos + 2]) << 40
+                | (long) (0xff & src[pos + 3]) << 32
+                | (long) (0xff & src[pos + 4]) << 24
+                | (long) (0xff & src[pos + 5]) << 16
+                | (long) (0xff & src[pos + 6]) << 8
+                | (long) (0xff & src[pos + 7]) << 0;
+    }
+
+    private static double toDouble(byte[] src, int pos) {
+        return Double.longBitsToDouble(toLong(src, pos));
+    }
+
+    protected byte[] toBytes(double value) {
+        long data = Double.doubleToRawLongBits(value);
+        return new byte[] {
+            (byte) ((data >> 56) & 0xff),
+            (byte) ((data >> 48) & 0xff),
+            (byte) ((data >> 40) & 0xff),
+            (byte) ((data >> 32) & 0xff),
+            (byte) ((data >> 24) & 0xff),
+            (byte) ((data >> 16) & 0xff),
+            (byte) ((data >> 8) & 0xff),
+            (byte) ((data >> 0) & 0xff),
+        };
+    }
+
+    protected byte[] toBytes(int value) {
+        return new byte[] {
+            (byte) ((value >> 24) & 0xff),
+            (byte) ((value >> 16) & 0xff),
+            (byte) ((value >> 8) & 0xff),
+            (byte) ((value >> 0) & 0xff)
+        };
+    }
+
+    protected byte[] toBytes(boolean value) {
+        return new byte[] {(byte) (value ? 1 : 0)};
+    }
+}

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

@@ -15,7 +15,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package org.photonvision.vision.pipeline;
+package org.photonvision.vision.pipeline.result;
 
 import java.util.List;
 import org.photonvision.vision.frame.Frame;
@@ -50,7 +50,7 @@ public class CVPipelineResult implements Releasable {
         return latencyMillis;
     }
 
-    protected void setLatencyMillis(double latencyMillis) {
+    public void setLatencyMillis(double latencyMillis) {
         this.latencyMillis = latencyMillis;
     }
 }

photon-server/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java

@@ -15,7 +15,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package org.photonvision.vision.pipeline;
+package org.photonvision.vision.pipeline.result;
 
 import java.util.List;
 import org.photonvision.vision.frame.Frame;

photon-server/src/main/java/org/photonvision/vision/pipeline/result/SimplePipelineResult.java

@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipeline.result;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+import org.photonvision.vision.target.TrackedTarget;
+
+public class SimplePipelineResult extends BytePackable {
+
+    private double latencyMillis;
+    private boolean hasTargets;
+    public final List<SimpleTrackedTarget> targets = new ArrayList<>();
+
+    public SimplePipelineResult() {}
+
+    public SimplePipelineResult(
+            double latencyMillis, boolean hasTargets, List<SimpleTrackedTarget> targets) {
+        this.latencyMillis = latencyMillis;
+        this.hasTargets = hasTargets;
+        this.targets.addAll(targets);
+    }
+
+    public SimplePipelineResult(CVPipelineResult r) {
+        this(r.processingMillis, r.hasTargets(), simpleFromTrackedTargets(r.targets));
+    }
+
+    public double getLatencyMillis() {
+        return latencyMillis;
+    }
+
+    public boolean hasTargets() {
+        return hasTargets;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        SimplePipelineResult that = (SimplePipelineResult) o;
+        boolean latencyMatch = Double.compare(that.latencyMillis, latencyMillis) == 0;
+        boolean hasTargetsMatch = that.hasTargets == hasTargets;
+        boolean targetsMatch = that.targets.equals(targets);
+        return latencyMatch && hasTargetsMatch && targetsMatch;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(latencyMillis, hasTargets, targets);
+    }
+
+    @Override
+    public byte[] toByteArray() {
+        bufferPosition = 0;
+        int bufferSize =
+                8 + 1 + 1 + (targets.size() * 48); // latencyMillis + hasTargets + targetCount + targets
+        var buff = new byte[bufferSize];
+
+        bufferData(latencyMillis, buff);
+        bufferData(hasTargets, buff);
+        bufferData((byte) targets.size(), buff);
+        for (var target : targets) {
+            bufferData(target.toByteArray(), buff);
+        }
+
+        return buff;
+    }
+
+    @Override
+    public void fromByteArray(byte[] src) {
+        bufferPosition = 0;
+
+        latencyMillis = unbufferDouble(src);
+        hasTargets = unbufferBoolean(src);
+        byte targetCount = unbufferByte(src);
+
+        targets.clear();
+        for (int i = 0; i < targetCount; i++) {
+            var target = new SimpleTrackedTarget();
+            target.fromByteArray(unbufferBytes(src, 48));
+            bufferPosition += 48;
+            targets.add(target);
+        }
+    }
+
+    private static List<SimpleTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
+        var ret = new ArrayList<SimpleTrackedTarget>();
+        for (var t : targets) {
+            ret.add(new SimpleTrackedTarget(t));
+        }
+        return ret;
+    }
+}

photon-server/src/main/java/org/photonvision/vision/pipeline/result/SimpleTrackedTarget.java

