From 6b5bd75dbe17edecd757108219c085b57723ffe5 Mon Sep 17 00:00:00 2001
From: Banks Troutman <bankst@roswellrobotics.com>
Date: Wed, 27 Nov 2019 14:59:36 -0500
Subject: [PATCH] Config fixes, add JUnit maven dependency, potential fix for
 stream latency

---
 Main/chameleon-vision.iml                     | 19 +++++++++++-----
 Main/pom.xml                                  | 18 ++++++++++-----
 .../main/java/com/chameleonvision/Debug.java  | 19 ++++++++++++++++
 .../main/java/com/chameleonvision/Main.java   |  6 ++---
 .../chameleonvision/config/CameraConfig.java  |  1 -
 .../chameleonvision/config/ConfigManager.java | 16 +++++++++-----
 .../chameleonvision/vision/VisionManager.java |  2 +-
 .../chameleonvision/vision/VisionProcess.java | 22 ++++++++-----------
 ...geRotation.java => ImageRotationMode.java} |  4 ++--
 .../vision/enums/Orientation.java             |  7 ------
 .../vision/pipeline/CVPipeline2d.java         | 14 ++++++------
 .../vision/pipeline/pipes/RotateFlipPipe.java | 10 ++++-----
 .../pipeline/pipes/SortContoursPipe.java      | 10 +++++----
 .../chameleonvision/web/ServerHandler.java    |  5 ++++-
 .../config/ConfigManagerTest.java             | 19 ++++++++++++++++
 15 files changed, 110 insertions(+), 62 deletions(-)
 create mode 100644 Main/src/main/java/com/chameleonvision/Debug.java
 rename Main/src/main/java/com/chameleonvision/vision/enums/{ImageRotation.java => ImageRotationMode.java} (80%)
 delete mode 100644 Main/src/main/java/com/chameleonvision/vision/enums/Orientation.java
 create mode 100644 Main/src/test/java/com/chameleonvision/config/ConfigManagerTest.java

diff --git a/Main/chameleon-vision.iml b/Main/chameleon-vision.iml
index 69873dfae..a0d6af26a 100644
--- a/Main/chameleon-vision.iml
+++ b/Main/chameleon-vision.iml
@@ -6,6 +6,7 @@
     <content url="file://$MODULE_DIR$">
       <sourceFolder url="file://$MODULE_DIR$/src/main/java" isTestSource="false" />
       <sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
+      <sourceFolder url="file://$MODULE_DIR$/src/test/java" isTestSource="true" />
       <excludeFolder url="file://$MODULE_DIR$/classes" />
       <excludeFolder url="file://$MODULE_DIR$/settings" />
       <excludeFolder url="file://$MODULE_DIR$/target" />
@@ -44,6 +45,12 @@
     <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-core:2.10.1" level="project" />
     <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-annotations:2.10.1" level="project" />
     <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-databind:2.10.1" level="project" />
+    <orderEntry type="library" name="Maven: org.junit.jupiter:junit-jupiter-engine:5.5.2" level="project" />
+    <orderEntry type="library" name="Maven: org.apiguardian:apiguardian-api:1.1.0" level="project" />
+    <orderEntry type="library" name="Maven: org.junit.platform:junit-platform-engine:1.5.2" level="project" />
+    <orderEntry type="library" name="Maven: org.opentest4j:opentest4j:1.2.0" level="project" />
+    <orderEntry type="library" name="Maven: org.junit.platform:junit-platform-commons:1.5.2" level="project" />
+    <orderEntry type="library" name="Maven: org.junit.jupiter:junit-jupiter-api:5.5.2" level="project" />
     <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-java:2020.1.1-beta-2-98-gb058dcf" level="project" />
     <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxaarch64bionic:2020.1.1-beta-2-98-gb058dcf" level="project" />
     <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxraspbian:2020.1.1-beta-2-98-gb058dcf" level="project" />
@@ -58,11 +65,11 @@
     <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxaarch64bionic:2020.1.1-beta-2-98-gb058dcf" level="project" />
     <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:windowsx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
     <orderEntry type="library" name="Maven: edu.wpi.first.wpiutil:wpiutil-java:2020.1.1-beta-2-98-gb058dcf" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-1" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxaarch64bionic:3.4.7-1" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxraspbian:3.4.7-1" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxx86-64:3.4.7-1" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:osxx86-64:3.4.7-1" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:windowsx86-64:3.4.7-1" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxaarch64bionic:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxraspbian:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxx86-64:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:osxx86-64:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:windowsx86-64:3.4.7-2" level="project" />
   </component>
 </module>
\ No newline at end of file
diff --git a/Main/pom.xml b/Main/pom.xml
index be09c112a..76effa8c3 100644
--- a/Main/pom.xml
+++ b/Main/pom.xml
@@ -119,6 +119,12 @@
             <version>2.10.1</version>
         </dependency>
 
