From a35f775b0533b6fb8f7e46abce814f9e71047d56 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Thu, 10 Sep 2020 19:20:16 -0700
Subject: [PATCH] Fix driver mode settings, sort resolutions (#115)

* Fix DriverMode settings

* Update FileVisionSource.java

* Sort modes by resolution

* Filter duplicated modes

* run spotless

* Fix calibration bug

* run format

* aaaaa

* Add hardware and platform support

* decrease timing sensitivity

* Better handle jvm exitg

* Make reboot happen immediately

* Cleanup restart

* Remove debug print

* Fix Jackson exploding when deserializing old versions of configs

* Add unit test for old config versions

* Run format

* Add a comment

* remove isvendorcam from pipeline manager

* oops
---
 .../src/views/SettingsViews/General.vue       | 16 +++--
 .../src/views/SettingsViews/Networking.vue    |  2 +-
 .../src/main/java/org/photonvision/Main.java  | 11 +--
 .../configuration/CameraConfiguration.java    |  3 -
 .../common/configuration/ConfigManager.java   |  8 +--
 .../common/configuration/HardwareConfig.java  |  8 ++-
 .../configuration/PhotonConfiguration.java    |  8 ++-
 .../common/hardware/HardwareManager.java      | 27 ++++++--
 .../common/hardware/Platform.java             |  2 +-
 .../common/util/file/JacksonUtils.java        |  2 +
 .../photonvision/server/RequestHandler.java   | 20 ++++--
 .../photonvision/server/SocketHandler.java    |  2 +-
 .../vision/camera/FileVisionSource.java       |  5 ++
 .../vision/camera/USBCameraSource.java        | 67 ++++++++++++++++++-
 .../vision/pipe/impl/CalculateFPSPipe.java    |  2 +-
 .../vision/pipeline/CVPipeline.java           |  5 +-
 .../vision/processes/PipelineManager.java     | 11 ++-
 .../vision/processes/VisionModule.java        |  6 +-
 .../VisionModuleChangeSubscriber.java         |  2 +-
 .../vision/processes/VisionModuleManager.java |  5 +-
 .../vision/processes/VisionSource.java        |  2 +
 .../vision/processes/VisionSourceManager.java |  7 +-
 .../common/configuration/ConfigTest.java      | 14 ++++
 .../processes/VisionModuleManagerTest.java    | 13 ++--
 .../processes/VisionSourceManagerTest.java    |  2 +
 25 files changed, 193 insertions(+), 57 deletions(-)

diff --git a/photon-client/src/views/SettingsViews/General.vue b/photon-client/src/views/SettingsViews/General.vue
index 07e5322a5..064d9f121 100644
--- a/photon-client/src/views/SettingsViews/General.vue
+++ b/photon-client/src/views/SettingsViews/General.vue
@@ -2,8 +2,10 @@
   <div>
     <span>Version: {{ settings.version }}</span>
     &mdash;
-    <span>Hardware model: {{ settings.hardwareModel }}</span>
-    &mdash;
+    <div v-if="settings.hardwareModel !== ''">
+      <span>Hardware model: {{ settings.hardwareModel }}</span>
+      &mdash;
+    </div>
     <span>Platform: {{ settings.hardwarePlatform }}</span>
     &mdash;
     <span>GPU Acceleration: {{ settings.gpuAcceleration ? "Enabled" : "Unsupported" }}{{ settings.gpuAcceleration ? " (" + settings.gpuAcceleration + " mode)" : "" }}</span>
@@ -42,7 +44,7 @@
       >
         <v-btn
           color="red"
-          @click="axios.post('http://' + this.$address + '/api/restartProgram')"
+          @click="restartProgram()"
         >
           <v-icon left>
             mdi-restart
@@ -55,7 +57,7 @@
       >
         <v-btn
           color="red"
-          @click="axios.post('http://' + this.$address + '/api/restartDevice')"
+          @click="restartDevice()"
         >
           <v-icon left>
             mdi-restart
@@ -109,6 +111,12 @@ export default {
         }
     },
     methods: {
+        restartProgram() {
+            this.axios.post('http://' + this.$address + '/api/restartProgram', {});
+        },
+        restartDevice() {
+            this.axios.post('http://' + this.$address + '/api/restartDevice', {});
+        },
         readImportedSettings(event) {
             let formData = new FormData();
             formData.append("zipData", event.target.files[0]);
diff --git a/photon-client/src/views/SettingsViews/Networking.vue b/photon-client/src/views/SettingsViews/Networking.vue
index f4146eeb0..d92e1059e 100644
--- a/photon-client/src/views/SettingsViews/Networking.vue
+++ b/photon-client/src/views/SettingsViews/Networking.vue
@@ -12,7 +12,7 @@
       />
       <template v-if="!isDHCP">
         <CVinput
-          v-model="settings.ip"
+          v-model="settings.staticIp"
           :input-cols="inputCols"
           :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
           name="IP"
diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
index 7d424d700..6421ff62c 100644
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -20,7 +20,6 @@ package org.photonvision;
 import edu.wpi.cscore.CameraServerCvJNI;
 import java.util.ArrayList;
 import java.util.HashMap;
-import java.util.List;
 import org.apache.commons.cli.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -84,7 +83,7 @@ public class Main {
     }
 