@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipeline.result;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import java.util.Objects;
+import org.photonvision.vision.target.TrackedTarget;
+
+public class SimpleTrackedTarget extends BytePackable {
+    public static final int PACK_SIZE_BYTES = Double.BYTES * 6;
+
+    private double yaw;
+    private double pitch;
+    private double area;
+    private Pose2d robotRelativePose = new Pose2d();
+
+    public SimpleTrackedTarget() {}
+
+    public SimpleTrackedTarget(double yaw, double pitch, double area, Pose2d pose) {
+        this.yaw = yaw;
+        this.pitch = pitch;
+        this.area = area;
+        robotRelativePose = pose;
+    }
+
+    public SimpleTrackedTarget(TrackedTarget t) {
+        this(t.getYaw(), t.getPitch(), t.getArea(), t.getRobotRelativePose());
+    }
+
+    public double getYaw() {
+        return yaw;
+    }
+
+    public double getPitch() {
+        return pitch;
+    }
+
+    public double getArea() {
+        return area;
+    }
+
+    public Pose2d getRobotRelativePose() {
+        return robotRelativePose;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        SimpleTrackedTarget that = (SimpleTrackedTarget) o;
+        return Double.compare(that.yaw, yaw) == 0
+                && Double.compare(that.pitch, pitch) == 0
+                && Double.compare(that.area, area) == 0
+                && Objects.equals(robotRelativePose, that.robotRelativePose);
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(yaw, pitch, area, robotRelativePose);
+    }
+
+    @Override
+    public byte[] toByteArray() {
+        resetBufferPosition();
+        byte[] data = new byte[PACK_SIZE_BYTES];
+
+        bufferData(yaw, data);
+        bufferData(pitch, data);
+        bufferData(area, data);
+        if (robotRelativePose != null) {
+            bufferData(robotRelativePose.getTranslation().getX(), data);
+            bufferData(robotRelativePose.getTranslation().getY(), data);
+            bufferData(robotRelativePose.getRotation().getDegrees(), data);
+        } else {
+            bufferData((double) 0, data);
+            bufferData((double) 0, data);
+            bufferData((double) 0, data);
+        }
+
+        return data;
+    }
+
+    @Override
+    public void fromByteArray(byte[] src) {
+        resetBufferPosition();
+        if (src.length < PACK_SIZE_BYTES) {
+            // TODO: log error?
+            return;
+        }
+
+        yaw = unbufferDouble(src);
+        pitch = unbufferDouble(src);
+        area = unbufferDouble(src);
+
+        var poseX = unbufferDouble(src);
+        var poseY = unbufferDouble(src);
+        var poseR = unbufferDouble(src);
+        robotRelativePose = new Pose2d(poseX, poseY, Rotation2d.fromDegrees(poseR));
+    }
+}

photon-server/src/main/java/org/photonvision/vision/processes/Data.java

@@ -17,9 +17,15 @@
 
 package org.photonvision.vision.processes;
 
-import org.photonvision.vision.pipeline.CVPipelineResult;
+import org.photonvision.vision.opencv.Releasable;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 // TODO replace with CTT's data class
-public class Data {
+public class Data implements Releasable {
     public CVPipelineResult result;
+
+    @Override
+    public void release() {
+        result.release();
+    }
 }

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

@@ -17,26 +17,30 @@
 
 package org.photonvision.vision.processes;
 
+import java.util.ArrayList;
 import java.util.Comparator;
 import java.util.List;
-import org.photonvision.vision.pipeline.CVPipeline;
-import org.photonvision.vision.pipeline.CVPipelineSettings;
-import org.photonvision.vision.pipeline.Calibration3dPipeline;
-import org.photonvision.vision.pipeline.DriverModePipeline;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.pipeline.*;
 
 @SuppressWarnings({"rawtypes", "unused"})
 public class PipelineManager {
+    private static final Logger logger = new Logger(PipelineManager.class, LogGroup.VisionProcess);
 
-    private static final int DRIVERMODE_INDEX = -1;
-    private static final int CAL_3D_INDEX = -2;
+    public static final int DRIVERMODE_INDEX = -1;
+    public static final int CAL_3D_INDEX = -2;
 
-    public final List<CVPipeline> userPipelines;
-    private final Calibration3dPipeline calibration3dPipeline = new Calibration3dPipeline();
-    private final DriverModePipeline driverModePipeline = new DriverModePipeline();
+    protected final List<CVPipelineSettings> userPipelineSettings;
+    protected final Calibration3dPipeline calibration3dPipeline = new Calibration3dPipeline();
+    protected final DriverModePipeline driverModePipeline = new DriverModePipeline();
 
     /** Index of the currently active pipeline. */
     private int currentPipelineIndex = DRIVERMODE_INDEX;
 
+    /** The currently active pipeline. */
+    private CVPipeline currentPipeline = driverModePipeline;
+
     /**
     * Index of the last active user-created pipeline. <br>
     * <br>
@@ -50,32 +54,8 @@ public class PipelineManager {
     *
     * @param userPipelines Pipelines to add to the manager.
     */
-    public PipelineManager(List<CVPipeline> userPipelines) {
-        this.userPipelines = userPipelines;
-    }
-
-    /** Creates a PipelineManager with a DriverModePipeline, and a Calibration3dPipeline. */
-    public PipelineManager() {
-        this(List.of());
-    }
-
-    /**
-    * Get a pipeline by index.
-    *
-    * @param index Index of desired pipeline.
-    * @return The desired pipeline.
-    */
-    public CVPipeline getPipeline(int index) {
-        if (index < 0) {
-            switch (index) {
-                case DRIVERMODE_INDEX:
-                    return driverModePipeline;
-                case CAL_3D_INDEX:
-                    return calibration3dPipeline;
-            }
-        }
-
-        return userPipelines.get(index);
+    public PipelineManager(List<CVPipelineSettings> userPipelines) {
+        this.userPipelineSettings = userPipelines;
     }
 
