diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index a14218fa6..bfe05e24a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -271,11 +271,7 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
         videoModes = new HashMap<>();
         List<VideoMode> videoModesList = new ArrayList<>();
         try {
-            VideoMode[] modes;
-
-            modes = camera.enumerateVideoModes();
-
-            for (VideoMode videoMode : modes) {
+            for (VideoMode videoMode : camera.enumerateVideoModes()) {
                 // Filter grey modes
                 if (videoMode.pixelFormat == PixelFormat.kGray
                         || videoMode.pixelFormat == PixelFormat.kUnknown) {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
index f5cd52c26..3e98f7e9e 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -134,8 +134,8 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
             return new CVPipelineResult(frame.sequenceID, 0, 0, List.of(), frame);
         }
 
-        CVPipeResult<List<AprilTagDetection>> tagDetectionPipeResult;
-        tagDetectionPipeResult = aprilTagDetectionPipe.run(frame.processedImage);
+        CVPipeResult<List<AprilTagDetection>> tagDetectionPipeResult =
+                aprilTagDetectionPipe.run(frame.processedImage);
         sumPipeNanosElapsed += tagDetectionPipeResult.nanosElapsed;
 
         List<AprilTagDetection> detections = tagDetectionPipeResult.output;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
index 8395054a1..b0a4505a6 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
@@ -145,8 +145,8 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
             return new CVPipelineResult(frame.sequenceID, 0, 0, List.of(), frame);
         }
 
-        CVPipeResult<List<ArucoDetectionResult>> tagDetectionPipeResult;
-        tagDetectionPipeResult = arucoDetectionPipe.run(frame.processedImage);
+        CVPipeResult<List<ArucoDetectionResult>> tagDetectionPipeResult =
+                arucoDetectionPipe.run(frame.processedImage);
         sumPipeNanosElapsed += tagDetectionPipeResult.nanosElapsed;
 
         // If we want to debug the thresholding steps, draw the first step to the color image
@@ -163,14 +163,13 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
             // Populate target list for multitag
             // (TODO: Address circular dependencies. Multitag only requires corners and IDs, this should
             // not be necessary.)
-            TrackedTarget target =
+
+            targetList.add(
                     new TrackedTarget(
                             detection,
                             null,
                             new TargetCalculationParameters(
-                                    false, null, null, null, null, frameStaticProperties));
-
-            targetList.add(target);
+                                    false, null, null, null, null, frameStaticProperties)));
         }
 
         // Do multi-tag pose estimation
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
index 399869df1..d0a006254 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -82,7 +82,7 @@ public class Calibrate3dPipeline
 
     @Override
     protected void setPipeParamsImpl() {
-        FindBoardCornersPipe.FindCornersPipeParams findCornersPipeParams =
+        findBoardCornersPipe.setParams(
                 new FindBoardCornersPipe.FindCornersPipeParams(
                         settings.boardHeight,
                         settings.boardWidth,
@@ -91,13 +91,11 @@ public class Calibrate3dPipeline
                         settings.gridSize,
                         settings.markerSize,
                         settings.streamingFrameDivisor,
-                        settings.useOldPattern);
-        findBoardCornersPipe.setParams(findCornersPipeParams);
+                        settings.useOldPattern));
 
-        Calibrate3dPipe.CalibratePipeParams calibratePipeParams =
+        calibrate3dPipe.setParams(
                 new Calibrate3dPipe.CalibratePipeParams(
-                        settings.boardHeight, settings.boardWidth, settings.gridSize, settings.useMrCal);
-        calibrate3dPipe.setParams(calibratePipeParams);
+                        settings.boardHeight, settings.boardWidth, settings.gridSize, settings.useMrCal));
     }
 
     @Override
@@ -124,9 +122,7 @@ public class Calibrate3dPipeline
         var outputColorCVMat = new CVMat();
         inputColorMat.copyTo(outputColorCVMat.getMat());
 
-        FindBoardCornersPipeResult findBoardResult;
-
-        findBoardResult =
+        FindBoardCornersPipeResult findBoardResult =
                 findBoardCornersPipe.run(Pair.of(inputColorMat, outputColorCVMat.getMat())).output;
 
         if (takeSnapshot) {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
index fd1753f1a..0174c8bcb 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
@@ -72,19 +72,15 @@ public class ColoredShapePipeline
                         settings.offsetDualPointB,
                         settings.offsetDualPointBArea);
 