     private static void addTestModeSources() {
-        var collectedSources = new HashMap<VisionSource, List<CVPipelineSettings>>();
+        var collectedSources = new HashMap<VisionSource, CameraConfiguration>();
 
         var camConf2019 =
                 new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
@@ -115,8 +114,12 @@ public class Main {
 
         var fvs2020 = new FileVisionSource(camConf2020);
 
-        collectedSources.put(fvs2019, psList2019);
-        collectedSources.put(fvs2020, psList2020);
+        var cfg2019 = new CameraConfiguration("2019", "2019");
+        cfg2019.pipelineSettings = psList2019;
+        var cfg2020 = new CameraConfiguration("2019", "2019");
+        cfg2020.pipelineSettings = psList2020;
+        collectedSources.put(fvs2019, cfg2019);
+        collectedSources.put(fvs2020, cfg2020);
 
         //                logger.info("Adding " + allSources.size() + " configs to VMM.");
         VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
diff --git a/photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java b/photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
index 544c70a91..7b1c381ac 100644
--- a/photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -49,7 +49,6 @@ public class CameraConfiguration {
     public CameraType cameraType = CameraType.UsbCamera;
     public double FOV = 70;
     public final List<CameraCalibrationCoefficients> calibrations;
-    public List<Integer> cameraLeds = new ArrayList<>();
     public int currentPipelineIndex = 0;
     public Rotation2d camPitch = new Rotation2d();
 
@@ -89,7 +88,6 @@ public class CameraConfiguration {
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("cameraLEDs") List<Integer> cameraLeds,
             @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
             @JsonProperty("camPitch") Rotation2d camPitch) {
         this.baseName = baseName;
@@ -99,7 +97,6 @@ public class CameraConfiguration {
         this.path = path;
         this.cameraType = cameraType;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
-        this.cameraLeds = cameraLeds;
         this.currentPipelineIndex = currentPipelineIndex;
         this.camPitch = camPitch;
 
diff --git a/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
index 418486f4e..f2443d9eb 100644
--- a/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -301,12 +301,8 @@ public class ConfigManager {
         return loadedConfigurations;
     }
 
-    public void addCameraConfigurations(HashMap<VisionSource, List<CVPipelineSettings>> sources) {
-        List<CameraConfiguration> list =
-                sources.keySet().stream()
-                        .map(it -> it.getSettables().getConfiguration())
-                        .collect(Collectors.toList());
-        getConfig().addCameraConfigs(list);
+    public void addCameraConfigurations(HashMap<VisionSource, CameraConfiguration> sources) {
+        getConfig().addCameraConfigs(sources.values());
         requestSave();
     }
 
diff --git a/photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java b/photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
index a20a5215a..45c91fce0 100644
--- a/photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
@@ -18,6 +18,8 @@
 package org.photonvision.common.configuration;
 
 import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
 
 public class HardwareConfig {
 
@@ -47,6 +49,7 @@ public class HardwareConfig {
     // Device stuff
     public final String restartHardwareCommand;
     public final double vendorFOV; // -1 for unmanaged
+    public final List<Integer> blacklistedResIndices; // this happens before the defaults are applied
 
     public HardwareConfig() {
         deviceName = "";
@@ -71,6 +74,7 @@ public class HardwareConfig {
 
         restartHardwareCommand = "";
         vendorFOV = -1;
+        blacklistedResIndices = Collections.emptyList();
     }
 