     /**
@@ -85,7 +65,41 @@ public class PipelineManager {
     * @return The gotten settings of the pipeline whose index was provided.
     */
     public CVPipelineSettings getPipelineSettings(int index) {
-        return getPipeline(index).getSettings();
+        if (index < 0) {
+            switch (index) {
+                case DRIVERMODE_INDEX:
+                    return driverModePipeline.getSettings();
+                case CAL_3D_INDEX:
+                    return calibration3dPipeline.getSettings();
+            }
+        }
+
+        for (var setting : userPipelineSettings) {
+            if (setting.pipelineIndex == index) return setting;
+        }
+        return null;
+    }
+
+    /**
+    * Gets a 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) {
+            ret.add(p.pipelineNickname);
+        }
+        return ret;
+    }
+
+    /**
+    * Gets the index of the currently active pipeline
+    *
+    * @return The index of the currently active pipeline
+    */
+    public int getCurrentPipelineIndex() {
+        return currentPipelineIndex;
     }
 
     /**
@@ -94,7 +108,30 @@ public class PipelineManager {
     * @return The currently active pipeline.
     */
     public CVPipeline getCurrentPipeline() {
-        return getPipeline(currentPipelineIndex);
+        if (currentPipelineIndex < 0) {
+            switch (currentPipelineIndex) {
+                case CAL_3D_INDEX:
+                    return calibration3dPipeline;
+                case DRIVERMODE_INDEX:
+                    return driverModePipeline;
+            }
+        }
+
+        var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
+        if (currentPipeline.getSettings().pipelineIndex != desiredPipelineSettings.pipelineIndex) {
+            switch (desiredPipelineSettings.pipelineType) {
+                case Reflective:
+                    currentPipeline =
+                            new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
+                    break;
+                case ColoredShape:
+                    currentPipeline =
+                            new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
+                    break;
+            }
+        }
+
+        return currentPipeline;
     }
 
     /**
@@ -133,20 +170,7 @@ public class PipelineManager {
     }
 
     public static final Comparator<CVPipelineSettings> PipelineSettingsIndexComparator =
-            (o1, o2) -> {
-                int o1Index = o1.pipelineIndex;
-                int o2Index = o2.pipelineIndex;
-
-                if (o1Index == o2Index) {
-                    return 0;
-                } else if (o1Index < o2Index) {
-                    return -1;
-                }
-                return 1;
-            };
-
-    public static final Comparator<CVPipeline> PipelineIndexComparator =
-            (o1, o2) -> PipelineSettingsIndexComparator.compare(o1.getSettings(), o2.getSettings());
+            Comparator.comparingInt(o -> o.pipelineIndex);
 
     /**
     * Sorts the pipeline list by index, and reassigns their indexes to match the new order. <br>
@@ -154,11 +178,53 @@ public class PipelineManager {
     * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯
     */
     private void reassignIndexes() {
-        userPipelines.sort(PipelineIndexComparator);
-        for (int i = 0; i < userPipelines.size(); i++) {
+        userPipelineSettings.sort(PipelineSettingsIndexComparator);
+        for (int i = 0; i < userPipelineSettings.size(); i++) {
             getPipelineSettings(i).pipelineIndex = i;
         }
     }
 
-    // TODO: adding/removing pipelines
+    public CVPipelineSettings addPipeline(PipelineType type) {
+        switch (type) {
+            case Reflective:
+                {
+                    var added = new ReflectivePipelineSettings();
+                    addPipelineInternal(added);
+                    return added;
+                }
+            case ColoredShape:
+                {
+                    var added = new ColoredShapePipelineSettings();
+                    addPipelineInternal(added);
+                    return added;
+                }
+        }
+        reassignIndexes();
+        return null;
+    }
+
+    private void addPipelineInternal(CVPipelineSettings settings) {
+        settings.pipelineIndex = userPipelineSettings.size();
+        userPipelineSettings.add(settings);
+        reassignIndexes();
+    }
+
+    private void removePipelineInternal(int index) {
+        userPipelineSettings.remove(index);
+        reassignIndexes();
+    }
+
+    public void setIndex(int index) {
+        this.setPipelineInternal(index);
+    }
+
+    public void removePipeline(int index) {
+        if (index < 0) {
+            logger.debug("Could not remove preset pipes!");
+            return;
+        }
+        // TODO should we block/lock on a mutex?
+        removePipelineInternal(index);
+        currentPipelineIndex = Math.max(userPipelineSettings.size() - 1, currentPipelineIndex);
+    }
 }

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

@@ -17,11 +17,32 @@
 
 package org.photonvision.vision.processes;
 
-import java.util.LinkedList;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.*;
+import org.apache.commons.lang3.tuple.Pair;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.configuration.PhotonConfiguration;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.DataChangeSubscriber;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
+import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.dataflow.networktables.NTDataConsumer;
 import org.photonvision.common.datatransfer.DataConsumer;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.SerializationUtils;
+import org.photonvision.common.util.numbers.DoubleCouple;
+import org.photonvision.common.util.numbers.IntegerCouple;
+import org.photonvision.server.SocketHandler;
+import org.photonvision.server.UIUpdateType;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameConsumer;
-import org.photonvision.vision.pipeline.CVPipelineResult;
+import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
+import org.photonvision.vision.pipeline.PipelineType;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 /**
 * This is the God Class
@@ -31,13 +52,25 @@ import org.photonvision.vision.pipeline.CVPipelineResult;
 */
 public class VisionModule {
 