+        <dependency>
+            <groupId>org.junit.jupiter</groupId>
+            <artifactId>junit-jupiter-engine</artifactId>
+            <version>5.5.2</version>
+        </dependency>
+
         <!-- supported platforms for wpilib JNI classifiers
             linuxaarch64bionic
             linuxraspbian
@@ -221,36 +227,36 @@
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
             <artifactId>opencv-java</artifactId>
-            <version>3.4.7-1</version>
+            <version>3.4.7-2</version>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
             <artifactId>opencv-jni</artifactId>
-            <version>3.4.7-1</version>
+            <version>3.4.7-2</version>
             <classifier>linuxaarch64bionic</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
             <artifactId>opencv-jni</artifactId>
-            <version>3.4.7-1</version>
+            <version>3.4.7-2</version>
             <classifier>linuxraspbian</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
             <artifactId>opencv-jni</artifactId>
-            <version>3.4.7-1</version>
+            <version>3.4.7-2</version>
             <classifier>linuxx86-64</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
             <artifactId>opencv-jni</artifactId>
-            <version>3.4.7-1</version>
+            <version>3.4.7-2</version>
             <classifier>osxx86-64</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
             <artifactId>opencv-jni</artifactId>
-            <version>3.4.7-1</version>
+            <version>3.4.7-2</version>
             <classifier>windowsx86-64</classifier>
         </dependency>
     </dependencies>
diff --git a/Main/src/main/java/com/chameleonvision/Debug.java b/Main/src/main/java/com/chameleonvision/Debug.java
new file mode 100644
index 000000000..b90b7d75f
--- /dev/null
+++ b/Main/src/main/java/com/chameleonvision/Debug.java
@@ -0,0 +1,19 @@
+package com.chameleonvision;
+
+public class Debug {
+    private Debug() {}
+
+    private static boolean isTestMode() {
+        return Main.testMode;
+    }
+
+    public static void printInfo(String infoMessage) {
+        if (isTestMode()) {
+            System.out.println(infoMessage);
+        }
+    }
+
+    public static void printInfo(String smallInfo, String largeInfo) {
+        System.out.println(isTestMode() ? String.format("%s - %s" , smallInfo, largeInfo) : smallInfo);
+    }
+}
diff --git a/Main/src/main/java/com/chameleonvision/Main.java b/Main/src/main/java/com/chameleonvision/Main.java
index 9bc4d4da7..c767beb2b 100644
--- a/Main/src/main/java/com/chameleonvision/Main.java
+++ b/Main/src/main/java/com/chameleonvision/Main.java
@@ -30,7 +30,7 @@ public class Main {
     private static boolean manageNetwork = true;
     private static boolean ignoreRoot = false;
     private static String ntClientModeServer = null;
-    private static boolean testMode = false;
+    public static boolean testMode = false;
 
     private static class NTLogger implements Consumer<LogMessage> {
 
@@ -77,12 +77,12 @@ public class Main {
                     if (value != null) {
                         if (value.equals("localhost")) {
                             ntClientModeServer = "127.0.0.1";
-                            return;
+                            continue;
                         }
 
                         if (Utilities.isValidIPV4(value)) {
                             ntClientModeServer = value;
-                            return;
+                            continue;
                         }
                     }
                     System.err.println("Argument for NT Server Host was invalid, defaulting to team number host");
diff --git a/Main/src/main/java/com/chameleonvision/config/CameraConfig.java b/Main/src/main/java/com/chameleonvision/config/CameraConfig.java
index 57d37d559..8dcf530c3 100644
--- a/Main/src/main/java/com/chameleonvision/config/CameraConfig.java
+++ b/Main/src/main/java/com/chameleonvision/config/CameraConfig.java
@@ -31,7 +31,6 @@ public class CameraConfig {
         checkPipelines();
         checkDriverMode();
 