     @SuppressWarnings("unused")
@@ -94,7 +98,8 @@ public class HardwareConfig {
             String gpuTempCommand,
             String ramUtilCommand,
             String restartHardwareCommand,
-            double vendorFOV) {
+            double vendorFOV,
+            List<Integer> blacklistedResIndices) {
         this.deviceName = deviceName;
         this.deviceLogoPath = deviceLogoPath;
         this.supportURL = supportURL;
@@ -115,6 +120,7 @@ public class HardwareConfig {
         this.ramUtilCommand = ramUtilCommand;
         this.restartHardwareCommand = restartHardwareCommand;
         this.vendorFOV = vendorFOV;
+        this.blacklistedResIndices = blacklistedResIndices;
     }
 
     public final boolean hasPresetFOV() {
diff --git a/photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index 20444008f..4f0521763 100644
--- a/photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -17,11 +17,13 @@
 
 package org.photonvision.common.configuration;
 
+import java.util.Collection;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
 import org.photonvision.PhotonVersion;
+import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
@@ -44,7 +46,7 @@ public class PhotonConfiguration {
         return cameraConfigurations;
     }
 
-    public void addCameraConfigs(List<CameraConfiguration> config) {
+    public void addCameraConfigs(Collection<CameraConfiguration> config) {
         for (var c : config) {
             addCameraConfig(c);
         }
@@ -95,8 +97,8 @@ public class PhotonConfiguration {
         generalSubmap.put("version", PhotonVersion.versionString);
         generalSubmap.put("gpuAcceleration", false); // TODO gpu accel and accel type
         generalSubmap.put("gpuAccelerationType", "Unknown");
-        generalSubmap.put("hardwareModel", "Unknown"); // TODO hardware model and platform
-        generalSubmap.put("hardwarePlatform", "Unknown");
+        generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
+        generalSubmap.put("hardwarePlatform", Platform.getCurrentPlatform().toString());
         settingsSubmap.put("general", generalSubmap);
 
         map.put("settings", settingsSubmap);
diff --git a/photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java b/photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
index 5c1a888ff..d618ddfb7 100644
--- a/photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
@@ -19,14 +19,12 @@ package org.photonvision.common.hardware;
 
 import edu.wpi.first.networktables.NetworkTableEntry;
 import java.io.IOException;
-import java.util.HashMap;
 import org.photonvision.common.ProgramStatus;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.HardwareConfig;
 import org.photonvision.common.dataflow.networktables.NTDataChangeListener;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.GPIO.CustomGPIO;
-import org.photonvision.common.hardware.GPIO.GPIOBase;
 import org.photonvision.common.hardware.VisionLED.VisionLEDMode;
 import org.photonvision.common.hardware.metrics.MetricsBase;
 import org.photonvision.common.logging.LogGroup;
@@ -36,13 +34,17 @@ import org.photonvision.common.util.ShellExec;
 public class HardwareManager {
     private static HardwareManager instance;
 
-    private final HashMap<Integer, GPIOBase> VisionLEDs = new HashMap<>();
     private final ShellExec shellExec = new ShellExec(true, false);
     private final Logger logger = new Logger(HardwareManager.class, LogGroup.General);
 
     private final HardwareConfig hardwareConfig;
+
+    @SuppressWarnings("FieldCanBeLocal")
     private final StatusLED statusLED;
+
     private final NetworkTableEntry ledModeEntry;
+
+    @SuppressWarnings("FieldCanBeLocal")
     private final NTDataChangeListener ledModeListener;
 
     public final VisionLED visionLED;
@@ -64,17 +66,34 @@ public class HardwareManager {
                 new VisionLED(
                         hardwareConfig.ledPins,
                         hardwareConfig.ledPWMFrequency,
-                        hardwareConfig.ledPWMRange.get(1));
+                        (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);
 
+        Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));
+
         // Start hardware metrics thread (Disabled until implemented)
         // if (Platform.isLinux()) MetricsPublisher.getInstance().startTask();
     }
 