+    private final Logger logger;
     private final PipelineManager pipelineManager;
     private final VisionSource visionSource;
     private final VisionRunner visionRunner;
     private final LinkedList<DataConsumer> dataConsumers = new LinkedList<>();
     private final LinkedList<FrameConsumer> frameConsumers = new LinkedList<>();
+    private final NTDataConsumer ntConsumer;
+    private final int moduleIndex;
+    private final MJPGFrameConsumer uiStreamer;
+    private long lastUpdateTimestamp = -1;
 
-    public VisionModule(PipelineManager pipelineManager, VisionSource visionSource) {
+    private MJPGFrameConsumer dashboardStreamer;
+
+    public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
+        logger =
+                new Logger(
+                        VisionModule.class,
+                        visionSource.getSettables().getConfiguration().nickname,
+                        LogGroup.VisionProcess);
         this.pipelineManager = pipelineManager;
         this.visionSource = visionSource;
         this.visionRunner =
@@ -45,12 +78,296 @@ public class VisionModule {
                         this.visionSource.getFrameProvider(),
                         this.pipelineManager::getCurrentPipeline,
                         this::consumeResult);
+        this.moduleIndex = index;
+
+        DataChangeService.getInstance().addSubscriber(new VisionSettingChangeSubscriber());
+
+        dashboardStreamer =
+                new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().uniqueName);
+        uiStreamer = new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().nickname);
+        addFrameConsumer(dashboardStreamer);
+        addFrameConsumer(uiStreamer);
+
+        ntConsumer =
+                new NTDataConsumer(
+                        NetworkTableInstance.getDefault().getTable("photonvision"),
+                        visionSource.getSettables().getConfiguration().nickname);
+        addDataConsumer(ntConsumer);
+        addDataConsumer(
+                data -> {
+                    var now = System.currentTimeMillis();
+                    if (lastUpdateTimestamp + 1000.0 / 15.0 > now) return;
+
+                    var uiMap = new HashMap<Integer, HashMap<String, Object>>();
+                    var dataMap = new HashMap<String, Object>();
+                    dataMap.put("fps", 1000.0 / data.result.getLatencyMillis());
+                    var targets = data.result.targets;
+                    var uiTargets = new ArrayList<HashMap<String, Object>>();
+                    for (var t : targets) {
+                        uiTargets.add(t.toHashMap());
+                    }
+                    dataMap.put("targets", uiTargets);
+
+                    uiMap.put(index, dataMap);
+                    var retMap = new HashMap<String, Object>();
+                    retMap.put("updatePipelineResult", uiMap);
+
+                    try {
+                        SocketHandler.getInstance().broadcastMessage(retMap, null);
+                    } catch (JsonProcessingException e) {
+                        logger.error(e.getMessage());
+                        logger.error(Arrays.toString(e.getStackTrace()));
+                    }
+
+                    lastUpdateTimestamp = now;
+                });
+
+        setPipeline(visionSource.getSettables().getConfiguration().currentPipelineIndex);
+
+        dashboardStreamer.setFrameDivisor(
+                pipelineManager.getCurrentPipelineSettings().outputFrameDivisor);
     }
 