-        // todo: add pipelines and drivermode loads
         return loadConfig();
     }
 
diff --git a/Main/src/main/java/com/chameleonvision/config/ConfigManager.java b/Main/src/main/java/com/chameleonvision/config/ConfigManager.java
index 4aff1fb18..60e311cd4 100644
--- a/Main/src/main/java/com/chameleonvision/config/ConfigManager.java
+++ b/Main/src/main/java/com/chameleonvision/config/ConfigManager.java
@@ -29,10 +29,12 @@ public class ConfigManager {
     private static void checkSettingsFolder() {
         if (!settingsFolderExists()) {
             try {
-                new File(SettingsPath.toUri()).mkdirs();
+                if( !(new File(SettingsPath.toUri()).mkdirs()) ) {
+                    System.err.println("Failed to create settings folder: " + SettingsPath.toString());
+                }
                 Files.createDirectory(SettingsPath);
             } catch (IOException e) {
-                if(!(e instanceof java.nio.file.FileAlreadyExistsException || e instanceof java.nio.file.FileAlreadyExistsException))
+                if(!(e instanceof java.nio.file.FileAlreadyExistsException))
                     e.printStackTrace();
             }
         }
@@ -74,7 +76,6 @@ public class ConfigManager {
         saveSettingsFile();
     }
 
-    // TODO: (HIGH) cleanup!
     public static List<FullCameraConfiguration> initializeCameras(List<CameraJsonConfig> preliminaryConfigs) {
         List<FullCameraConfiguration> configList = new ArrayList<>();
 
@@ -96,14 +97,17 @@ public class ConfigManager {
     }
 
     public static void saveCameraConfig(String cameraName, CameraJsonConfig config) {
-        cameraConfigs.get(cameraName).saveConfig(config);
+        var camConf = cameraConfigs.get(cameraName);
+        camConf.saveConfig(config);
     }
 
     public static void saveCameraPipelines(String cameraName, List<CVPipelineSettings> pipelines) {
-        cameraConfigs.get(cameraName).savePipelines(pipelines);
+        var camConf = cameraConfigs.get(cameraName);
+        camConf.savePipelines(pipelines);
     }
 
     public static void saveCameraDriverMode(String cameraName, CVPipelineSettings driverMode) {
-        cameraConfigs.get(cameraName).saveDriverMode(driverMode);
+        var camConf = cameraConfigs.get(cameraName);
+        camConf.saveDriverMode(driverMode);
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionManager.java b/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
index e102b697b..e720b033e 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
@@ -138,7 +138,7 @@ public class VisionManager {
     }
 
 
-    public static void saveCameras() {
+    public static void saveAllCameras() {
         visionProcesses.forEach((vpm) -> {
             VisionProcess process = vpm.visionProcess;
             String cameraName = process.getCamera().getProperties().name;
diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
index d8ccd5aa4..28e990d68 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -1,5 +1,7 @@
 package com.chameleonvision.vision;
 
+import com.chameleonvision.Debug;
+import com.chameleonvision.Main;
 import com.chameleonvision.config.ConfigManager;
 import com.chameleonvision.util.LoopingRunnable;
 import com.chameleonvision.vision.camera.CameraCapture;
@@ -263,7 +265,6 @@ public class VisionProcess {
     }
 
     public void setDriverModeSettings(CVPipelineSettings settings) {
-
         driverModePipeline.settings = settings;
     }
 
@@ -282,7 +283,6 @@ public class VisionProcess {
 
         volatile Double fps = 0.0;
         private CircularBuffer fpsAveragingBuffer = new CircularBuffer(7);
-        private Mat streamBuffer = new Mat();
 
         @Override
         public void run() {
@@ -305,9 +305,10 @@ public class VisionProcess {
                 }
 
                 try {
+                    streamFrameQueue.clear();
                     streamFrameQueue.add(lastPipelineResult.outputMat);
                 } catch (Exception e) {
-                    System.out.println("Vision running faster than stream");
+                    Debug.printInfo("Vision running faster than stream.");
                 }
 
                 var deltaTimeNanos = lastUpdateTimeNanos - System.nanoTime();
@@ -340,17 +341,12 @@ public class VisionProcess {
 
         @Override
         protected void process() {
-            try {
-                if (!streamFrameQueue.isEmpty()) {
-                    Mat latestMat = streamFrameQueue.take();
-                    if (!latestMat.empty()) {
-                        streamer.runStream(latestMat);
-                    } else {
-                        System.out.println("stream mat empty");
-                    }
+            if (!streamFrameQueue.isEmpty()) {
+                try {
+                    streamer.runStream(streamFrameQueue.take());
+                } catch (InterruptedException e) {
+                    e.printStackTrace();
                 }
-            } catch (InterruptedException e) {
-                e.printStackTrace();
             }
         }
     }
diff --git a/Main/src/main/java/com/chameleonvision/vision/enums/ImageRotation.java b/Main/src/main/java/com/chameleonvision/vision/enums/ImageRotationMode.java
similarity index 80%
rename from Main/src/main/java/com/chameleonvision/vision/enums/ImageRotation.java
rename to Main/src/main/java/com/chameleonvision/vision/enums/ImageRotationMode.java
index a3c88d946..c7920b46d 100644
--- a/Main/src/main/java/com/chameleonvision/vision/enums/ImageRotation.java
+++ b/Main/src/main/java/com/chameleonvision/vision/enums/ImageRotationMode.java
@@ -2,7 +2,7 @@ package com.chameleonvision.vision.enums;
 
 import org.opencv.core.Core;
 