+    private void onJvmExit() {
+        logger.info("Shutting down...");
+        visionLED.setState(false);
+    }
+
     public boolean restartDevice() {
+        if (Platform.isRaspberryPi()) {
+            try {
+                return shellExec.executeBashCommand("reboot now") == 0;
+            } catch (IOException e) {
+                logger.error("Could not restart device!", e);
+                return false;
+            }
+        }
         try {
             return shellExec.executeBashCommand(hardwareConfig.restartHardwareCommand) == 0;
         } catch (IOException e) {
diff --git a/photon-server/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-server/src/main/java/org/photonvision/common/hardware/Platform.java
index 4a4f199be..2deb6de61 100644
--- a/photon-server/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -88,7 +88,7 @@ public enum Platform {
         return false;
     }
 
-    private static Platform getCurrentPlatform() {
+    public static Platform getCurrentPlatform() {
         if (RuntimeDetector.isWindows()) {
             if (RuntimeDetector.is32BitIntel()) return WINDOWS_32;
             if (RuntimeDetector.is64BitIntel()) return WINDOWS_64;
diff --git a/photon-server/src/main/java/org/photonvision/common/util/file/JacksonUtils.java b/photon-server/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
index 9b49a0002..3241d6756 100644
--- a/photon-server/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
@@ -18,6 +18,7 @@
 package org.photonvision.common.util.file;
 
 import com.fasterxml.jackson.core.json.JsonReadFeature;
+import com.fasterxml.jackson.databind.DeserializationFeature;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
 import com.fasterxml.jackson.databind.json.JsonMapper;
@@ -53,6 +54,7 @@ public class JacksonUtils {
         ObjectMapper objectMapper =
                 JsonMapper.builder()
                         .configure(JsonReadFeature.ALLOW_JAVA_COMMENTS, true)
+                        .configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false)
                         .activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
                         .build();
         File jsonFile = new File(path.toString());
diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index 6d8e454b9..9e87fa93c 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -36,6 +36,7 @@ import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
+import org.photonvision.common.util.ShellExec;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.target.TargetModel;
 
@@ -60,11 +61,7 @@ public class RequestHandler {
             ctx.status(200);
             logger.info("Settings uploaded, going down for restart.");
 
-            if (!Platform.isRaspberryPi()) {
-                logger.info("(On non-PI platforms, the program may not restart manually...)");
-            }
-
-            System.exit(0);
+            restartProgram(ctx);
         } else {
             logger.error("Couldn't read uploaded settings ZIP! Ignoring.");
             ctx.status(500);
@@ -89,7 +86,6 @@ public class RequestHandler {
         NetworkManager.getInstance().reinitialize();
         NetworkTablesManager.getInstance().setConfig(networkConfig);
 
-        logger.info("Responding to general settings with http 200");
         context.status(200);
     }
 
@@ -157,7 +153,17 @@ public class RequestHandler {
     */
     public static void restartProgram(Context ctx) {
         ctx.status(200);
-        System.exit(0);
+
+        if (Platform.isRaspberryPi()) {
+            try {
+                new ShellExec().executeBashCommand("systemctl restart photonvision");
+            } catch (IOException e) {
+                logger.error("Could not restart device!", e);
+                System.exit(0);
+            }
+        } else {
+            System.exit(0);
+        }
     }
 
     public static void uploadPnpModel(Context ctx) {
diff --git a/photon-server/src/main/java/org/photonvision/server/SocketHandler.java b/photon-server/src/main/java/org/photonvision/server/SocketHandler.java
index 1d165544b..2f0e578d1 100644
--- a/photon-server/src/main/java/org/photonvision/server/SocketHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/SocketHandler.java
@@ -247,7 +247,7 @@ public class SocketHandler {
                                 var changePipelineEvent =
                                         new IncomingWebSocketEvent<>(
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "startcalibration",
+                                                "startCalibration",
                                                 (Map) entryValue,
                                                 cameraIndex,
                                                 context);
diff --git a/photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index ca8f02994..538cd6b9b 100644
--- a/photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -64,6 +64,11 @@ public class FileVisionSource implements VisionSource {
         return settables;
     }
 
