Metrics and lighting implementation (#116)

Implements metrics and lighting control.

photon-client/src/App.vue

@@ -38,9 +38,9 @@
           </v-list-item-content>
         </v-list-item>
         <v-list-item
+          ref="camerasTabOpener"
           link
           to="cameras"
-          ref="camerasTabOpener"
           @click="switchToDriverMode()"
         >
           <v-list-item-icon>
@@ -53,6 +53,7 @@
         <v-list-item
           link
           to="settings"
+          @click="switchToSettingsTab()"
         >
           <v-list-item-icon>
             <v-icon>mdi-settings</v-icon>
@@ -118,7 +119,7 @@
       >
         <v-layout>
           <v-flex>
-            <router-view v-on:switch-to-cameras="switchToDriverMode" />
+            <router-view @switch-to-cameras="switchToDriverMode" />
           </v-flex>
         </v-layout>
       </v-container>
@@ -246,6 +247,9 @@ import Logs from "./views/LogsView"
                     this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndex || 0);
                 }
                 this.previouslySelectedIndex = null;
+            },
+            switchToSettingsTab() {
+                this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
             }
         }
     };

photon-client/src/store/index.js

@@ -127,6 +127,14 @@ export default new Vuex.Store({
             patternHeight: 7,
             boardType: 0, // Chessboard, dotboard
         },
+        metrics: {
+            cpuTemp: "N/A",
+            cpuUtil: "N/A",
+            cpuMem: "N/A",
+            gpuMem: "N/A",
+            ramUtil: "N/A",
+            gpuMemUtil: "N/A",
+        }
     },
     mutations: {
         compactMode: set('compactMode'),
@@ -135,6 +143,7 @@ export default new Vuex.Store({
         selectedOutputs: set('selectedOutputs'),
         settings: set('settings'),
         calibrationData: set('calibrationData'),
+        metrics: set('metrics'),
         logString: (state, newStr) => {
             const str = state.logMessages;
             str.push(newStr)
@@ -182,8 +191,12 @@ export default new Vuex.Store({
                     Vue.set(state, 'pipelineResults', payload[key])
                 }
             }
+        },
 
-
+        mutateEnabledLEDPercentage(state, payload)  {
+            const settings = state.settings;
+            settings.lighting.brightness = payload;
+            Vue.set(state, "settings", settings);
         },
 
         mutateCalibrationState: (state, payload) => {

photon-client/src/views/SettingsView.vue

@@ -8,32 +8,19 @@
         cols="12"
         style="max-width: 1400px"
       >
-        <v-form
-          ref="form"
-          v-model="valid"
+        <v-card
+          v-for="item in tabList"
+          :key="item.name"
+          dark
+          class="mb-3 pr-6 pb-3"
+          style="background-color: #006492;"
         >
-          <v-card
-            v-for="item in tabList"
-            :key="item.name"
-            dark
-            class="mb-3 pr-6 pb-3"
-            style="background-color: #006492;"
-          >
-            <v-card-title>{{ item.name }}</v-card-title>
-            <component
-              :is="item"
-              class="ml-5"
-            />
-          </v-card>
-          <v-btn
-            color="accent"
-            style="color: black; width: 100%;"
-            :disabled="!valid"
-            @click="sendGeneralSettings()"
-          >
-            Save
-          </v-btn>
-        </v-form>
+          <v-card-title>{{ item.name }}</v-card-title>
+          <component
+            :is="item"
+            class="ml-5"
+          />
+        </v-card>
       </v-col>
     </v-row>
     <v-snackbar
@@ -61,7 +48,6 @@
         data() {
             return {
                 selectedTab: 0,
-                valid: true, // Are all settings valid
                 snack: false,
                 snackbar: {
                   color: "accent",
@@ -86,28 +72,6 @@
                 }
             }
         },
-        methods: {
-            sendGeneralSettings() {
-                this.axios.post("http://" + this.$address + "/api/settings/general", this.settings).then(
-                    function (response) {
-                        if (response.status === 200) {
-                            this.snackbar = {
-                                color: "success",
-                                text: "Settings updated successfully"
-                            };
-                            this.snack = true;
-                        }
-                    },
-                    function (error) {
-                        this.snackbar = {
-                            color: "error",
-                            text: (error.response || {data: "Couldn't save settings"}).data
-                        };
-                        this.snack = true;
-                    }
-                )
-            },
-        }
     }
 </script>
 

