Run on tags starting with 'v' (#227)

* When describing the current release, exclude the Dev tag

* Only run the release task on non-dev tags (i.e. real release tags)

.github/workflows/main.yml

@@ -7,6 +7,8 @@ name: CI
 on:
   push:
     branches: [ master ]
+    tags:
+      - 'v*'
   pull_request:
     branches: [ master ]
 
@@ -104,11 +106,6 @@ jobs:
           pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
           pip install -r requirements.txt
           
-      - name: Install LaTeX and other system dependencies
-        run: |
-          sudo apt update
-          sudo apt install -y texlive-latex-recommended texlive-fonts-recommended texlive-latex-extra latexmk texlive-lang-greek texlive-luatex texlive-xetex texlive-fonts-extra dvipng graphviz
-          
       - name: Check the docs
         run: |
           make linkcheck
@@ -123,7 +120,6 @@ jobs:
         with:
           name: built-docs
           path: build/html
-      
 
   build-package:
     needs: [build-client, build-server, build-offline-docs]
@@ -210,4 +206,17 @@ jobs:
       - run: |
           chmod +x gradlew
           ./gradlew spotlessCheck
-            
+
+  release:
+    if: startsWith(github.ref, 'refs/tags/v')
+    needs: [build-package]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/download-artifact@v2
+        with:
+          name: jar
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: '**/*'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

README.md

@@ -1,16 +1,12 @@
 # Photon Vision
 
-[![CI](https://github.com/PhotonVision/photonvision/workflows/CI/badge.svg)](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [![codecov](https://codecov.io/gh/PhotonVision/photonvision/branch/master/graph/badge.svg)](https://codecov.io/gh/PhotonVision/photonvision)
+[![CI](https://github.com/PhotonVision/photonvision/workflows/CI/badge.svg)](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [![codecov](https://codecov.io/gh/PhotonVision/photonvision/branch/master/graph/badge.svg)](https://codecov.io/gh/PhotonVision/photonvision) [![Discord](https://img.shields.io/discord/725836368059826228?color=%23738ADB&label=Join%20our%20Discord&logo=discord&logoColor=white)](https://discord.gg/wYxTwym)
 
-A copy of the latest development release is available [here](https://github.com/PhotonVision/photonvision/releases/tag/Dev).
+PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).
 
-PhotonVision is a fork of [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/), a free open-source software for FRC teams to use for vision processing on their robots. Thank you to everyone who worked on the original project.
+A copy of the latest Raspberry Pi image is available [here](https://github.com/PhotonVision/photon-pi-gen/releases). A copy of the latest standalone JAR is available [here](https://github.com/PhotonVision/photonvision/releases). If you are a Gloworm user you can find the latest Gloworm image [here](https://github.com/gloworm-vision/pi-gen/releases).
 
-For information on contributing or running PhotonVision, please read our documentation on ReadTheDocs.
-
-# Roadmap
-
-Our roadmap is publicly available on [Trello](https://trello.com/photonvision).
+If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/other/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
 
 ## Authors
 
@@ -18,6 +14,8 @@ A list of contributors is available in our documentation on ReadTheDocs.
 
 
 ## Acknowledgments
+PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
+
 
 * [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv). 
 
@@ -30,4 +28,4 @@ A list of contributors is available in our documentation on ReadTheDocs.
 * [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
 
 ## License  
-Usage of PhotonVision must fall under all terms of [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)
+PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)

photon-client/src/App.vue

@@ -145,7 +145,7 @@ import Logs from "./views/LogsView"
         },
         data: () => ({
             // Used so that we can switch back to the previously selected pipeline after camera calibration
-            previouslySelectedIndex: undefined,
+            previouslySelectedIndices: [],
             timer: undefined,
         }),
         computed: {
@@ -240,15 +240,23 @@ import Logs from "./views/LogsView"
                 })
             },
             switchToDriverMode() {
-                this.previouslySelectedIndex = this.$store.getters.currentPipelineIndex;
-                this.handleInputWithIndex('currentPipeline', -1)
-            },
-            rollbackPipelineIndex() {
-                if (this.previouslySelectedIndex !== null) {
-                    this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndex || 0);
+                if (!this.previouslySelectedIndices) this.previouslySelectedIndices = [];
+
+                for (const [i, cameraSettings] of this.$store.state.cameraSettings.entries()) {
+                  this.previouslySelectedIndices[i] = cameraSettings.currentPipelineIndex;
+                  this.handleInputWithIndex('currentPipeline', -1, i);
                 }
-                this.previouslySelectedIndex = null;
             },
+            rollbackPipelineIndex()
+            {
+              if (this.previouslySelectedIndices !== null) {
+                for (const [i] of this.$store.state.cameraSettings.entries()) {
+                  this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndices[i] || 0, i);
+                }
+              }
+              this.previouslySelectedIndices = null;
+            }
+,
             switchToSettingsTab() {
                 this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
             }

photon-client/src/components/common/cv-range-slider.vue

@@ -86,7 +86,7 @@ export default {
   computed: {
     localValue: {
       get() {
-        return Object.values(this.value);
+        return Object.values(this.value || [0, 0]);
       },
       set(value) {
         this.$emit("input", value);