+    @Override
+    public boolean isVendorCamera() {
+        return false;
+    }
+
     private static class FileSourceSettables extends VisionSourceSettables {
 
         private final VideoMode videoMode;
diff --git a/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 5c9575976..4ce79fe53 100644
--- a/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -23,7 +23,9 @@ import edu.wpi.cscore.VideoException;
 import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.cameraserver.CameraServer;
 import java.util.*;
+import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.math.MathUtils;
@@ -141,7 +143,10 @@ public class USBCameraSource implements VisionSource {
                 videoModes = new HashMap<>();
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
-                    for (var videoMode : camera.enumerateVideoModes()) {
+                    var modes = camera.enumerateVideoModes();
+                    for (int i = 0; i < modes.length; i++) {
+                        var videoMode = modes[i];
+
                         // Filter grey modes
                         if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
                                 || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
@@ -156,19 +161,75 @@ public class USBCameraSource implements VisionSource {
                         }
 
                         videoModesList.add(videoMode);
+
+                        // We look for modes with the same height/width/pixelformat as this mode
+                        // and remove all the ones that are slower. This is sorted low to high.
+                        // So we remove the last element (the fastest FPS) from the duplicate list,
+                        // and remove all remaining elements from the final list
+                        var duplicateModes =
+                                videoModesList.stream()
+                                        .filter(
+                                                it ->
+                                                        it.height == videoMode.height
+                                                                && it.width == videoMode.width
+                                                                && it.pixelFormat == videoMode.pixelFormat)
+                                        .sorted(Comparator.comparingDouble(it -> it.fps))
+                                        .collect(Collectors.toList());
+                        duplicateModes.remove(duplicateModes.size() - 1);
+                        videoModesList.removeAll(duplicateModes);
                     }
                 } catch (Exception e) {
                     logger.error("Exception while enumerating video modes!", e);
                     videoModesList = List.of();
                 }
-                for (VideoMode videoMode : videoModesList) {
-                    videoModes.put(videoModesList.indexOf(videoMode), videoMode);
+
+                // Sort by resolution
+                var sortedList =
+                        videoModesList.stream()
+                                .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
+                                .collect(Collectors.toList());
+                Collections.reverse(sortedList);
+
+                // On vendor cameras, respect blacklisted indices
+                var indexBlacklist =
+                        ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
+                for (int badIdx : indexBlacklist) {
+                    sortedList.remove(badIdx);
+                }
+
+                // Filter bogus modes on picam
+                if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    sortedList.removeIf(
+                            it ->
+                                    (it.width == 1296
+                                                    && it.height == 730
+                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
+                                            || (it.width == 1296
+                                                    && it.height == 972
+                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
+                                            || (it.width == 2592
+                                                    && it.height == 1944
+                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
+                                            || (it.width == 160
+                                                    && it.height == 120
+                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR));
+                }
+
+                for (VideoMode videoMode : sortedList) {
+                    videoModes.put(sortedList.indexOf(videoMode), videoMode);
                 }
             }
             return videoModes;
         }
     }
 
+    // TODO improve robustness of this detection
+    @Override
+    public boolean isVendorCamera() {
+        return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
+                && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+    }
+
     @Override
     public boolean equals(Object o) {
         if (this == o) return true;
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
index 9bbeecb93..a6d004770 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
@@ -24,7 +24,7 @@ import org.photonvision.vision.pipe.CVPipe;
 public class CalculateFPSPipe
         extends CVPipe<Void, Integer, CalculateFPSPipe.CalculateFPSPipeParams> {
 
-    private LinearFilter fpsFilter = LinearFilter.movingAverage(5);
+    private LinearFilter fpsFilter = LinearFilter.movingAverage(20);
     StopWatch clock = new StopWatch();
 
     @Override
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
index b873244e7..88fea9be4 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
@@ -34,7 +34,10 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
         return settings;
     }
 
-    // TODO (BANKS) ACTUALLY SET THE CAMERA RESOLUTION
+    public void setSettings(S s) {
+        this.settings = s;
+    }
+
     public R run(Frame frame) {
         long pipelineStartNanos = System.nanoTime();
 