photon-client/src/views/SettingsViews/General.vue

@@ -1,14 +1,21 @@
 <template>
   <div>
-    <span>Version: {{ settings.version }}</span>
-    &mdash;
-    <div v-if="settings.hardwareModel !== ''">
-      <span>Hardware model: {{ settings.hardwareModel }}</span>
-      &mdash;
+    <v-row class="pa-4">
+      <span>{{ infoTabs.join('  —  ') }}</span>
+    </v-row>
+
+    <div v-if="metrics.cpuUtil !== 'N/A'">
+      <v-row class="pa-4">
+        <span>CPU Usage: {{ metrics.cpuUtil.replace(" ", "") }}%</span>
+        &nbsp;&ndash;&nbsp;
+        <span>CPU Temp: {{ parseInt(metrics.cpuTemp) }}&deg;&nbsp;C</span>
+        &nbsp;&ndash;&nbsp;
+        <span>CPU Memory Usage: {{ metrics.ramUtil.replace(" ", "") }}MB of {{ metrics.cpuMem }}MB</span>
+        &ndash;
+        <span>GPU Memory Usage: {{ metrics.gpuMemUtil }}MB of {{ metrics.gpuMem }}MB</span>
+      </v-row>
     </div>
-    <span>Platform: {{ settings.hardwarePlatform }}</span>
-    &mdash;
-    <span>GPU Acceleration: {{ settings.gpuAcceleration ? "Enabled" : "Unsupported" }}{{ settings.gpuAcceleration ? " (" + settings.gpuAcceleration + " mode)" : "" }}</span>
+      
     <v-row>
       <v-col
         cols="12"
@@ -21,7 +28,8 @@
         >
           <v-icon left>
             mdi-download
-          </v-icon> Export Settings
+          </v-icon>
+          Export Settings
         </v-btn>
       </v-col>
       <v-col
@@ -35,7 +43,8 @@
         >
           <v-icon left>
             mdi-upload
-          </v-icon> Import Settings
+          </v-icon>
+          Import Settings
         </v-btn>
       </v-col>
       <v-col
@@ -48,7 +57,8 @@
         >
           <v-icon left>
             mdi-restart
-          </v-icon> Restart Photon
+          </v-icon>
+          Restart Photon
         </v-btn>
       </v-col>
       <v-col
@@ -61,7 +71,8 @@
         >
           <v-icon left>
             mdi-restart
-          </v-icon> Restart Device
+          </v-icon>
+          Restart Device
         </v-btn>
       </v-col>
     </v-row>
@@ -108,6 +119,21 @@ export default {
     computed: {
         settings() {
             return this.$store.state.settings.general;
+        },
+        infoTabs() {
+            let ret = [];
+            let idx = 0;
+            ret[idx++] = `Version: ${this.settings.version}`;
+            if (this.settings.hardwareModel !== '') {
+                ret[idx++] = `Hardware model: ${this.settings.hardwareModel}`;
+            }
+            ret[idx++] = `Platform: ${this.settings.hardwarePlatform}`;
+            ret[idx++] = `GPU Acceleration: ${this.settings.gpuAcceleration ? "Enabled" : "Unsupported"}${this.settings.gpuAcceleration ? " (" + this.settings.gpuAcceleration + " mode)" : ""}`
+
+            return ret;
+        },
+        metrics() {
+            return this.$store.state.metrics;
         }
     },
     methods: {

photon-client/src/views/SettingsViews/Lighting.vue

@@ -1,14 +1,13 @@
 <template>
   <div>
     <CVslider
-      v-model="settings.brightness"
+      v-model="enabledLEDPercentage"
       class="pt-2"
       slider-cols="12"
       name="Brightness"
       min="0"
       max="100"
-      @input="handleData('accuracy')"
-      @rollback="e => rollback('accuracy', e)"
+      @input="handleData('enabledLEDPercentage')"
     />
   </div>
 </template>
@@ -22,6 +21,14 @@
             CVslider,
         },
         computed: {
+            enabledLEDPercentage: {
+                get() {
+                    return this.settings.brightness
+                },
+                set(value) {
+                    this.$store.commit("mutateEnabledLEDPercentage", value)
+                }
+            },
             isDHCP() {
                 return this.settings.connectionType === 0;
             },