-        SpeckleRejectPipe.SpeckleRejectParams speckleRejectParams =
-                new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage);
-        speckleRejectPipe.setParams(speckleRejectParams);
+        speckleRejectPipe.setParams(
+                new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage));
 
-        FindContoursPipe.FindContoursParams findContoursParams =
-                new FindContoursPipe.FindContoursParams();
-        findContoursPipe.setParams(findContoursParams);
+        findContoursPipe.setParams(new FindContoursPipe.FindContoursParams());
 
-        FindPolygonPipe.FindPolygonPipeParams findPolygonPipeParams =
-                new FindPolygonPipe.FindPolygonPipeParams(settings.accuracyPercentage);
-        findPolygonPipe.setParams(findPolygonPipeParams);
+        findPolygonPipe.setParams(
+                new FindPolygonPipe.FindPolygonPipeParams(settings.accuracyPercentage));
 
-        FindCirclesPipe.FindCirclePipeParams findCirclePipeParams =
+        findCirclesPipe.setParams(
                 new FindCirclesPipe.FindCirclePipeParams(
                         settings.circleDetectThreshold,
                         settings.contourRadius.getFirst(),
@@ -92,49 +88,45 @@ public class ColoredShapePipeline
                         settings.contourRadius.getSecond(),
                         settings.maxCannyThresh,
                         settings.circleAccuracy,
-                        Math.hypot(frameStaticProperties.imageWidth, frameStaticProperties.imageHeight));
-        findCirclesPipe.setParams(findCirclePipeParams);
+                        Math.hypot(frameStaticProperties.imageWidth, frameStaticProperties.imageHeight)));
 
-        FilterShapesPipe.FilterShapesPipeParams filterShapesPipeParams =
+        filterShapesPipe.setParams(
                 new FilterShapesPipe.FilterShapesPipeParams(
                         settings.contourShape,
                         settings.contourArea.getFirst(),
                         settings.contourArea.getSecond(),
                         settings.contourPerimeter.getFirst(),
                         settings.contourPerimeter.getSecond(),
-                        frameStaticProperties);
-        filterShapesPipe.setParams(filterShapesPipeParams);
+                        frameStaticProperties));
 
-        SortContoursPipe.SortContoursParams sortContoursParams =
+        sortContoursPipe.setParams(
                 new SortContoursPipe.SortContoursParams(
                         settings.contourSortMode,
-                        settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
-                        frameStaticProperties); // TODO don't hardcode?
-        sortContoursPipe.setParams(sortContoursParams);
+                        settings.outputShowMultipleTargets
+                                ? MAX_MULTI_TARGET_RESULTS // TODO don't hardcode?
+                                : 1,
+                        frameStaticProperties));
 
-        Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =
+        collect2dTargetsPipe.setParams(
                 new Collect2dTargetsPipe.Collect2dTargetsParams(
                         settings.offsetRobotOffsetMode,
                         settings.offsetSinglePoint,
                         dualOffsetValues,
                         settings.contourTargetOffsetPointEdge,
                         settings.contourTargetOrientation,
-                        frameStaticProperties);
-        collect2dTargetsPipe.setParams(collect2dTargetsParams);
+                        frameStaticProperties));
 
-        var params =
+        cornerDetectionPipe.setParams(
                 new CornerDetectionPipe.CornerDetectionPipeParameters(
                         settings.cornerDetectionStrategy,
                         settings.cornerDetectionUseConvexHulls,
                         settings.cornerDetectionExactSideCount,
                         settings.cornerDetectionSideCount,
-                        settings.cornerDetectionAccuracyPercentage);
-        cornerDetectionPipe.setParams(params);
+                        settings.cornerDetectionAccuracyPercentage));
 
-        var solvePNPParams =
+        solvePNPPipe.setParams(
                 new SolvePNPPipe.SolvePNPPipeParams(
-                        frameStaticProperties.cameraCalibration, settings.targetModel);
-        solvePNPPipe.setParams(solvePNPParams);
+                        frameStaticProperties.cameraCalibration, settings.targetModel));
 
         Draw2dTargetsPipe.Draw2dTargetsParams draw2DTargetsParams =
                 new Draw2dTargetsPipe.Draw2dTargetsParams(
@@ -146,7 +138,7 @@ public class ColoredShapePipeline
         draw2DTargetsParams.showRotatedBox = false;
         draw2DTargetsPipe.setParams(draw2DTargetsParams);
 