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-server/src/main/java/org/photonvision/vision/processes/PipelineManager.java
index d820a1ca2..667465e98 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -20,6 +20,7 @@ package org.photonvision.vision.processes;
 import java.util.ArrayList;
 import java.util.Comparator;
 import java.util.List;
+import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.pipeline.*;
@@ -54,12 +55,20 @@ public class PipelineManager {
     *
     * @param userPipelines Pipelines to add to the manager.
     */
-    public PipelineManager(List<CVPipelineSettings> userPipelines) {
+    public PipelineManager(
+            DriverModePipelineSettings driverSettings, List<CVPipelineSettings> userPipelines) {
         this.userPipelineSettings = new ArrayList<>(userPipelines);
+        // This is to respect the default res idx for vendor cameras
+
+        this.driverModePipeline.setSettings(driverSettings);
 
         if (userPipelines.size() < 1) addPipeline(PipelineType.Reflective);
     }
 
+    public PipelineManager(CameraConfiguration config) {
+        this(config.driveModeSettings, config.pipelineSettings);
+    }
+
     /**
     * Get the settings for a pipeline by index.
     *
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 61ab42994..4a898138f 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -171,10 +171,8 @@ public class VisionModule {
         }
     }
 
-    // TODO improve robustness of this detection
     private boolean isVendorCamera() {
-        return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
-                && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+        return visionSource.isVendorCamera();
     }
 
     public void startCalibration(UICalibrationData data) {
@@ -201,6 +199,8 @@ public class VisionModule {
         var ret = pipelineManager.calibration3dPipeline.tryCalibration();
         pipelineManager.setCalibrationMode(false);
 
+        setPipeline(pipelineManager.getCurrentPipelineIndex());
+
         if (ret != null) {
             logger.debug("Saving calibration...");
             visionSource.getSettables().getConfiguration().addCalibration(ret);
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
index 5c0a7e46c..4c2653d9e 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
@@ -100,7 +100,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         parentModule.setPipeline(index);
                         parentModule.saveAndBroadcastAll();
                         return;
-                    case "startcalibration":
+                    case "startCalibration":
                         var data = UICalibrationData.fromMap((Map<String, Object>) newPropValue);
                         parentModule.startCalibration(data);
                         parentModule.saveAndBroadcastAll();
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java
index 4b567751f..0225c24a8 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java
@@ -20,7 +20,7 @@ package org.photonvision.vision.processes;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
-import org.photonvision.vision.pipeline.CVPipelineSettings;
+import org.photonvision.common.configuration.CameraConfiguration;
 
 /** VisionModuleManager has many VisionModules, and provides camera configuration data to them. */
 public class VisionModuleManager {
@@ -52,8 +52,7 @@ public class VisionModuleManager {
         return visionModules.get(i);
     }
 
-    public List<VisionModule> addSources(
-            HashMap<VisionSource, List<CVPipelineSettings>> visionSources) {
+    public List<VisionModule> addSources(HashMap<VisionSource, CameraConfiguration> visionSources) {
         var addedModules = new ArrayList<VisionModule>();
         for (var entry : visionSources.entrySet()) {
             var visionSource = entry.getKey();
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/VisionSource.java b/photon-server/src/main/java/org/photonvision/vision/processes/VisionSource.java
index 9b3023e66..47de565db 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionSource.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionSource.java
@@ -23,4 +23,6 @@ public interface VisionSource {
     FrameProvider getFrameProvider();
 
     VisionSourceSettables getSettables();
+
+    boolean isVendorCamera();
 }
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java b/photon-server/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
index d4ef9bfbd..65fd582b2 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -31,7 +31,6 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.vision.camera.CameraType;
 import org.photonvision.vision.camera.USBCameraSource;
-import org.photonvision.vision.pipeline.CVPipelineSettings;
 
 public class VisionSourceManager {
 
@@ -87,7 +86,7 @@ public class VisionSourceManager {
                                 "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
     }
 
-    protected HashMap<VisionSource, List<CVPipelineSettings>> tryMatchUSBCamImpl() {
+    protected HashMap<VisionSource, CameraConfiguration> tryMatchUSBCamImpl() {
         // Detect cameras using CSCore
         List<UsbCameraInfo> connectedCameras =
                 new ArrayList<>(filterAllowedDevices(cameraInfoSupplier.get()));
@@ -154,10 +153,10 @@ public class VisionSourceManager {
         var sources = loadVisionSourcesFromCamConfigs(matchedCameras);
 