photon-client/src/views/SettingsViews/Networking.vue

@@ -1,36 +1,50 @@
 <template>
   <div>
-    <CVnumberinput
-      v-model="settings.teamNumber"
-      name="Team Number"
-      :rules="[v => (v > 0) || 'Team number must be greater than zero', v => (v < 10000) || 'Team number must have fewer than five digits']"
-      class="mb-4"
-    />
-    <CVSwitch
-      v-model="settings.runNTServer"
-      name="Run NetworkTables Server"
-      tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
-    />
-    <template v-if="$store.state.settings.networkSettings.supported">
-      <CVradio
-        v-model="settings.connectionType"
-        :list="['DHCP','Static']"
+    <v-form
+      ref="form"
+      v-model="valid"
+    >
+      <CVnumberinput
+        v-model="settings.teamNumber"
+        :disabled="settings.runNTServer"
+        name="Team Number"
+        :rules="[v => (v > 0) || 'Team number must be greater than zero', v => (v < 10000) || 'Team number must have fewer than five digits']"
+        class="mb-4"
       />
-      <template v-if="!isDHCP">
-        <CVinput
-          v-model="settings.staticIp"
-          :input-cols="inputCols"
-          :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
-          name="IP"
+      <CVSwitch
+        v-model="settings.runNTServer"
+        name="Run NetworkTables Server"
+        tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+      />
+      <template v-if="$store.state.settings.networkSettings.supported">
+        <CVradio
+          v-model="settings.connectionType"
+          :list="['DHCP','Static']"
         />
+        <template v-if="!isDHCP">
+          <CVinput
+            v-model="settings.staticIp"
+            :input-cols="inputCols"
+            :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
+            name="IP"
+          />
+        </template>
       </template>
-    </template>
-    <CVinput
-      v-model="settings.hostname"
-      :input-cols="inputCols"
-      :rules="[v => isHostname(v) || 'Invalid hostname']"
-      name="Hostname"
-    />
+      <CVinput
+        v-model="settings.hostname"
+        :input-cols="inputCols"
+        :rules="[v => isHostname(v) || 'Invalid hostname']"
+        name="Hostname"
+      />
+    </v-form>
+    <v-btn
+      color="accent"
+      style="color: black; width: 100%;"
+      :disabled="!valid"
+      @click="sendGeneralSettings()"
+    >
+      Save
+    </v-btn>
   </div>
 </template>
 
@@ -61,7 +75,8 @@
                     text: ""
                 },
                 snack: false,
-                isLoading: false
+                isLoading: false,
+                valid: true, // Are all settings valid
             }
         },
         computed: {
@@ -99,7 +114,27 @@
                 }
               }
               return true;
-            }
+            },
+            sendGeneralSettings() {
+                this.axios.post("http://" + this.$address + "/api/settings/general", this.settings).then(
+                    function (response) {
+                        if (response.status === 200) {
+                            this.snackbar = {
+                                color: "success",
+                                text: "Settings updated successfully"
+                            };
+                            this.snack = true;
+                        }
+                    },
+                    function (error) {
+                        this.snackbar = {
+                            color: "error",
+                            text: (error.response || {data: "Couldn't save settings"}).data
+                        };
+                        this.snack = true;
+                    }
+                )
+            },
         },
     }
 </script>

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

@@ -24,6 +24,7 @@ import org.apache.commons.cli.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
+import org.photonvision.common.hardware.HardwareManager;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
@@ -133,14 +134,13 @@ public class Main {
             logger.error("Failed to parse command-line options!", e);
         }
 
-        logger.info("Running in " + (isRelease ? "release" : "development") + " mode!");
-        var logLevel = (isRelease || printDebugLogs) ? LogLevel.INFO : LogLevel.DEBUG;
+        var logLevel = LogLevel.DEBUG;
         Logger.setLevel(LogGroup.Camera, logLevel);
         Logger.setLevel(LogGroup.WebServer, logLevel);
         Logger.setLevel(LogGroup.VisionModule, logLevel);
         Logger.setLevel(LogGroup.Data, logLevel);
         Logger.setLevel(LogGroup.General, logLevel);
-        logger.info("Logging initialized in " + (isRelease ? "Release" : "Debug") + " mode.");
+        logger.info("Logging initialized in debug mode.");
 
         logger.info(
                 "Starting PhotonVision version "
@@ -159,17 +159,14 @@ public class Main {
         ConfigManager.getInstance().load(); // init config manager
         ConfigManager.getInstance().requestSave();
 