-        Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
+        draw2dCrosshairPipe.setParams(
                 new Draw2dCrosshairPipe.Draw2dCrosshairParams(
                         settings.outputShouldDraw,
                         settings.offsetRobotOffsetMode,
@@ -154,16 +146,14 @@ public class ColoredShapePipeline
                         dualOffsetValues,
                         frameStaticProperties,
                         settings.streamingFrameDivisor,
-                        settings.inputImageRotationMode);
-        draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
+                        settings.inputImageRotationMode));
 
-        var draw3dTargetsParams =
+        draw3dTargetsPipe.setParams(
                 new Draw3dTargetsPipe.Draw3dContoursParams(
                         settings.outputShouldDraw,
                         frameStaticProperties.cameraCalibration,
                         settings.targetModel,
-                        settings.streamingFrameDivisor);
-        draw3dTargetsPipe.setParams(draw3dTargetsParams);
+                        settings.streamingFrameDivisor));
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
index 7d87c9a28..a8c52efc8 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -47,10 +47,11 @@ public class DriverModePipeline
 
     @Override
     protected void setPipeParamsImpl() {
-        Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
+        draw2dCrosshairPipe.setParams(
                 new Draw2dCrosshairPipe.Draw2dCrosshairParams(
-                        frameStaticProperties, settings.streamingFrameDivisor, settings.inputImageRotationMode);
-        draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
+                        frameStaticProperties,
+                        settings.streamingFrameDivisor,
+                        settings.inputImageRotationMode));
 
         resizeImagePipe.setParams(
                 new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
index 640c66759..572e08d6b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
@@ -67,10 +67,8 @@ public class ObjectDetectionPipeline
         if (selectedModel.isEmpty()) {
             selectedModel = Optional.of(NullModel.getInstance());
         }
-        var params =
-                new ObjectDetectionPipeParams(settings.confidence, settings.nms, selectedModel.get());
-
-        objectDetectorPipe.setParams(params);
+        objectDetectorPipe.setParams(
+                new ObjectDetectionPipeParams(settings.confidence, settings.nms, selectedModel.get()));
 
         DualOffsetValues dualOffsetValues =
                 new DualOffsetValues(
@@ -79,30 +77,27 @@ public class ObjectDetectionPipeline
                         settings.offsetDualPointB,
                         settings.offsetDualPointBArea);
 
-        SortContoursPipe.SortContoursParams sortContoursParams =
+        sortContoursPipe.setParams(
                 new SortContoursPipe.SortContoursParams(
                         settings.contourSortMode,
                         settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
-                        frameStaticProperties);
-        sortContoursPipe.setParams(sortContoursParams);
+                        frameStaticProperties));
 
-        var filterContoursParams =
+        filterContoursPipe.setParams(
                 new FilterObjectDetectionsPipe.FilterContoursParams(
                         settings.contourArea,
                         settings.contourRatio,
                         frameStaticProperties,
-                        settings.contourTargetOrientation == TargetOrientation.Landscape);
-        filterContoursPipe.setParams(filterContoursParams);
+                        settings.contourTargetOrientation == TargetOrientation.Landscape));
 
-        Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =
+        collect2dTargetsPipe.setParams(
                 new Collect2dTargetsPipe.Collect2dTargetsParams(
                         settings.offsetRobotOffsetMode,
                         settings.offsetSinglePoint,
                         dualOffsetValues,
                         settings.contourTargetOffsetPointEdge,
                         settings.contourTargetOrientation,
-                        frameStaticProperties);
-        collect2dTargetsPipe.setParams(collect2dTargetsParams);
+                        frameStaticProperties));
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
index fb4d6ba4f..70cb7e996 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -55,28 +55,25 @@ public class OutputStreamPipeline {
                         settings.offsetDualPointB,
                         settings.offsetDualPointBArea);
 
-        var draw2DTargetsParams =
+        draw2dTargetsPipe.setParams(
                 new Draw2dTargetsPipe.Draw2dTargetsParams(
                         settings.outputShouldDraw,
                         settings.outputShowMultipleTargets,
-                        settings.streamingFrameDivisor);
-        draw2dTargetsPipe.setParams(draw2DTargetsParams);
+                        settings.streamingFrameDivisor));
 
