Revert part of #288 (#306 )

Fixes picam streaming/hangs
Make photonlib complain if versions don't match (#302 )
2026-06-23 01:21:40 +00:00 · 2021-10-30 12:27:41 -04:00 · 2021-10-18 22:31:18 -04:00 · 2021-10-16 09:42:21 -04:00 · 2021-10-07 11:13:11 -04:00 · 2021-10-05 12:16:50 -04:00
640 changed files with 9854 additions and 2571 deletions
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -7,12 +7,14 @@ name: CI
 on:
  push:
    branches: [ master ]
+    tags:
+      - 'v*'
  pull_request:
    branches: [ master ]

 jobs:
  # This job builds the client (web view).
-  build-client:
+  photonclient-build:

    # Let all steps run within the photon-client dir.
    defaults:
@@ -47,12 +49,7 @@ jobs:
        name: built-client
        path: photon-client/dist/

-  build-server:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
+  photon-build-all:
    # The type of runner that the job will run on.
    runs-on: ubuntu-latest

@@ -60,6 +57,10 @@ jobs:
      # Checkout code.
      - name: Checkout code
        uses: actions/checkout@v1
+
+      # Fetch tags.
+      - name: Fetch tags
+        run: git fetch --tags --force
        
      # Install Java 11.
      - name: Install Java 11
@@ -71,19 +72,28 @@ jobs:
      - name: Gradle Build
        run: |
          chmod +x gradlew
-          ./gradlew build -x check
+          ./gradlew build -x check --max-workers 1

-      # Run Tests Generate Coverage Report.
-      - name: Gradle Test and Coverage
-        run: ./gradlew jacocoTestReport
+      # Run Gradle Tests.
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --max-workers 1
+
+      # Generate Coverage Report.
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport --max-workers 1
      
      # Publish Coverage Report.
-      - name: Publish Coverage Report
+      - name: Publish Server Coverage Report
        uses: codecov/codecov-action@v1
        with:
          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml

-  build-offline-docs:
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v1
+        with:
+          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+
+  photonserver-build-offline-docs:
    runs-on: ubuntu-latest

    steps:
@@ -104,11 +114,6 @@ 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
@@ -123,77 +128,8 @@ jobs:
        with:
          name: built-docs
          path: build/html
-      
-
-  build-package:
-    needs: [build-client, build-server, build-offline-docs]
-
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout code.
-      - uses: actions/checkout@v1
-      
-      # Install Java 11.
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-
-      # Clear any existing web resources.
-      - run: |
-          rm -rf src/main/resources/web/*
-          mkdir -p src/main/resources/web/docs
-
-      # Download client artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-
-      # Download docs artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs     
-
-
-      # Print folder contents.
-      - run: ls
-        working-directory: photon-server/src/main/resources/web/
-
-      # Build fat jar.
-      - run: |
-          chmod +x gradlew
-          ./gradlew shadowJar
-        working-directory: photon-server
-
-      # Upload final fat jar as artifact.
-      - uses: actions/upload-artifact@master
-        with:
-          name: jar
-          path: photon-server/build/libs
-    
-      - uses: eine/tip@master
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            photon-server/build/libs/*.jar
-        if: github.event_name == 'push'
-
-  check-lint:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server

+  photonserver-check-lint:
    # The type of runner that the job will run on.
    runs-on: ubuntu-latest
    
@@ -210,4 +146,166 @@ jobs:
      - run: |
          chmod +x gradlew
          ./gradlew spotlessCheck
-            
+
+
+  photon-release:
+    if: startsWith(github.ref, 'refs/tags/v')
+    needs: [photon-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 }}
+
+  #  Building photonlib
+  photonlib-build-host:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+          - os: macos-latest
+            artifact-name: macOS
+          - os: ubuntu-latest
+            artifact-name: Linux
+
+    runs-on: ${{ matrix.os }}
+    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v2.3.4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - run: git fetch --tags --force
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+
+  photonlib-build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2021-18.04
+            artifact-name: Athena
+          - container: wpilib/raspbian-cross-ubuntu:10-18.04
+            artifact-name: Raspbian
+          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
+            artifact-name: Aarch64
+
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v2.3.4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+
+  photonlib-wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format
+        run: sudo apt-get update -q && sudo apt-get install clang-format-10
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat -clang 10 -f photon-lib
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
+
+  photon-build-package:
+    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs, photonlib-build-host, photonlib-build-docker]
+
+    # The type of runner that the job will run on.
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checkout code.
+      - uses: actions/checkout@v1
+
+      # Install Java 11.
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+
+      # Clear any existing web resources.
+      - run: |
+          rm -rf photon-server/src/main/resources/web/*
+          mkdir -p photon-server/src/main/resources/web/docs
+
+      # Download client artifact to resources folder.
+      - uses: actions/download-artifact@v2
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+
+      # Download docs artifact to resources folder.
+      - uses: actions/download-artifact@v2
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+
+      # Build fat jar.
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 1
+
+      # Upload final fat jar as artifact.
+      - uses: actions/upload-artifact@master
+        with:
+          name: jar
+          path: photon-server/build/libs
+
+      - uses: eine/tip@master
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            photon-server/build/libs/*.jar
+        if: github.event_name == 'push'
+
--- a/.gitignore
+++ b/.gitignore
@@ -104,15 +104,15 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser

-
-photon-server/.gradle
-photon-server/target
-photon-server/src/main/java/META-INF
-photon-server/.settings
-photon-server/.classpath
-photon-server/.project
-photon-server/settings
-photon-server/dependency-reduced-pom.xml
+# Temporary build files
+**/.gradle
+**/target
+**/src/main/java/META-INF
+**/.settings
+**/.classpath
+**/.project
+**/settings
+**/dependency-reduced-pom.xml
 # photon-server/photon-vision.iml

 New client/photon-client/*
@@ -126,3 +126,12 @@ photon-server/photon-vision
 photon-server/src/main/resources/web
 photon-server/src/main/java/org/photonvision/PhotonVersion.java
 photon-server/src/main/generated/native/include/org_photonvision_raspi_PicamJNI.h
+*.bin
+.gradle
+.gradle/*
+photonvision_config
+build/spotlessJava
+build/*
+build
+photon-lib/src/main/java/org/photonvision/PhotonVersion.java
+/photonlib-java-examples/bin/
--- a/photon-server/LicenseHeader.txt
+++ b/photon-server/LicenseHeader.txt
--- a/README.md
+++ b/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)
--- a/build.gradle
+++ b/build.gradle
@@ -0,0 +1,46 @@
+plugins {
+    id "com.diffplug.gradle.spotless" version "3.28.0"
+    id "com.github.johnrengelman.shadow" version "5.2.0"
+    id "com.github.node-gradle.node" version "2.2.4" apply false
+    id "edu.wpi.first.GradleJni" version "0.10.1"
+    id "edu.wpi.first.GradleVsCode" version "0.12.0"
+    id "edu.wpi.first.NativeUtils" version "2021.1.1" apply false
+    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
+    id "org.hidetake.ssh" version "2.10.1"
+}
+
+allprojects {
+    repositories {
+        jcenter()
+        maven { url = "https://maven.photonvision.org/repository/internal/" }
+    }
+    wpilibRepositories.addAllReleaseRepositories(it)
+    wpilibRepositories.addAllDevelopmentRepositories(it)
+}
+
+// Configure the version number.
+apply from: "versioningHelper.gradle"
+
+ext {
+    wpilibVersion = "2021.3.1"
+    opencvVersion = "3.4.7-5"
+    joglVersion = "2.4.0-rc-20200307"
+    pubVersion = versionString
+    isDev = pubVersion.startsWith("dev")
+}
+
+spotless {
+    java {
+        googleJavaFormat()
+        paddedCell()
+        indentWithTabs(2)
+        indentWithSpaces(4)
+        removeUnusedImports()
+    }
+    java {
+        target "**/*.java"
+        licenseHeaderFile "$rootDir/LicenseHeader.txt"
+        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
+        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
+    }
+}
--- a/photon-server/gradle/wrapper/gradle-wrapper.jar
+++ b/photon-server/gradle/wrapper/gradle-wrapper.jar
--- a/photon-server/gradle/wrapper/gradle-wrapper.properties
+++ b/photon-server/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0-bin.zip
-distributionSha256Sum=5a3578b9f0bb162f5e08cf119f447dfb8fa950cedebb4d2a977e912a11a74b91
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-bin.zip
+distributionSha256Sum=3239b5ed86c3838a37d983ac100573f64c1f3fd8e1eb6c89fa5f9529b5ec091d
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
--- a/photon-server/gradlew
+++ b/photon-server/gradlew
--- a/photon-server/gradlew.bat
+++ b/photon-server/gradlew.bat
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -145,7 +145,7 @@ import Logs from "./views/LogsView"
        },
        data: () => ({
            // Used so that we can switch back to the previously selected pipeline after camera calibration
-            previouslySelectedIndex: undefined,
+            previouslySelectedIndices: [],
            timer: undefined,
        }),
        computed: {
@@ -213,6 +213,8 @@ import Logs from "./views/LogsView"
            handleMessage(key, value) {
                if (key === "logMessage") {
                    this.logMessage(value["logMessage"], value["logLevel"]);
+                } else if(key === "log"){
+                    this.logMessage(value["logMessage"]["logMessage"], value["logMessage"]["logLevel"]); 
                } else if (key === "updatePipelineResult") {
                    this.$store.commit('mutatePipelineResults', value)