+        // Force load the hardware manager
+        HardwareManager.getInstance();
+
         NetworkManager.getInstance().initialize(false);
 
         NetworkTablesManager.getInstance()
                 .setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
 
-        //        HashMap<VisionSource, List<CVPipelineSettings>> allSources = gatherSources();
-
-        //        logger.info("Adding " + allSources.size() + " configs to VMM.");
-        //        VisionModuleManager.getInstance().addSources(allSources);
-        //        ConfigManager.getInstance().addCameraConfigurations(allSources);
-
         if (!isTestMode) {
             VisionSourceManager.getInstance()
                     .registerLoadedConfigs(

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

@@ -42,6 +42,7 @@ public class ConfigManager {
 
     private PhotonConfiguration config;
     private final File hardwareConfigFile;
+    private final File hardwareSettingsFile;
     private final File networkConfigFile;
     private final File camerasFolder;
 
@@ -82,6 +83,8 @@ public class ConfigManager {
         this.configDirectoryFile = new File(configDirectoryFile.toUri());
         this.hardwareConfigFile =
                 new File(Path.of(configDirectoryFile.toString(), "hardwareConfig.json").toUri());
+        this.hardwareSettingsFile =
+                new File(Path.of(configDirectoryFile.toString(), "hardwareSettings.json").toUri());
         this.networkConfigFile =
                 new File(Path.of(configDirectoryFile.toString(), "networkSettings.json").toUri());
         this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
@@ -110,6 +113,7 @@ public class ConfigManager {
         }
 
         HardwareConfig hardwareConfig;
+        HardwareSettings hardwareSettings;
         NetworkConfig networkConfig;
 
         if (hardwareConfigFile.exists()) {
@@ -129,6 +133,23 @@ public class ConfigManager {
             hardwareConfig = new HardwareConfig();
         }
 
+        if (hardwareSettingsFile.exists()) {
+            try {
+                hardwareSettings =
+                        JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
+                if (hardwareSettings == null) {
+                    logger.error("Could not deserialize hardware settings! Loading defaults");
+                    hardwareSettings = new HardwareSettings();
+                }
+            } catch (IOException e) {
+                logger.error("Could not deserialize hardware settings! Loading defaults");
+                hardwareSettings = new HardwareSettings();
+            }
+        } else {
+            logger.info("Hardware settings does not exist! Loading defaults");
+            hardwareSettings = new HardwareSettings();
+        }
+
         if (networkConfigFile.exists()) {
             try {
                 networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
@@ -155,7 +176,9 @@ public class ConfigManager {
 
         HashMap<String, CameraConfiguration> cameraConfigurations = loadCameraConfigs();
 
-        this.config = new PhotonConfiguration(hardwareConfig, networkConfig, cameraConfigurations);
+        this.config =
+                new PhotonConfiguration(
+                        hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations);
     }
 
     public void saveToDisk() {
@@ -167,6 +190,11 @@ public class ConfigManager {
         } catch (IOException e) {
             logger.error("Could not save network config!", e);
         }
+        try {
+            JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
+        } catch (IOException e) {
+            logger.error("Could not save hardware config!", e);
+        }
 
         // save all of our cameras
         var cameraConfigMap = config.getCameraConfigurations();

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

@@ -43,8 +43,8 @@ public class HardwareConfig {
     public final String cpuMemoryCommand;
     public final String cpuUtilCommand;
     public final String gpuMemoryCommand;
-    public final String gpuTempCommand;
     public final String ramUtilCommand;
+    public final String gpuMemUsageCommand;
 
     // Device stuff
     public final String restartHardwareCommand;
@@ -68,9 +68,9 @@ public class HardwareConfig {
         cpuMemoryCommand = "";
         cpuUtilCommand = "";
         gpuMemoryCommand = "";
-        gpuTempCommand = "";
         ramUtilCommand = "";
         ledBlinkCommand = "";
+        gpuMemUsageCommand = "";
 