-        var draw2DAprilTagsParams =
+        draw2dAprilTagsPipe.setParams(
                 new Draw2dAprilTagsPipe.Draw2dAprilTagsParams(
                         settings.outputShouldDraw,
                         settings.outputShowMultipleTargets,
-                        settings.streamingFrameDivisor);
-        draw2dAprilTagsPipe.setParams(draw2DAprilTagsParams);
+                        settings.streamingFrameDivisor));
 
-        var draw2DArucoParams =
+        draw2dArucoPipe.setParams(
                 new Draw2dArucoPipe.Draw2dArucoParams(
                         settings.outputShouldDraw,
                         settings.outputShowMultipleTargets,
-                        settings.streamingFrameDivisor);
-        draw2dArucoPipe.setParams(draw2DArucoParams);
+                        settings.streamingFrameDivisor));
 
-        var draw2dCrosshairParams =
+        draw2dCrosshairPipe.setParams(
                 new Draw2dCrosshairPipe.Draw2dCrosshairParams(
                         settings.outputShouldDraw,
                         settings.offsetRobotOffsetMode,
@@ -84,32 +81,28 @@ public class OutputStreamPipeline {
                         dualOffsetValues,
                         frameStaticProperties,
                         settings.streamingFrameDivisor,
-                        settings.inputImageRotationMode);
-        draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
+                        settings.inputImageRotationMode));
 
-        var draw3dTargetsParams =
+        draw3dTargetsPipe.setParams(
                 new Draw3dTargetsPipe.Draw3dContoursParams(
                         settings.outputShouldDraw,
                         frameStaticProperties.cameraCalibration,
                         settings.targetModel,
-                        settings.streamingFrameDivisor);
-        draw3dTargetsPipe.setParams(draw3dTargetsParams);
+                        settings.streamingFrameDivisor));
 
-        var draw3dAprilTagsParams =
+        draw3dAprilTagsPipe.setParams(
                 new Draw3dAprilTagsPipe.Draw3dAprilTagsParams(
                         settings.outputShouldDraw,
                         frameStaticProperties.cameraCalibration,
                         settings.targetModel,
-                        settings.streamingFrameDivisor);
-        draw3dAprilTagsPipe.setParams(draw3dAprilTagsParams);
+                        settings.streamingFrameDivisor));
 
-        var draw3dArucoParams =
+        draw3dArucoPipe.setParams(
                 new Draw3dArucoPipe.Draw3dArucoParams(
                         settings.outputShouldDraw,
                         frameStaticProperties.cameraCalibration,
                         settings.targetModel,
-                        settings.streamingFrameDivisor);
-        draw3dArucoPipe.setParams(draw3dArucoParams);
+                        settings.streamingFrameDivisor));
 
         resizeImagePipe.setParams(
                 new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
index fa2cb1a55..fc798d418 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -64,14 +64,12 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                         settings.offsetDualPointB,
                         settings.offsetDualPointBArea);
 
-        var findContoursParams = new FindContoursPipe.FindContoursParams();
-        findContoursPipe.setParams(findContoursParams);
+        findContoursPipe.setParams(new FindContoursPipe.FindContoursParams());
 
-        var speckleRejectParams =
-                new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage);
-        speckleRejectPipe.setParams(speckleRejectParams);
+        speckleRejectPipe.setParams(
+                new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage));
 
-        var filterContoursParams =
+        filterContoursPipe.setParams(
                 new FilterContoursPipe.FilterContoursParams(
                         settings.contourArea,
                         settings.contourRatio,
@@ -79,44 +77,38 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                         frameStaticProperties,
                         settings.contourFilterRangeX,
                         settings.contourFilterRangeY,
-                        settings.contourTargetOrientation == TargetOrientation.Landscape);
-        filterContoursPipe.setParams(filterContoursParams);
+                        settings.contourTargetOrientation == TargetOrientation.Landscape));
 
-        var groupContoursParams =
+        groupContoursPipe.setParams(
                 new GroupContoursPipe.GroupContoursParams(
-                        settings.contourGroupingMode, settings.contourIntersection);
-        groupContoursPipe.setParams(groupContoursParams);
+                        settings.contourGroupingMode, settings.contourIntersection));
 
-        var sortContoursParams =
+        sortContoursPipe.setParams(
                 new SortContoursPipe.SortContoursParams(
                         settings.contourSortMode,
                         settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
-                        frameStaticProperties);
-        sortContoursPipe.setParams(sortContoursParams);
+                        frameStaticProperties));
 