photon-client/src/mixins/global/dataHandleMixin.js

@@ -4,10 +4,10 @@ export const dataHandleMixin = {
             let msg = this.$msgPack.encode({[key]: value});
             this.$socket.send(msg);
         },
-        handleInputWithIndex(key, value) {
+        handleInputWithIndex(key, value, cameraIndex = this.$store.getters.currentCameraIndex) {
             let msg = this.$msgPack.encode({
                 [key]: value,
-                ["cameraIndex"]: this.$store.getters.currentCameraIndex
+                ["cameraIndex"]: cameraIndex,
             });
             this.$socket.send(msg);
         },

photon-client/src/views/CamerasView.vue

@@ -260,7 +260,7 @@
           <v-dialog
             v-model="snack"
             width="500px"
-            persistent="true"
+            :persistent="true"
           >
             <v-card
               color="primary"

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

@@ -140,7 +140,7 @@ public class Main {
             logger.error("Failed to parse command-line options!", e);
         }
 
-        CVMat.enablePrint(true);
+        CVMat.enablePrint(false);
         PipelineProfiler.enablePrint(false);
 
         var logLevel = printDebugLogs ? LogLevel.TRACE : LogLevel.DEBUG;

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

@@ -86,9 +86,16 @@ public class SocketHandler {
         users.remove(context);
 
         if (users.size() == 0) {
+            logger.info("All websocket connections are closed. Setting inputShouldShow to false.");
+
+            // cameraIndex -1 means the event is received by all cameras
             dcService.publishEvent(
                     new IncomingWebSocketEvent<>(
-                            DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS, "inputShouldShow", false));
+                            DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
+                            "inputShouldShow",
+                            false,
+                            -1,
+                            null));
         }
     }
 

photon-server/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java

@@ -174,7 +174,7 @@ public class CornerDetectionPipe
         // and maximize their distance from the center of the min area rectangle
         var leftList = new ArrayList<Point>();
         var rightList = new ArrayList<Point>();
-        var averageXCoordinate = 0;
+        double averageXCoordinate = 0.0;
         for (var p : pointList) {
             averageXCoordinate += p.x;
         }

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

@@ -141,7 +141,7 @@ public class VisionModule {
         }
 
         // Configure LED's if supported by the underlying hardware
-        if (HardwareManager.getInstance().visionLED != null) {
+        if (HardwareManager.getInstance().visionLED != null && this.camShouldControlLEDs()) {
             HardwareManager.getInstance()
                     .visionLED
                     .setPipelineModeSupplier(() -> pipelineManager.getCurrentPipelineSettings().ledMode);
@@ -277,7 +277,7 @@ public class VisionModule {
 
     void setDriverMode(boolean isDriverMode) {
         pipelineManager.setDriverMode(isDriverMode);
-        if (isVendorCamera()) setVisionLEDs(!isDriverMode);
+        setVisionLEDs(!isDriverMode);
         saveAndBroadcastAll();
     }
 
@@ -375,14 +375,21 @@ public class VisionModule {
             visionSource.getSettables().setGain(Math.max(0, config.cameraGain));
         }
 
-        if (isVendorCamera()) setVisionLEDs(config.ledMode);
+        setVisionLEDs(config.ledMode);
 
         visionSource.getSettables().getConfiguration().currentPipelineIndex =
                 pipelineManager.getCurrentPipelineIndex();
     }
 
+    private boolean camShouldControlLEDs() {
+        // Heuristic - if the camera has a known FOV or is a piCam, assume it's in use for
+        // vision processing, and should command stuff to the LED's.
+        // TODO: Make LED control a property of the camera itself and controllable in the UI.
+        return isVendorCamera() || cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+    }
+
     private void setVisionLEDs(boolean on) {
-        if (HardwareManager.getInstance().visionLED != null)
+        if (camShouldControlLEDs() && HardwareManager.getInstance().visionLED != null)
             HardwareManager.getInstance().visionLED.setState(on);
     }
 

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

@@ -53,7 +53,9 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
         if (event instanceof IncomingWebSocketEvent) {
             var wsEvent = (IncomingWebSocketEvent<?>) event;
 
-            if (wsEvent.cameraIndex != null && wsEvent.cameraIndex == parentModule.moduleIndex) {
+            // Camera index -1 means a "multicast event" (i.e. the event is received by all cameras)
+            if (wsEvent.cameraIndex != null
+                    && (wsEvent.cameraIndex == parentModule.moduleIndex || wsEvent.cameraIndex == -1)) {
                 logger.trace("Got PSC event - propName: " + wsEvent.propertyName);
 
                 var propName = wsEvent.propertyName;

photon-server/versioningHelper.gradle

@@ -8,7 +8,7 @@ gradle.allprojects {
         String tagIsh
         try {
             exec {
-                commandLine 'git', 'describe', '--tags'
+                commandLine 'git', 'describe', '--tags', '--exclude="Dev"'
                 standardOutput = stdout
             }
             tagIsh = stdout.toString().trim().toLowerCase()