         restartHardwareCommand = "";
         vendorFOV = -1;
@@ -95,8 +95,8 @@ public class HardwareConfig {
             String cpuMemoryCommand,
             String cpuUtilCommand,
             String gpuMemoryCommand,
-            String gpuTempCommand,
             String ramUtilCommand,
+            String gpuMemUsageCommand,
             String restartHardwareCommand,
             double vendorFOV,
             List<Integer> blacklistedResIndices) {
@@ -116,11 +116,11 @@ public class HardwareConfig {
         this.cpuMemoryCommand = cpuMemoryCommand;
         this.cpuUtilCommand = cpuUtilCommand;
         this.gpuMemoryCommand = gpuMemoryCommand;
-        this.gpuTempCommand = gpuTempCommand;
         this.ramUtilCommand = ramUtilCommand;
         this.restartHardwareCommand = restartHardwareCommand;
         this.vendorFOV = vendorFOV;
         this.blacklistedResIndices = blacklistedResIndices;
+        this.gpuMemUsageCommand = gpuMemUsageCommand;
     }
 
     public final boolean hasPresetFOV() {

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

@@ -0,0 +1,22 @@
+/*
+ * 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.configuration;
+
+public class HardwareSettings {
+    public int ledBrightnessPercentage = 100;
+}

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

@@ -23,7 +23,7 @@ import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkMode;
 
 public class NetworkConfig {
-    public int teamNumber = -1;
+    public int teamNumber = 0;
     public NetworkMode connectionType = NetworkMode.DHCP;
     public String staticIp = "";
     public String netmask = "";

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

@@ -30,6 +30,30 @@ import org.photonvision.vision.processes.VisionModuleManager;
 
 // TODO rename this class
 public class PhotonConfiguration {
+
+    private HardwareConfig hardwareConfig;
+    private HardwareSettings hardwareSettings;
+    private NetworkConfig networkConfig;
+    private HashMap<String, CameraConfiguration> cameraConfigurations;
+
+    public PhotonConfiguration(
+            HardwareConfig hardwareConfig,
+            HardwareSettings hardwareSettings,
+            NetworkConfig networkConfig) {
+        this(hardwareConfig, hardwareSettings, networkConfig, new HashMap<>());
+    }
+
+    public PhotonConfiguration(
+            HardwareConfig hardwareConfig,
+            HardwareSettings hardwareSettings,
+            NetworkConfig networkConfig,
+            HashMap<String, CameraConfiguration> cameraConfigurations) {
+        this.hardwareConfig = hardwareConfig;
+        this.hardwareSettings = hardwareSettings;
+        this.networkConfig = networkConfig;
+        this.cameraConfigurations = cameraConfigurations;
+    }
+
     public HardwareConfig getHardwareConfig() {
         return hardwareConfig;
     }
@@ -38,6 +62,10 @@ public class PhotonConfiguration {
         return networkConfig;
     }
 
+    public HardwareSettings getHardwareSettings() {
+        return hardwareSettings;
+    }
+
     public void setNetworkConfig(NetworkConfig networkConfig) {
         this.networkConfig = networkConfig;
     }
@@ -60,25 +88,6 @@ public class PhotonConfiguration {
         cameraConfigurations.put(name, config);
     }
 
-    private HardwareConfig hardwareConfig;
-
-    private NetworkConfig networkConfig;
-
-    private HashMap<String, CameraConfiguration> cameraConfigurations;
-
-    public PhotonConfiguration(HardwareConfig hardwareConfig, NetworkConfig networkConfig) {
-        this(hardwareConfig, networkConfig, new HashMap<>());
-    }
-
-    public PhotonConfiguration(
-            HardwareConfig hardwareConfig,
-            NetworkConfig networkConfig,
-            HashMap<String, CameraConfiguration> cameraConfigurations) {
-        this.hardwareConfig = hardwareConfig;
-        this.networkConfig = networkConfig;
-        this.cameraConfigurations = cameraConfigurations;
-    }
-
     public Map<String, Object> toHashMap() {
         Map<String, Object> map = new HashMap<>();
         var settingsSubmap = new HashMap<String, Object>();
@@ -91,7 +100,9 @@ public class PhotonConfiguration {
                         .map(SerializationUtils::objectToHashMap)
                         .collect(Collectors.toList()));
 
-        settingsSubmap.put("lighting", SerializationUtils.objectToHashMap(hardwareConfig));
+        var lightingConfig = new UILightingConfig();
+        // TODO set constants
+        settingsSubmap.put("lighting", SerializationUtils.objectToHashMap(lightingConfig));
 
         var generalSubmap = new HashMap<String, Object>();
         generalSubmap.put("version", PhotonVersion.versionString);
@@ -105,6 +116,11 @@ public class PhotonConfiguration {
         return map;
     }
 