     public void start() {
         visionRunner.startProcess();
     }
 
+    private class VisionSettingChangeSubscriber extends DataChangeSubscriber {
+
+        private VisionSettingChangeSubscriber() {
+            super();
+        }
+
+        @SuppressWarnings({"unchecked", "rawtypes"})
+        @Override
+        public void onDataChangeEvent(DataChangeEvent event) {
+            if (event instanceof IncomingWebSocketEvent) {
+                var wsEvent = (IncomingWebSocketEvent<?>) event;
+
+                // TODO: remove?
+                if (wsEvent.propertyName.equals("save")) {
+                    logger.debug("UI-based saving deprecated, ignoring");
+                    // saveAndBroadcast();
+                    return;
+                }
+
+                if (wsEvent.cameraIndex != null && wsEvent.cameraIndex == moduleIndex) {
+                    logger.debug("Got PSC event - propName: " + wsEvent.propertyName);
+
+                    var propName = wsEvent.propertyName;
+                    var newPropValue = wsEvent.data;
+                    var currentSettings = pipelineManager.getCurrentPipeline().getSettings();
+
+                    // special case for non-PipelineSetting changes
+                    switch (propName) {
+                        case "cameraNickname": // rename camera
+                            var newNickname = (String) newPropValue;
+                            logger.info("Changing nickname to " + newNickname);
+                            setCameraNickname(newNickname);
+                            saveAndBroadcast();
+                            return;
+                        case "pipelineName": // rename current pipeline
+                            logger.info("Changing nick to " + newPropValue);
+                            pipelineManager.getCurrentPipelineSettings().pipelineNickname = (String) newPropValue;
+                            // TODO rename config file
+                            saveAndBroadcast();
+                            return;
+                        case "newPipelineInfo": // add new pipeline
+                            var typeName = (Pair<String, PipelineType>) newPropValue;
+                            var type = typeName.getRight();
+                            var name = typeName.getLeft();
+
+                            logger.info("Adding a " + type + " pipeline with name " + name);
+
+                            var addedSettings = pipelineManager.addPipeline(type);
+                            addedSettings.pipelineNickname = name;
+                            saveAndBroadcast();
+                            return;
+                        case "deleteCurrPipeline":
+                            var indexToDelete = pipelineManager.getCurrentPipelineIndex();
+                            logger.info("Deleting current pipe at index " + indexToDelete);
+                            pipelineManager.removePipeline(indexToDelete);
+                            saveAndBroadcast();
+                            return;
+                        case "changePipeline": // change active pipeline
+                            var index = (Integer) newPropValue;
+                            if (index == pipelineManager.getCurrentPipelineIndex()) {
+                                logger.debug("Skipping pipeline change, index " + index + " already active");
+                                return;
+                            }
+                            logger.debug("Setting pipeline index to " + index);
+                            setPipeline(index);
+                            saveAndBroadcast();
+                            return;
+                    }
+
+                    // special case for camera settables
+                    if (propName.startsWith("camera")) {
+                        var propMethodName = "set" + propName.replace("camera", "");
+                        var methods = visionSource.getSettables().getClass().getMethods();
+                        for (var method : methods) {
+                            if (method.getName().equalsIgnoreCase(propMethodName)) {
+                                try {
+                                    method.invoke(visionSource.getSettables(), newPropValue);
+                                } catch (Exception e) {
+                                    logger.error("Failed to invoke camera settable method: " + method.getName());
+                                    e.printStackTrace();
+                                }
+                            }
+                        }
+                    }
+
+                    try {
+                        var propField = currentSettings.getClass().getField(propName);
+                        var propType = propField.getType();
+
+                        if (propType.isEnum()) {
+                            var actual = propType.getEnumConstants()[(int) newPropValue];
+                            propField.set(currentSettings, actual);
+                        } else if (propType.isAssignableFrom(DoubleCouple.class)) {
+                            var orig = (ArrayList<Number>) newPropValue;
+                            var actual = new DoubleCouple(orig.get(0), orig.get(1));
+                            propField.set(currentSettings, actual);
+                        } else if (propType.isAssignableFrom(IntegerCouple.class)) {
+                            var orig = (ArrayList<Integer>) newPropValue;
+                            var actual = new IntegerCouple(orig.get(0), orig.get(1));
+                            propField.set(currentSettings, actual);
+                        } else if (propType.equals(Double.TYPE)) {
+                            propField.setDouble(currentSettings, (Double) newPropValue);
+                        } else if (propType.equals(Integer.TYPE)) {
+                            propField.setInt(currentSettings, (Integer) newPropValue);
+                        } else if (propType.equals(Boolean.TYPE)) {
+                            if (newPropValue instanceof Integer) {
+                                propField.setBoolean(currentSettings, (Integer) newPropValue != 0);
+                            } else {
+                                propField.setBoolean(currentSettings, (Boolean) newPropValue);
+                            }
+                        } else {
+                            propField.set(newPropValue, newPropValue);
+                        }
+                        logger.trace("Set prop " + propName + " to value " + newPropValue);
+
+                        // special case for extra tasks to perform after setting PipelineSettings
+                        if (propName.equals("outputFrameDivisor")) {
+                            dashboardStreamer.setFrameDivisor(
+                                    pipelineManager.getCurrentPipelineSettings().outputFrameDivisor);
+                        }
+
+                    } catch (NoSuchFieldException | IllegalAccessException e) {
+                        logger.error(
+                                "Could not set prop "
+                                        + propName
+                                        + " with value "
+                                        + newPropValue
+                                        + " on "
+                                        + currentSettings);
+                        e.printStackTrace();
+                    } catch (Exception e) {
+                        logger.error("Unknown exception when setting PSC prop!");
+                        e.printStackTrace();
+                    }
+                }
+                saveAndBroadcast();
+            }
+        }
+    }
+
+    private void setPipeline(int index) {
+        logger.info("Setting pipeline to " + index);
+        pipelineManager.setIndex(index);
+        var config = pipelineManager.getPipelineSettings(index);
+
+        if (config == null) {
+            logger.error("Config for index " + index + " was null!");
+            return;
+        }
+
+        visionSource.getSettables().setCurrentVideoMode(config.cameraVideoModeIndex);
+        visionSource.getSettables().setBrightness(config.cameraBrightness);
+        visionSource.getSettables().setExposure(config.cameraExposure);
+        visionSource.getSettables().setGain(config.cameraGain);
+        visionSource.getSettables().getConfiguration().currentPipelineIndex =
+                pipelineManager.getCurrentPipelineIndex();
+    }
+
+    private void saveAndBroadcast() {
+        ConfigManager.getInstance()
+                .saveModule(
+                        getStateAsCameraConfig(), visionSource.getSettables().getConfiguration().uniqueName);
+        DataChangeService.getInstance()
+                .publishEvent(
+                        new OutgoingUIEvent<>(
+                                UIUpdateType.BROADCAST,
+                                "fullsettings",
+                                ConfigManager.getInstance().getConfig().toHashMap()));
+    }
+
+    private void save() {
+        ConfigManager.getInstance()
+                .saveModule(
+                        getStateAsCameraConfig(), visionSource.getSettables().getConfiguration().uniqueName);
+    }
+
+    private void setCameraNickname(String newName) {
+        visionSource.getSettables().getConfiguration().nickname = newName;
+        ntConsumer.setCameraName(newName);
+
+        frameConsumers.remove(dashboardStreamer);
+        dashboardStreamer =
+                new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().nickname);
+        frameConsumers.add(dashboardStreamer);
+        saveAndBroadcast();
+    }
+
+    public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
+        var ret = new PhotonConfiguration.UICameraConfiguration();
+
+        ret.fov = visionSource.getSettables().getFOV();
+        //        ret.tiltDegrees = this.visionSource.getSettables() // TODO implement tilt in camera
+        // settings
+        ret.nickname = visionSource.getSettables().getConfiguration().nickname;
+        ret.currentPipelineSettings =
+                SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
+        ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
+        ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
+
+        // TODO refactor into helper method
+        var temp = new HashMap<Integer, HashMap<String, Object>>();
+        var videoModes = visionSource.getSettables().getAllVideoModes();
+        for (var k : videoModes.keySet()) {
+            var internalMap = new HashMap<String, Object>();
+
+            internalMap.put("width", videoModes.get(k).width);
+            internalMap.put("height", videoModes.get(k).height);
+            internalMap.put("fps", videoModes.get(k).fps);
+            internalMap.put("pixelFormat", videoModes.get(k).pixelFormat.toString());
+
+            temp.put(k, internalMap);
+        }
+        ret.videoFormatList = temp;
+        ret.streamPort = dashboardStreamer.getCurrentStreamPort();
+        // ret.uiStreamPort = uiStreamer.getCurrentStreamPort();
+
+        return ret;
+    }
+
+    public CameraConfiguration getStateAsCameraConfig() {
+        var config = visionSource.getSettables().getConfiguration();
+        config.setPipelineSettings(pipelineManager.userPipelineSettings);
+        config.driveModeSettings = pipelineManager.driverModePipeline.getSettings();
+        config.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
+
+        return config;
+    }
+
+    public void addDataConsumer(DataConsumer dataConsumer) {
+        dataConsumers.add(dataConsumer);
+    }
+
+    void addFrameConsumer(FrameConsumer consumer) {
+        frameConsumers.add(consumer);
+    }
+
     void consumeResult(CVPipelineResult result) {
         // TODO: put result in to Data (not this way!)
         var data = new Data();
@@ -59,6 +376,8 @@ public class VisionModule {
 