-        var collect2dTargetsParams =
+        collect2dTargetsPipe.setParams(
                 new Collect2dTargetsPipe.Collect2dTargetsParams(
                         settings.offsetRobotOffsetMode,
                         settings.offsetSinglePoint,
                         dualOffsetValues,
                         settings.contourTargetOffsetPointEdge,
                         settings.contourTargetOrientation,
-                        frameStaticProperties);
-        collect2dTargetsPipe.setParams(collect2dTargetsParams);
+                        frameStaticProperties));
 
-        var cornerDetectionPipeParams =
+        cornerDetectionPipe.setParams(
                 new CornerDetectionPipe.CornerDetectionPipeParameters(
                         settings.cornerDetectionStrategy,
                         settings.cornerDetectionUseConvexHulls,
                         settings.cornerDetectionExactSideCount,
                         settings.cornerDetectionSideCount,
-                        settings.cornerDetectionAccuracyPercentage);
-        cornerDetectionPipe.setParams(cornerDetectionPipeParams);
+                        settings.cornerDetectionAccuracyPercentage));
 
-        var solvePNPParams =
+        solvePNPPipe.setParams(
                 new SolvePNPPipe.SolvePNPPipeParams(
-                        frameStaticProperties.cameraCalibration, settings.targetModel);
-        solvePNPPipe.setParams(solvePNPParams);
+                        frameStaticProperties.cameraCalibration, settings.targetModel));
     }
 
     @Override
diff --git a/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java b/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
index dc7a6b5c8..9108abeba 100644
--- a/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
@@ -127,39 +127,30 @@ public class DataSocketHandler {
                     }
 
                     switch (socketMessageType) {
-                        case SMT_DRIVERMODE -> {
-                            // TODO: what is this event?
-                            var data = (Boolean) entryValue;
-                            var dmIsDriverEvent =
-                                    new IncomingWebSocketEvent<Boolean>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "isDriverMode",
-                                            data,
-                                            cameraUniqueName,
-                                            context);
-
-                            dcService.publishEvents(dmIsDriverEvent);
-                        }
-                        case SMT_CHANGECAMERANAME -> {
-                            var ccnEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "cameraNickname",
-                                            (String) entryValue,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(ccnEvent);
-                        }
-                        case SMT_CHANGEPIPELINENAME -> {
-                            var cpnEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "pipelineName",
-                                            (String) entryValue,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(cpnEvent);
-                        }
+                        case SMT_DRIVERMODE -> // TODO: what is this event?
+                                dcService.publishEvents(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "isDriverMode",
+                                                (Boolean) entryValue,
+                                                cameraUniqueName,
+                                                context));
+                        case SMT_CHANGECAMERANAME ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "cameraNickname",
+                                                (String) entryValue,
+                                                cameraUniqueName,
+                                                context));
+                        case SMT_CHANGEPIPELINENAME ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "pipelineName",
+                                                (String) entryValue,
+                                                cameraUniqueName,
+                                                context));
                         case SMT_ADDNEWPIPELINE -> {
                             // HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
                             // var type = (PipelineType) data.get("pipelineType");
@@ -168,109 +159,90 @@ public class DataSocketHandler {
                             var name = (String) arr.get(0);
                             var type = PipelineType.values()[(Integer) arr.get(1) + 2];
 
-                            var newPipelineEvent =
+                            dcService.publishEvent(
                                     new IncomingWebSocketEvent<>(
                                             DataChangeDestination.DCD_ACTIVEMODULE,
                                             "newPipelineInfo",
                                             Pair.of(name, type),
                                             cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(newPipelineEvent);
-                        }
-                        case SMT_CHANGEBRIGHTNESS -> {
-                            HardwareManager.getInstance()
-                                    .setBrightnessPercent(Integer.parseInt(entryValue.toString()));
+                                            context));
                         }
+                        case SMT_CHANGEBRIGHTNESS ->
+                                HardwareManager.getInstance()
+                                        .setBrightnessPercent(Integer.parseInt(entryValue.toString()));
                         case SMT_DUPLICATEPIPELINE -> {
                             var pipeIndex = (Integer) entryValue;
 
                             logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraUniqueName);
 