-public enum ImageRotation {
+public enum ImageRotationMode {
     DEG_0(-1),
     DEG_90(Core.ROTATE_90_CLOCKWISE),
     DEG_180(Core.ROTATE_180),
@@ -10,7 +10,7 @@ public enum ImageRotation {
 
     public final int value;
 
-    ImageRotation(int value) {
+    ImageRotationMode(int value) {
         this.value = value;
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/enums/Orientation.java b/Main/src/main/java/com/chameleonvision/vision/enums/Orientation.java
deleted file mode 100644
index 017ed9c44..000000000
--- a/Main/src/main/java/com/chameleonvision/vision/enums/Orientation.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package com.chameleonvision.vision.enums;
-
-public enum Orientation {
-    //TODO: (low) add 90 and 270 deg rotation?
-    Normal,
-    Inverted;
-}
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
index 906354328..b377d5fff 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -1,12 +1,12 @@
 package com.chameleonvision.vision.pipeline;
 
+import com.chameleonvision.Main;
 import com.chameleonvision.vision.camera.CameraCapture;
 import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.vision.pipeline.pipes.*;
-import com.chameleonvision.vision.enums.ImageRotation;
+import com.chameleonvision.vision.enums.ImageRotationMode;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.*;
-import org.opencv.imgproc.Imgproc;
 
 import java.util.List;
 
@@ -55,7 +55,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
         hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
 
-        rotateFlipPipe = new RotateFlipPipe(ImageRotation.DEG_0, settings.flipMode);
+        rotateFlipPipe = new RotateFlipPipe(ImageRotationMode.DEG_0, settings.flipMode);
         blurPipe = new BlurPipe(5);
         erodeDilatePipe = new ErodeDilatePipe(settings.erode, settings.dilate, 7);
         hsvPipe = new HsvPipe(hsvLower, hsvUpper);
@@ -63,7 +63,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         filterContoursPipe = new FilterContoursPipe(settings.area, settings.ratio, settings.extent, camProps);
         speckleRejectPipe = new SpeckleRejectPipe(settings.speckle.doubleValue());
         groupContoursPipe = new GroupContoursPipe(settings.targetGroup, settings.targetIntersection);
-        sortContoursPipe = new SortContoursPipe(settings.sortMode, camProps);
+        sortContoursPipe = new SortContoursPipe(settings.sortMode, camProps, 5);
         collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationMode, settings.point,
                 settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
         draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
@@ -96,14 +96,14 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         // prepare pipes
         hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
         hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
-        rotateFlipPipe.setConfig(ImageRotation.DEG_0, settings.flipMode);
+        rotateFlipPipe.setConfig(ImageRotationMode.DEG_0, settings.flipMode);
         blurPipe.setConfig(0);
         erodeDilatePipe.setConfig(settings.erode, settings.dilate, 7);
         hsvPipe.setConfig(hsvLower, hsvUpper);
         filterContoursPipe.setConfig(settings.area, settings.ratio, settings.extent, camProps);
         speckleRejectPipe.setConfig(settings.speckle.doubleValue());
         groupContoursPipe.setConfig(settings.targetGroup, settings.targetIntersection);
-        sortContoursPipe.setConfig(settings.sortMode, camProps);
+        sortContoursPipe.setConfig(settings.sortMode, camProps, 5);
         collect2dTargetsPipe.setConfig(settings.calibrationMode, settings.point,
                 settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
         draw2dContoursPipe.setConfig(camProps);
@@ -164,7 +164,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         pipelineTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
         pipelineTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
 
-        if (true) {
+        if (Main.testMode) {
             System.out.println(pipelineTimeStringBuilder.toString());
             double totalPipelineTimeMillis = totalPipelineTimeNanos / 1000000.0;
             double totalPipelineTimeFPS = 1.0 / (totalPipelineTimeMillis / 1000.0);
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
index 94cf483ff..4ae451b84 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
@@ -1,25 +1,25 @@
 package com.chameleonvision.vision.pipeline.pipes;
 
 import com.chameleonvision.vision.enums.ImageFlipMode;
-import com.chameleonvision.vision.enums.ImageRotation;
+import com.chameleonvision.vision.enums.ImageRotationMode;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Core;
 import org.opencv.core.Mat;
 
 public class RotateFlipPipe implements Pipe<Mat, Mat> {
 
-    private ImageRotation rotation;
+    private ImageRotationMode rotation;
     private ImageFlipMode flip;
 
     private Mat processBuffer = new Mat();
     private Mat outputMat = new Mat();
 
