From e971db2f52b254fee45609904c8114311ec73d10 Mon Sep 17 00:00:00 2001
From: Jack <31329139+realSaddy@users.noreply.github.com>
Date: Thu, 3 Nov 2022 12:12:21 -0500
Subject: [PATCH] Fix pipeline setting update not being sent if only
 autoexposure fails (#565)

---
 photon-client/src/App.vue                                | 6 +-----
 .../photonvision/vision/processes/PipelineManager.java   | 6 +++---
 .../org/photonvision/vision/processes/VisionModule.java  | 9 +++++++--
 3 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/photon-client/src/App.vue b/photon-client/src/App.vue
index aaa1657f6..d3aab87f5 100644
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -308,11 +308,7 @@ export default {
                 } else if (this.$store.state.settings.hasOwnProperty(key)) {
                     this.$store.commit('mutateSettings', {[key]: value});
                 } else {
-                    switch (key) {
-                        default: {
-                            console.error("Unknown message from backend: " + value);
-                        }
-                    }
+                    console.error("Unknown message from backend: " + value);
                 }
             },
             toggleCompactMode() {
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
index 36a5129a3..89142bd74 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -181,17 +181,17 @@ public class PipelineManager {
             var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
             switch (desiredPipelineSettings.pipelineType) {
                 case Reflective:
-                    logger.debug("Creatig Reflective pipeline");
+                    logger.debug("Creating Reflective pipeline");
                     currentUserPipeline =
                             new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
                     break;
                 case ColoredShape:
-                    logger.debug("Creatig ColoredShape pipeline");
+                    logger.debug("Creating ColoredShape pipeline");
                     currentUserPipeline =
                             new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
                     break;
                 case AprilTag:
-                    logger.debug("Creatig AprilTag pipeline");
+                    logger.debug("Creating AprilTag pipeline");
                     currentUserPipeline =
                             new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
                     break;
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 09c64b4b4..0ae694519 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -17,6 +17,7 @@
 
 package org.photonvision.vision.processes;
 
+import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.math.util.Units;
 import io.javalin.websocket.WsContext;
 import java.util.*;
@@ -388,8 +389,12 @@ public class VisionModule {
         }
 
         visionSource.getSettables().setExposure(pipelineSettings.cameraExposure);
-        visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
-
+        try {
+            visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
+        } catch (VideoException e) {
+            logger.error("Unable to set camera auto exposure!");
+            logger.error(e.toString());
+        }
         if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
             // If the gain is disabled for some reason, re-enable it
             if (pipelineSettings.cameraGain == -1) pipelineSettings.cameraGain = 20;