         var frame = result.outputFrame;
         consumeFrame(frame);
+
+        data.release();
     }
 
     void consumeData(Data data) {
@@ -67,14 +386,6 @@ public class VisionModule {
         }
     }
 
-    public void addDataConsumer(DataConsumer dataConsumer) {
-        dataConsumers.add(dataConsumer);
-    }
-
-    public void addFrameConsumer(FrameConsumer frameConsumer) {
-        frameConsumers.add(frameConsumer);
-    }
-
     void consumeFrame(Frame frame) {
         for (var frameConsumer : frameConsumers) {
             frameConsumer.accept(frame);

photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java

@@ -18,25 +18,47 @@
 package org.photonvision.vision.processes;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import org.photonvision.vision.pipeline.CVPipelineSettings;
 
 /** VisionModuleManager has many VisionModules, and provides camera configuration data to them. */
 public class VisionModuleManager {
+
+    private static class ThreadSafeSingleton {
+        private static final VisionModuleManager INSTANCE = new VisionModuleManager();
+    }
+
+    public static VisionModuleManager getInstance() {
+        return VisionModuleManager.ThreadSafeSingleton.INSTANCE;
+    }
+
     protected final List<VisionModule> visionModules = new ArrayList<>();
 
-    public VisionModuleManager(List<VisionSource> visionSources) {
-        for (var visionSource : visionSources) {
+    private VisionModuleManager() {}
 
-            // TODO: loading existing pipelines from config
-            var pipelineManager = new PipelineManager();
+    public List<VisionModule> getModules() {
+        return visionModules;
+    }
 
-            visionModules.add(new VisionModule(pipelineManager, visionSource));
+    public VisionModule getModule(int i) {
+        return visionModules.get(i);
+    }
+
+    public void addSources(HashMap<VisionSource, List<CVPipelineSettings>> visionSources) {
+        for (var entry : visionSources.entrySet()) {
+            var visionSource = entry.getKey();
+            var pipelineManager = new PipelineManager(entry.getValue());
+            var module = new VisionModule(pipelineManager, visionSource, visionModules.size());
+            visionModules.add(module);
+            // todo: logging
         }
     }
 
     public void startModules() {
         for (var visionModule : visionModules) {
             visionModule.start();
+            // todo: logging
         }
     }
 }

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

@@ -19,15 +19,18 @@ package org.photonvision.vision.processes;
 
 import java.util.function.Consumer;
 import java.util.function.Supplier;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.pipeline.CVPipeline;
-import org.photonvision.vision.pipeline.CVPipelineResult;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 /** VisionRunner has a frame supplier, a pipeline supplier, and a result consumer */
 @SuppressWarnings("rawtypes")
 public class VisionRunner {
 
+    private final Logger logger;
     private final Thread visionProcessThread;
     private final Supplier<Frame> frameSupplier;
     private final Supplier<CVPipeline> pipelineSupplier;
@@ -51,19 +54,17 @@ public class VisionRunner {
         this.pipelineSupplier = pipelineSupplier;
         this.pipelineResultConsumer = pipelineResultConsumer;
 