+    public static class UILightingConfig {
+        public int brightness = 0;
+        public boolean supported = true;
+    }
+
     public static class UICameraConfiguration {
         @SuppressWarnings("unused")
         public double fov, tiltDegrees;

photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -47,7 +47,7 @@ public class HardwareManager {
     @SuppressWarnings("FieldCanBeLocal")
     private final NTDataChangeListener ledModeListener;
 
-    public final VisionLED visionLED;
+    public final VisionLED visionLED; // May be null if no LED is specified
 
     public static HardwareManager getInstance() {
         if (instance == null) {
@@ -61,28 +61,47 @@ public class HardwareManager {
         CustomGPIO.setConfig(hardwareConfig);
         MetricsBase.setConfig(hardwareConfig);
 
-        statusLED = new StatusLED(hardwareConfig.statusRGBPins);
+        statusLED =
+                hardwareConfig.statusRGBPins.size() == 3
+                        ? new StatusLED(hardwareConfig.statusRGBPins)
+                        : null;
         visionLED =
-                new VisionLED(
-                        hardwareConfig.ledPins,
-                        hardwareConfig.ledPWMFrequency,
-                        (hardwareConfig.ledPWMRange != null && hardwareConfig.ledPWMRange.size() == 2)
-                                ? hardwareConfig.ledPWMRange.get(1)
-                                : 0);
+                hardwareConfig.ledPins.isEmpty()
+                        ? null
+                        : new VisionLED(
+                                hardwareConfig.ledPins,
+                                hardwareConfig.ledPWMFrequency,
+                                (hardwareConfig.ledPWMRange != null && hardwareConfig.ledPWMRange.size() == 2)
+                                        ? hardwareConfig.ledPWMRange.get(1)
+                                        : 0);
 
         ledModeEntry = NetworkTablesManager.getInstance().kRootTable.getEntry("ledMode");
         ledModeEntry.setNumber(VisionLEDMode.VLM_DEFAULT.value);
-        ledModeListener = new NTDataChangeListener(ledModeEntry, visionLED::onLedModeChange);
+        ledModeListener =
+                visionLED == null
+                        ? null
+                        : new NTDataChangeListener(ledModeEntry, visionLED::onLedModeChange);
 
         Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));
 
+        if (visionLED != null)
+            visionLED.setBrightness(
+                    ConfigManager.getInstance().getConfig().getHardwareSettings().ledBrightnessPercentage);
+
         // Start hardware metrics thread (Disabled until implemented)
         // if (Platform.isLinux()) MetricsPublisher.getInstance().startTask();
     }
 
+    public void setBrightnessPercent(int percent) {
+        ConfigManager.getInstance().getConfig().getHardwareSettings().ledBrightnessPercentage = percent;
+        if (visionLED != null) visionLED.setBrightness(percent);
+        ConfigManager.getInstance().requestSave();
+        logger.info("Setting led brightness to " + percent + "%");
+    }
+
     private void onJvmExit() {
-        logger.info("Shutting down...");
-        visionLED.setState(false);
+        logger.info("Shutting down LEDs...");
+        if (visionLED != null) visionLED.setState(false);
     }
 
     public boolean restartDevice() {

photon-server/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java

@@ -19,17 +19,23 @@ package org.photonvision.common.hardware.metrics;
 
 public class CPUMetrics extends MetricsBase {
 
-    public CPUMetrics() {}
+    private String cpuMemSplit = null;
 
     public String getMemory() {
         if (cpuMemoryCommand.isEmpty()) return "";
-        return execute(cpuMemoryCommand);
+        if (cpuMemSplit == null) {
+            cpuMemSplit = execute(cpuMemoryCommand);
+        }
+        return cpuMemSplit;
     }
 
-    // TODO: Command should return in Celsius
     public String getTemp() {
         if (cpuTemperatureCommand.isEmpty()) return "";
-        return execute(cpuTemperatureCommand);
+        try {
+            return execute(cpuTemperatureCommand);
+        } catch (Exception e) {
+            return "N/A";
+        }
     }
 
     public String getUtilization() {

photon-server/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java

@@ -18,11 +18,16 @@
 package org.photonvision.common.hardware.metrics;
 
 public class GPUMetrics extends MetricsBase {
-    public String getMemory() {
-        return execute(gpuMemoryCommand);
+    private String gpuMemSplit = null;
+
+    public String getGPUMemorySplit() {
+        if (gpuMemSplit == null) {
+            gpuMemSplit = execute(gpuMemoryCommand);
+        }
+        return gpuMemSplit;
     }
 
