UI 3d mode, ConfigManager bugfixes (#103)

* stupid bugs I guess idk where else to put this commit

* Run spotless

* Fix config file loading

Splits load into own method

* Run spotless

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

@@ -162,12 +162,13 @@ public class Main {
 
         try {
             CameraServerCvJNI.forceLoad();
+            TestUtils.loadLibraries();
             logger.info("Native libraries loaded.");
         } catch (Exception e) {
             logger.error("Failed to load native libraries!", e);
         }
 
-        ConfigManager.getInstance(); // init config manager
+        ConfigManager.getInstance().load(); // init config manager
         NetworkManager.getInstance().initialize(false);
 
         NetworkTablesManager.getInstance()

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

@@ -87,11 +87,9 @@ public class ConfigManager {
         this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
 
         TimedTaskManager.getInstance().addTask("ConfigManager", this::checkSaveAndWrite, 1000);
-
-        load();
     }
 
-    private void load() {
+    public void load() {
         logger.info("Loading settings...");
         if (!configDirectoryFile.exists()) {
             if (configDirectoryFile.mkdirs()) {
@@ -163,6 +161,9 @@ public class ConfigManager {
     public void saveToDisk() {
         logger.info("Saving settings...");
 
+        // Delete old configs
+        FileUtils.deleteDirectory(camerasFolder.toPath());
+
         try {
             JacksonUtils.serialize(hardwareConfigFile.toPath(), config.getHardwareConfig());
         } catch (IOException e) {
@@ -174,9 +175,6 @@ public class ConfigManager {
             logger.error("Could not save network config!", e);
         }
 
-        // Delete old configs
-        FileUtils.deleteDirectory(camerasFolder.toPath());
-
         // save all of our cameras
         var cameraConfigMap = config.getCameraConfigurations();
         for (var subdirName : cameraConfigMap.keySet()) {

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

@@ -36,6 +36,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.target.TargetModel;
 
 public class RequestHandler {
     private static final Logger logger = new Logger(RequestHandler.class, LogGroup.WebServer);
@@ -149,4 +150,23 @@ public class RequestHandler {
         ctx.status(200);
         System.exit(0);
     }
+
+    public static void uploadPnpModel(Context ctx) {
+        UITargetData data;
+        try {
+            data = kObjectMapper.readValue(ctx.body(), UITargetData.class);
+        } catch (JsonProcessingException e) {
+            e.printStackTrace();
+            ctx.status(500);
+            return;
+        }
+
+        VisionModuleManager.getInstance().getModule(data.index).setTargetModel(data.targetModel);
+        ctx.status(200);
+    }
+
+    public static class UITargetData {
+        public int index;
+        public TargetModel targetModel;
+    }
 }

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

@@ -79,6 +79,7 @@ public class Server {
         app.post("/api/settings/endCalibration", RequestHandler::onCalibrationEnd);
         app.post("/api/restartDevice", RequestHandler::restartDevice);
         app.post("api/restartProgram", RequestHandler::restartProgram);
+        app.post("api/vision/pnpModel", RequestHandler::uploadPnpModel);
 
         app.start(port);
     }

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

@@ -38,8 +38,10 @@ import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameraSource;
 import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
+import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.target.TargetModel;
 
 /**
 * This is the God Class
@@ -345,4 +347,14 @@ public class VisionModule {
             lastFrameConsumeMillis = System.currentTimeMillis();
         }
     }
+
+    public void setTargetModel(TargetModel targetModel) {
+        var settings = pipelineManager.getCurrentUserPipeline().getSettings();
+        if (settings instanceof ReflectivePipelineSettings) {
+            ((ReflectivePipelineSettings) settings).targetModel = targetModel;
+            saveAndBroadcastAll();
+        } else {
+            logger.error("Cannot set target model of non-reflective pipe! Ignoring...");
+        }
+    }
 }

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

@@ -169,7 +169,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         var actual = new IntegerCouple(orig.get(0), orig.get(1));
                         propField.set(currentSettings, actual);
                     } else if (propType.equals(Double.TYPE)) {
-                        propField.setDouble(currentSettings, (Double) newPropValue);
+                        propField.setDouble(currentSettings, ((Number) newPropValue).doubleValue());
                     } else if (propType.equals(Integer.TYPE)) {
                         propField.setInt(currentSettings, (Integer) newPropValue);
                     } else if (propType.equals(Boolean.TYPE)) {