-        this.visionProcessThread = new Thread(this::update);
-        this.visionProcessThread.setName("VisionRunner - " + frameSupplier.getName());
+        visionProcessThread = new Thread(this::update);
+        visionProcessThread.setName("VisionRunner - " + frameSupplier.getName());
+        logger = new Logger(VisionRunner.class, frameSupplier.getName(), LogGroup.VisionProcess);
     }
 
     public void startProcess() {
         visionProcessThread.start();
     }
 
-    private boolean hasThrown;
-
     private void update() {
         while (!Thread.interrupted()) {
-            loopCount++;
             var pipeline = pipelineSupplier.get();
             var frame = frameSupplier.get();
 
@@ -71,13 +72,10 @@ public class VisionRunner {
                 var pipelineResult = pipeline.run(frame);
                 pipelineResultConsumer.accept(pipelineResult);
             } catch (Exception ex) {
-                if (hasThrown) {
-                    System.err.println(
-                            "Exception in thread \"" + visionProcessThread.getName() + "\", loop " + loopCount);
-                    ex.printStackTrace();
-                    hasThrown = true;
-                }
+                logger.error("Exception on loop " + loopCount);
+                ex.printStackTrace();
             }
+            loopCount++;
         }
     }
 }

photon-server/src/main/java/org/photonvision/vision/processes/VisionSource.java

@@ -20,7 +20,6 @@ package org.photonvision.vision.processes;
 import org.photonvision.vision.frame.FrameProvider;
 
 public interface VisionSource {
-
     FrameProvider getFrameProvider();
 
     VisionSourceSettables getSettables();

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

@@ -21,6 +21,7 @@ import edu.wpi.cscore.UsbCamera;
 import edu.wpi.cscore.UsbCameraInfo;
 import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Collection;
 import java.util.List;
 import java.util.stream.Collectors;
 import org.apache.commons.lang3.NotImplementedException;
@@ -31,12 +32,13 @@ import org.photonvision.vision.camera.USBCameraSource;
 import org.photonvision.vision.frame.provider.NetworkFrameProvider;
 
 public class VisionSourceManager {
-    public List<VisionSource> LoadAllSources(List<CameraConfiguration> camerasConfiguration) {
+    public static List<VisionSource> loadAllSources(
+            Collection<CameraConfiguration> camerasConfiguration) {
         return LoadAllSources(camerasConfiguration, Arrays.asList(UsbCamera.enumerateUsbCameras()));
     }
 
-    public List<VisionSource> LoadAllSources(
-            List<CameraConfiguration> camerasConfiguration, List<UsbCameraInfo> usbCameraInfos) {
+    public static List<VisionSource> LoadAllSources(
+            Collection<CameraConfiguration> camerasConfiguration, List<UsbCameraInfo> usbCameraInfos) {
         var UsbCamerasConfiguration =
                 camerasConfiguration.stream()
                         .filter(configuration -> configuration.cameraType == CameraType.UsbCamera)
@@ -47,11 +49,11 @@ public class VisionSourceManager {
         return loadUSBCameraSources(matchedCameras);
     }
 
-    private NetworkFrameProvider loadHTTPCamera(CameraConfiguration config) {
+    private static NetworkFrameProvider loadHTTPCamera(CameraConfiguration config) {
         throw new NotImplementedException("");
     }
 
-    private List<CameraConfiguration> matchUSBCameras(
+    private static List<CameraConfiguration> matchUSBCameras(
             List<UsbCameraInfo> infos, List<CameraConfiguration> cameraConfigurationList) {
         ArrayList<UsbCameraInfo> loopableInfo = new ArrayList<>(infos);
         List<CameraConfiguration> cameraConfigurations = new ArrayList<>();
@@ -91,21 +93,21 @@ public class VisionSourceManager {
             }
 
             CameraConfiguration configuration =
-                    new CameraConfiguration(name, uniqueName, uniqueName, ((Integer) info.dev).toString());
+                    new CameraConfiguration(name, uniqueName, uniqueName, info.path);
             cameraConfigurations.add(configuration);
         }
 
         return cameraConfigurations;
     }
 
-    private List<VisionSource> loadUSBCameraSources(List<CameraConfiguration> configurations) {
+    private static List<VisionSource> loadUSBCameraSources(List<CameraConfiguration> configurations) {
         List<VisionSource> usbCameraSources = new ArrayList<>();
         configurations.forEach(
                 configuration -> usbCameraSources.add(new USBCameraSource(configuration)));
         return usbCameraSources;
     }
 
-    private boolean containsName(final List<CameraConfiguration> list, final String name) {
+    private static boolean containsName(final List<CameraConfiguration> list, final String name) {
         return list.stream().anyMatch(configuration -> configuration.uniqueName.equals(name));
     }
 }

photon-server/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -23,15 +23,19 @@ import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.vision.frame.FrameStaticProperties;
 
 public abstract class VisionSourceSettables {
-    private CameraConfiguration configuration;
+    private final CameraConfiguration configuration;
 
     protected VisionSourceSettables(CameraConfiguration configuration) {
         this.configuration = configuration;
     }
 
-    FrameStaticProperties frameStaticProperties;
+    protected FrameStaticProperties frameStaticProperties;
     protected HashMap<Integer, VideoMode> videoModes;
 
+    public CameraConfiguration getConfiguration() {
+        return configuration;
+    }
+
     public abstract int getExposure();
 
     public abstract void setExposure(int exposure);
@@ -46,8 +50,17 @@ public abstract class VisionSourceSettables {
 
     public abstract VideoMode getCurrentVideoMode();
 
+    public void setCurrentVideoMode(int index) {
+        setCurrentVideoMode(getAllVideoModes().get(index));
+    }
+
     public abstract void setCurrentVideoMode(VideoMode videoMode);
 