-                            var newPipelineEvent =
+                            dcService.publishEvent(
                                     new IncomingWebSocketEvent<>(
                                             DataChangeDestination.DCD_ACTIVEMODULE,
                                             "duplicatePipeline",
                                             pipeIndex,
                                             cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(newPipelineEvent);
-                        }
-                        case SMT_DELETECURRENTPIPELINE -> {
-                            var deleteCurrentPipelineEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "deleteCurrPipeline",
-                                            0,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(deleteCurrentPipelineEvent);
-                        }
-                        case SMT_ROBOTOFFSETPOINT -> {
-                            var robotOffsetPointEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "robotOffsetPoint",
-                                            (Integer) entryValue,
-                                            cameraUniqueName,
-                                            null);
-                            dcService.publishEvent(robotOffsetPointEvent);
-                        }
-                        case SMT_CURRENTCAMERA -> {
-                            var changeCurrentCameraEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
-                            dcService.publishEvent(changeCurrentCameraEvent);
-                        }
-                        case SMT_CURRENTPIPELINE -> {
-                            var changePipelineEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "changePipeline",
-                                            (Integer) entryValue,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(changePipelineEvent);
-                        }
-                        case SMT_STARTPNPCALIBRATION -> {
-                            var changePipelineEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "startCalibration",
-                                            (Map) entryValue,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(changePipelineEvent);
-                        }
-                        case SMT_SAVEINPUTSNAPSHOT -> {
-                            var takeInputSnapshotEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "saveInputSnapshot",
-                                            0,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(takeInputSnapshotEvent);
-                        }
-                        case SMT_SAVEOUTPUTSNAPSHOT -> {
-                            var takeOutputSnapshotEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "saveOutputSnapshot",
-                                            0,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(takeOutputSnapshotEvent);
-                        }
-                        case SMT_TAKECALIBRATIONSNAPSHOT -> {
-                            var takeCalSnapshotEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "takeCalSnapshot",
-                                            0,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(takeCalSnapshotEvent);
+                                            context));
                         }
+                        case SMT_DELETECURRENTPIPELINE ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "deleteCurrPipeline",
+                                                0,
+                                                cameraUniqueName,
+                                                context));
+                        case SMT_ROBOTOFFSETPOINT ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "robotOffsetPoint",
+                                                (Integer) entryValue,
+                                                cameraUniqueName,
+                                                null));
+                        case SMT_CURRENTCAMERA ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue));
+                        case SMT_CURRENTPIPELINE ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "changePipeline",
+                                                (Integer) entryValue,
+                                                cameraUniqueName,
+                                                context));
+                        case SMT_STARTPNPCALIBRATION ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "startCalibration",
+                                                (Map) entryValue,
+                                                cameraUniqueName,
+                                                context));
+                        case SMT_SAVEINPUTSNAPSHOT ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "saveInputSnapshot",
+                                                0,
+                                                cameraUniqueName,
+                                                context));
+                        case SMT_SAVEOUTPUTSNAPSHOT ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "saveOutputSnapshot",
+                                                0,
+                                                cameraUniqueName,
+                                                context));
+                        case SMT_TAKECALIBRATIONSNAPSHOT ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "takeCalSnapshot",
+                                                0,
+                                                cameraUniqueName,
+                                                context));
                         case SMT_PIPELINESETTINGCHANGE -> {
                             HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
 
@@ -280,29 +252,26 @@ public class DataSocketHandler {
                                     if (dataEntry.getKey().equals("cameraUniqueName")) {
                                         continue;
                                     }
-                                    var pipelineSettingChangeEvent =
+                                    dcService.publishEvent(
                                             new IncomingWebSocketEvent(
                                                     DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
                                                     dataEntry.getKey(),
                                                     dataEntry.getValue(),
                                                     cameraIndex2,
-                                                    context);
-                                    dcService.publishEvent(pipelineSettingChangeEvent);
+                                                    context));
                                 }
                             } else {
                                 logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
                             }
                         }
-                        case SMT_CHANGEPIPELINETYPE -> {
-                            var changePipelineEvent =
-                                    new IncomingWebSocketEvent<>(
-                                            DataChangeDestination.DCD_ACTIVEMODULE,
-                                            "changePipelineType",
-                                            (Integer) entryValue,
-                                            cameraUniqueName,
-                                            context);
-                            dcService.publishEvent(changePipelineEvent);
-                        }
+                        case SMT_CHANGEPIPELINETYPE ->
+                                dcService.publishEvent(
+                                        new IncomingWebSocketEvent<>(
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "changePipelineType",
+                                                (Integer) entryValue,
+                                                cameraUniqueName,
+                                                context));
                     }
                 } catch (Exception e) {
                     logger.error("Failed to parse message!", e);