         // These sources can be turned into USB cameras, which can be added to the config manager
-        var visionSourceMap = new HashMap<VisionSource, List<CVPipelineSettings>>();
+        var visionSourceMap = new HashMap<VisionSource, CameraConfiguration>();
         for (var src : sources) {
             var usbSrc = (USBCameraSource) src;
-            visionSourceMap.put(usbSrc, usbSrc.configuration.pipelineSettings);
+            visionSourceMap.put(usbSrc, usbSrc.configuration);
             logger.debug(
                     () ->
                             "Matched config for camera \""
diff --git a/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java b/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
index 9e353c953..631e89a7b 100644
--- a/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -18,6 +18,7 @@
 package org.photonvision.common.configuration;
 
 import java.io.File;
+import java.io.FileWriter;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
@@ -28,6 +29,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.target.TargetModel;
@@ -116,4 +118,16 @@ public class ConfigTest {
         FileUtils.cleanDirectory(configMgr.configDirectoryFile);
         configMgr.configDirectoryFile.delete();
     }
+
+    @Test
+    public void testJacksonHandlesOldVersions() throws IOException {
+        var str =
+                "{\"baseName\":\"aaaaaa\",\"uniqueName\":\"aaaaaa\",\"nickname\":\"aaaaaa\",\"FOV\":70.0,\"path\":\"dev/vid\",\"cameraType\":\"UsbCamera\",\"currentPipelineIndex\":0,\"camPitch\":{\"radians\":0.0},\"calibrations\":[], \"cameraLEDs\":[]}";
+        var writer = new FileWriter("test.json");
+        writer.write(str);
+        writer.flush();
+        writer.close();
+        Assertions.assertDoesNotThrow(
+                () -> JacksonUtils.deserialize(Path.of("test.json"), CameraConfiguration.class));
+    }
 }
diff --git a/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index 15e30989d..7879cb0df 100644
--- a/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -20,7 +20,6 @@ package org.photonvision.vision.processes;
 import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import java.util.HashMap;
-import java.util.List;
 import org.junit.jupiter.api.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -29,7 +28,6 @@ import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
-import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 public class VisionModuleManagerTest {
@@ -57,6 +55,11 @@ public class VisionModuleManagerTest {
         public VisionSourceSettables getSettables() {
             return new TestSettables(new CameraConfiguration("", "", "", ""));
         }
+
+        @Override
+        public boolean isVendorCamera() {
+            return false;
+        }
     }
 
     private static class TestSettables extends VisionSourceSettables {
@@ -105,14 +108,14 @@ public class VisionModuleManagerTest {
     @Test
     public void setupManager() {
         ConfigManager.getInstance().load();
-        var sources = new HashMap<VisionSource, List<CVPipelineSettings>>();
+        var sources = new HashMap<VisionSource, CameraConfiguration>();
         sources.put(
                 new TestSource(
                         new FileFrameProvider(
                                 TestUtils.getWPIImagePath(
                                         TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
                                 TestUtils.WPI2019Image.FOV)),
-                List.of());
+                new CameraConfiguration("Foo", "Barr"));
 
         var modules = VisionModuleManager.getInstance().addSources(sources);
         var module0DataConsumer = new TestDataConsumer();
@@ -121,7 +124,7 @@ public class VisionModuleManagerTest {
 
         modules.forEach(VisionModule::start);
 
-        sleep(500);
+        sleep(1500);
 
         Assertions.assertNotNull(module0DataConsumer.result);
         printTestResults(module0DataConsumer.result);
diff --git a/photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java b/photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
index d97b0214a..75f1d984c 100644
--- a/photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
@@ -25,6 +25,7 @@ import java.util.ArrayList;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.TestUtils;
 
 public class VisionSourceManagerTest {
@@ -38,6 +39,7 @@ public class VisionSourceManagerTest {
         var inst = new VisionSourceManager();
         var infoList = new ArrayList<UsbCameraInfo>();
         inst.cameraInfoSupplier = () -> infoList;
+        ConfigManager.getInstance().load();
 
         inst.tryMatchUSBCamImpl();
         var config = new CameraConfiguration("secondTestVideo", "dev/video1");