-    public String getTemp() {
-        return execute(gpuTemperatureCommand);
+    public String getMallocedMemory() {
+        return execute(gpuMemUsageCommand);
     }
 }

photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java

@@ -26,18 +26,18 @@ import org.photonvision.common.util.ShellExec;
 public abstract class MetricsBase {
     private static final Logger logger = new Logger(MetricsBase.class, LogGroup.General);
     // CPU
-    public static String cpuMemoryCommand = "sudo vcgencmd get_mem arm | grep -Eo '[0-9]+'";
+    public static String cpuMemoryCommand = "vcgencmd get_mem arm | grep -Eo '[0-9]+'";
     public static String cpuTemperatureCommand =
-            "sudo cat /sys/class/thermal/thermal_zone0/temp | grep -x -E '[0-9]+'";
+            "sed 's/.\\{3\\}$/.&/' <<< cat /sys/class/thermal/thermal_zone0/temp";
     public static String cpuUtilizationCommand =
-            "sudo top -bn1 | grep \"Cpu(s)\" | sed \"s/.*, *\\([0-9.]*\\)%* id.*/\\1/\" | awk '{print 100 - $1}'";
+            "top -bn1 | grep \"Cpu(s)\" | sed \"s/.*, *\\([0-9.]*\\)%* id.*/\\1/\" | awk '{print 100 - $1}'";
 
     // GPU
-    public static String gpuMemoryCommand = "sudo vcgencmd get_mem gpu | grep -Eo '[0-9]+'";
-    public static String gpuTemperatureCommand = "sudo vcgencmd measure_temp | sed 's/[^0-9]*//g'\n";
+    public static String gpuMemoryCommand = "vcgencmd get_mem gpu | grep -Eo '[0-9]+'";
+    public static String gpuMemUsageCommand = "vcgencmd get_mem malloc | grep -Eo '[0-9]+'";
 
     // RAM
-    public static String ramUsageCommand = "sudo free  | awk -v i=2 -v j=3 'FNR == i {print $j}'";
+    public static String ramUsageCommand = "free --mega | awk -v i=2 -v j=3 'FNR == i {print $j}'";
 
     private static ShellExec runCommand = new ShellExec(true, true);
 
@@ -48,7 +48,7 @@ public abstract class MetricsBase {
         cpuUtilizationCommand = config.cpuUtilCommand;
 
         gpuMemoryCommand = config.gpuMemoryCommand;
-        gpuTemperatureCommand = config.gpuTempCommand;
+        gpuMemUsageCommand = config.gpuMemUsageCommand;
 
         ramUsageCommand = config.ramUtilCommand;
     }

photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java

@@ -17,15 +17,15 @@
 
 package org.photonvision.common.hardware.metrics;
 
+import com.fasterxml.jackson.core.JsonProcessingException;
 import java.util.HashMap;
-import org.photonvision.common.dataflow.DataChangeService;
-import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
+import org.photonvision.server.SocketHandler;
 
 public class MetricsPublisher {
-    private final HashMap<String, String> metrics;
     private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
     private static CPUMetrics cpuMetrics;
     private static GPUMetrics gpuMetrics;
@@ -39,26 +39,6 @@ public class MetricsPublisher {
         cpuMetrics = new CPUMetrics();
         gpuMetrics = new GPUMetrics();
         ramMetrics = new RAMMetrics();
-
-        metrics = new HashMap<>();
-    }
-
-    public void startTask() {
-        TimedTaskManager.getInstance()
-                .addTask(
-                        "Metrics",
-                        () -> {
-                            metrics.put("cpuTemp", cpuMetrics.getTemp());
-                            metrics.put("cpuUtil", cpuMetrics.getUtilization());
-                            metrics.put("cpuMem", cpuMetrics.getMemory());
-                            metrics.put("gpuTemp", gpuMetrics.getTemp());
-                            metrics.put("gpuMem", gpuMetrics.getMemory());
-                            metrics.put("ramUtil", ramMetrics.getUsedRam());
-
-                            DataChangeService.getInstance()
-                                    .publishEvent(new OutgoingUIEvent<>("metrics", metrics));
-                        },
-                        1000);
     }
 
     public void stopTask() {
@@ -66,6 +46,32 @@ public class MetricsPublisher {
         logger.info("This device does not support running bash commands. Stopped metrics thread.");
     }
 