-    public RotateFlipPipe(ImageRotation rotation, ImageFlipMode flip) {
+    public RotateFlipPipe(ImageRotationMode rotation, ImageFlipMode flip) {
         this.rotation = rotation;
         this.flip = flip;
     }
 
-    public void setConfig(ImageRotation rotation, ImageFlipMode flip) {
+    public void setConfig(ImageRotationMode rotation, ImageFlipMode flip) {
         this.rotation = rotation;
         this.flip = flip;
     }
@@ -29,7 +29,7 @@ public class RotateFlipPipe implements Pipe<Mat, Mat> {
         long processStartNanos = System.nanoTime();
 
         boolean shouldFlip = !flip.equals(ImageFlipMode.NONE);
-        boolean shouldRotate = !rotation.equals(ImageRotation.DEG_0);
+        boolean shouldRotate = !rotation.equals(ImageRotationMode.DEG_0);
 
         if (shouldFlip || shouldRotate) {
             input.copyTo(processBuffer);
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
index 7281f2a6c..ee10cf099 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
@@ -23,20 +23,22 @@ public class SortContoursPipe implements Pipe<List<RotatedRect>, List<RotatedRec
     private static final Comparator<RotatedRect> SortByLeftmostComparator = Comparator.comparingDouble(rect -> rect.center.x);
     private static final Comparator<RotatedRect> SortByRightmostComparator = SortByLeftmostComparator.reversed();
 
-
     private SortMode sort;
     private CaptureStaticProperties camProps;
+    private int maxTargets;
 
     private List<RotatedRect> sortedContours = new ArrayList<>();
 
-    public SortContoursPipe(SortMode sort, CaptureStaticProperties camProps) {
+    public SortContoursPipe(SortMode sort, CaptureStaticProperties camProps, int maxTargets) {
         this.sort = sort;
         this.camProps = camProps;
+        this.maxTargets = maxTargets;
     }
 
-    public void setConfig(SortMode sort, CaptureStaticProperties camProps) {
+    public void setConfig(SortMode sort, CaptureStaticProperties camProps, int maxTargets) {
         this.sort = sort;
         this.camProps = camProps;
+        this.maxTargets = maxTargets;
     }
 
     @Override
@@ -46,7 +48,7 @@ public class SortContoursPipe implements Pipe<List<RotatedRect>, List<RotatedRec
         sortedContours.clear();
 
         if (input.size() > 0) {
-            sortedContours.addAll(input);
+            sortedContours.addAll(input.subList(0, Math.min(input.size(), maxTargets - 1)));
 
             switch (sort) {
                 case Largest:
diff --git a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
index 71aea9519..822b9551d 100644
--- a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
+++ b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
@@ -147,7 +147,8 @@ public class ServerHandler {
                                 break;
                             case "save":
                                 ConfigManager.saveGeneralSettings();
-                                System.out.println("saved Settings");
+                                VisionManager.saveAllCameras();
+                                System.out.println("Saved Settings");
                                 break;
                         }
                         // used to define all incoming commands
@@ -168,9 +169,11 @@ public class ServerHandler {
                         switch (entry.getKey()) {
                             case "exposure": {
                                 currentCamera.setExposure((Integer) entry.getValue());
+                                VisionManager.saveCurrentCameraPipelines();
                             }
                             case "brightness": {
                                 currentCamera.setBrightness((Integer) entry.getValue());
+                                VisionManager.saveCurrentCameraPipelines();
                             }
                         }
                         break;
diff --git a/Main/src/test/java/com/chameleonvision/config/ConfigManagerTest.java b/Main/src/test/java/com/chameleonvision/config/ConfigManagerTest.java
new file mode 100644
index 000000000..e3f495235
--- /dev/null
+++ b/Main/src/test/java/com/chameleonvision/config/ConfigManagerTest.java
@@ -0,0 +1,19 @@
+package com.chameleonvision.config;
+
+import org.junit.jupiter.api.BeforeAll;
+
+import java.io.IOException;
+import java.nio.file.Files;
+
+public class ConfigManagerTest {
+
+    @BeforeAll
+    public void deleteConfig() {
+        try {
+            Files.delete(ConfigManager.SettingsPath);
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+}