+    @SuppressWarnings("unused")
+    public void setVideoModeIndex(int index) {
+        setCurrentVideoMode(videoModes.get(index));
+    }
+
     public abstract HashMap<Integer, VideoMode> getAllVideoModes();
 
     public double getFOV() {

photon-server/src/main/java/org/photonvision/vision/target/TargetCalculations.java

@@ -25,12 +25,14 @@ import org.photonvision.common.util.numbers.DoubleCouple;
 public class TargetCalculations {
     public static double calculateYaw(
             double offsetCenterX, double targetCenterX, double horizontalFocalLength) {
-        return FastMath.toDegrees(FastMath.atan(offsetCenterX - targetCenterX) / horizontalFocalLength);
+        return FastMath.toDegrees(
+                FastMath.atan((offsetCenterX - targetCenterX) / horizontalFocalLength));
     }
 
     public static double calculatePitch(
             double offsetCenterY, double targetCenterY, double verticalFocalLength) {
-        return -FastMath.toDegrees(FastMath.atan(offsetCenterY - targetCenterY) / verticalFocalLength);
+        return -FastMath.toDegrees(
+                FastMath.atan((offsetCenterY - targetCenterY) / verticalFocalLength));
     }
 
     public static Point calculateTargetOffsetPoint(

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

@@ -18,6 +18,7 @@
 package org.photonvision.vision.target;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
+import java.util.HashMap;
 import java.util.List;
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfPoint2f;
@@ -78,6 +79,11 @@ public class TrackedTarget implements Releasable {
         return m_yaw;
     }
 
+    private double getSkew() {
+        // TODO skew;
+        return 5940;
+    }
+
     public double getArea() {
         return m_area;
     }
@@ -161,6 +167,24 @@ public class TrackedTarget implements Releasable {
         cameraRelativeRvec.copyTo(this.m_cameraRelativeRvec);
     }
 
+    public HashMap<String, Object> toHashMap() {
+        //                pitch: 0,
+        //                    yaw: 0,
+        //                    skew: 0,
+        //                    area: 0,
+        //                    // 3D only
+        //                    pose: {x: 0, y: 0, rot: 0},
+        var ret = new HashMap<String, Object>();
+        ret.put("pitch", getPitch());
+        ret.put("yaw", getYaw());
+        ret.put("skew", getSkew());
+        ret.put("area", getArea());
+        if (getRobotRelativePose() != null) {
+            ret.put("pose", getRobotRelativePose().toHashMap());
+        }
+        return ret;
+    }
+
     public static class TargetCalculationParameters {
         // TargetOffset calculation values
         final boolean isLandscape;

photon-server/src/main/resources/web/index.html

@@ -0,0 +1 @@
+<p>UI has not been copied!</p>

photon-server/src/test/java/org/photonvision/common/BenchmarkTest.java

@@ -32,8 +32,8 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.pipeline.CVPipeline;
-import org.photonvision.vision.pipeline.CVPipelineResult;
 import org.photonvision.vision.pipeline.ReflectivePipeline;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 /** Various tests that check performance on long-running tasks (i.e. a pipeline) */
 public class BenchmarkTest {

photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java

@@ -90,7 +90,6 @@ public class ConfigTest {
     @Test
     @Order(2)
     public void deserializeConfig() {
-        configMgr.load();
 
         var reflectivePipelineSettings =
                 configMgr.getConfig().getCameraConfigurations().get("TestCamera").pipelineSettings.get(0);

photon-server/src/test/java/org/photonvision/vision/QuirkyCameraTest.java

@@ -17,23 +17,33 @@
 
 package org.photonvision.vision;
 
-import java.util.ArrayList;
-import java.util.List;
+import java.util.HashMap;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
-import org.photonvision.vision.camera.CameraQuirks;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.QuirkyCamera;
 
 public class QuirkyCameraTest {
     @Test
     public void ps3EyeTest() {
-        QuirkyCamera psEye = new QuirkyCamera(0x1415, 0x2000, "psEye");
-        Assertions.assertEquals(psEye.quirks, List.of(CameraQuirks.Gain));
+        HashMap<CameraQuirk, Boolean> ps3EyeQuirks = new HashMap<>();
+        ps3EyeQuirks.put(CameraQuirk.Gain, true);
+        for (var q : CameraQuirk.values()) {
+            ps3EyeQuirks.putIfAbsent(q, false);
+        }
+
+        QuirkyCamera psEye = QuirkyCamera.getQuirkyCamera(0x1415, 0x2000, "psEye");
+        Assertions.assertEquals(psEye.quirks, ps3EyeQuirks);
     }
 
     @Test
     public void quirklessCameraTest() {
-        QuirkyCamera noQuirk = new QuirkyCamera(1234, 888, "empty");
-        Assertions.assertEquals(noQuirk.quirks, new ArrayList<>());
+        HashMap<CameraQuirk, Boolean> noQuirks = new HashMap<>();
+        for (var q : CameraQuirk.values()) {
+            noQuirks.put(q, false);
+        }
+
+        QuirkyCamera quirkless = QuirkyCamera.getQuirkyCamera(1234, 888, "empty");
+        Assertions.assertEquals(quirkless.quirks, noQuirks);
     }
 }

photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java

@@ -35,6 +35,7 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.opencv.ContourShape;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
 

photon-server/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java

@@ -25,6 +25,7 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.opencv.ContourShape;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 public class ColoredShapePipelineTest {