+    public void publish() {
+        if (!Platform.isRaspberryPi()) {
+            logger.debug("Ignoring metrics on non-Pi devices");
+            return;
+        }
+
+        logger.debug("Publishing Metrics...");
+        final var metrics = new HashMap<String, String>();
+
+        metrics.put("cpuTemp", cpuMetrics.getTemp());
+        metrics.put("cpuUtil", cpuMetrics.getUtilization());
+        metrics.put("cpuMem", cpuMetrics.getMemory());
+        metrics.put("gpuMem", gpuMetrics.getGPUMemorySplit());
+        metrics.put("ramUtil", ramMetrics.getUsedRam());
+        metrics.put("gpuMemUtil", gpuMetrics.getMallocedMemory());
+
+        var retMap = new HashMap<String, Object>();
+        retMap.put("metrics", metrics);
+
+        try {
+            SocketHandler.getInstance().broadcastMessage(retMap, null);
+        } catch (JsonProcessingException e) {
+            logger.error("Exception while sending metrics!", e);
+        }
+    }
+
     private static class Singleton {
         public static final MetricsPublisher INSTANCE = new MetricsPublisher();
     }

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

@@ -28,6 +28,7 @@ public final class SerializationUtils {
         var ret = new HashMap<String, Object>();
         for (var field : src.getClass().getFields()) {
             try {
+                field.setAccessible(true);
                 if (!field
                         .getType()
                         .isEnum()) { // if the field is not an enum, get it based on the current pipeline

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

@@ -33,6 +33,7 @@ import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.HardwareManager;
 import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.hardware.metrics.MetricsPublisher;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
@@ -180,6 +181,11 @@ public class RequestHandler {
         ctx.status(200);
     }
 
+    public static void sendMetrics(Context ctx) {
+        MetricsPublisher.getInstance().publish();
+        ctx.status(200);
+    }
+
     public static class UITargetData {
         public int index;
         public TargetModel targetModel;

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

@@ -80,6 +80,7 @@ public class Server {
         app.post("/api/restartDevice", RequestHandler::restartDevice);
         app.post("api/restartProgram", RequestHandler::restartProgram);
         app.post("api/vision/pnpModel", RequestHandler::uploadPnpModel);
+        app.post("api/sendMetrics", RequestHandler::sendMetrics);
 
         app.start(port);
     }

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

@@ -35,6 +35,7 @@ import org.msgpack.jackson.dataformat.MessagePackFactory;
 import org.photonvision.common.dataflow.DataChangeDestination;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
+import org.photonvision.common.hardware.HardwareManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.pipeline.PipelineType;
@@ -182,6 +183,12 @@ public class SocketHandler {
                                 dcService.publishEvent(newPipelineEvent);
                                 break;
                             }
+                        case SMT_CHANGEBRIGHTNESS:
+                            {
+                                HardwareManager.getInstance()
+                                        .setBrightnessPercent(Integer.parseInt(entryValue.toString()));
+                                break;
+                            }
                         case SMT_DUPLICATEPIPELINE:
                             {
                                 var pipeIndex = (Integer) entryValue;

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

@@ -34,6 +34,7 @@ public enum SocketMessageType {
     SMT_STARTPNPCALIBRATION("startPnpCalibration"),
     SMT_TAKECALIBRATIONSNAPSHOT("takeCalibrationSnapshot"),
     SMT_DUPLICATEPIPELINE("duplicatePipeline"),
+    SMT_CHANGEBRIGHTNESS("enabledLEDPercentage"),
     SMT_ROBOTOFFSETPOINT("robotOffsetPoint");
 
     public final String entryKey;

photon-server/src/test/java/org/photonvision/hardware/HardwareTest.java

@@ -46,8 +46,7 @@ public class HardwareTest {
         System.out.println("Utilization: : " + cpuMetrics.getUtilization() + "%");
 
         System.out.println("Printing GPU Info:");
-        System.out.println("Memory: " + gpuMetrics.getMemory() + "MB");
-        System.out.println("Temperature: " + gpuMetrics.getTemp() + "C");
+        System.out.println("Memory: " + gpuMetrics.getGPUMemorySplit() + "MB");
 
         System.out.println("Printing RAM Info: ");
         System.out.println("Used RAM: : " + ramMetrics.getUsedRam() + "MB");