                } else if (this.$store.state.hasOwnProperty(key)) {
@@ -240,15 +242,23 @@ import Logs from "./views/LogsView"
                })
            },
            switchToDriverMode() {
-                this.previouslySelectedIndex = this.$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.$address + '/api/sendMetrics', {})
            }
--- a/photon-client/src/components/common/cv-range-slider.vue
+++ b/photon-client/src/components/common/cv-range-slider.vue
@@ -15,6 +15,7 @@
          :value="localValue"
          :max="max"
          :min="min"
+          :disabled="disabled"
          hide-details
          class="align-center"
          dark
@@ -34,7 +35,7 @@
              hide-details
              single-line
              type="number"
-              style="width: 50px"
+              style="width: 60px"
              :step="step"
              @input="handleChange"
              @focus="prependFocused = true"
@@ -53,7 +54,7 @@
              hide-details
              single-line
              type="number"
-              style="width: 50px"
+              style="width: 60px"
              :step="step"
              @input="handleChange"
              @focus="appendFocused = true"
@@ -75,7 +76,7 @@ export default {
    TooltippedLabel,
  },
  // eslint-disable-next-line vue/require-prop-types
-  props: ["name", "min", "max", "value", "step", "tooltip"],
+  props: ["name", "min", "max", "value", "step", "tooltip", "disabled"],
  data() {
    return {
      prependFocused: false,
@@ -86,7 +87,7 @@ export default {
  computed: {
    localValue: {
      get() {
-        return Object.values(this.value);
+        return Object.values(this.value || [0, 0]);
      },
      set(value) {
        this.$emit("input", value);
--- a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
+++ b/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
@@ -88,7 +88,11 @@
              menu
            </v-icon>
          </template>
-          <v-list dense>
+          <v-list
+            dark
+            dense
+            color="primary"
+          >
            <v-list-item @click="toPipelineNameChange">
              <v-list-item-title>
                <CVicon
@@ -119,7 +123,7 @@
                />
              </v-list-item-title>
            </v-list-item>
-            <v-list-item @click="openDuplicateDialog">
+            <v-list-item @click="duplicatePipeline">
              <v-list-item-title>
                <CVicon
                  color="#c5c5c5"
@@ -132,66 +136,51 @@
          </v-list>
        </v-menu>
      </v-col>
+      <v-col
+        v-if="currentPipelineType >= 0"
+        cols="10"
+        md="5"
+        lg="10"
+        class="pt-0 pb-0 pl-6 ml-16"
+      >
+        <CVselect
+          v-model="currentPipelineType"
+          name="Type"
+          :list="['Reflective', 'Shape']"
+          @input="e => showTypeDialog(e)"
+        />
+      </v-col>
    </v-row>
-    <!--pipeline duplicate dialog-->
-    <v-dialog
-      v-model="duplicateDialog"
-      dark
-      width="500"
-      height="357"
-    >
-      <v-card dark>
-        <v-card-title
-          class="headline"
-          primary-title
-        >
-          Duplicate Pipeline
-        </v-card-title>
-        <v-card-text>
-          <CVselect
-            v-model="pipeIndexToDuplicate"
-            name="Pipeline"
-            :list="$store.getters.pipelineList"
-          />
-        </v-card-text>
-        <v-divider />
-        <v-card-actions>
-          <v-spacer />
-          <v-btn
-            color="#ffd843"
-            @click="duplicatePipeline"
-          >
-            Duplicate
-          </v-btn>
-          <v-btn
-            color="error"
-            @click="closeDuplicateDialog"
-          >
-            Cancel
-          </v-btn>
-        </v-card-actions>
-      </v-card>
-    </v-dialog>
+
    <!--pipeline naming dialog-->
    <v-dialog
      v-model="namingDialog"
      dark
+      persistent
      width="500"
      height="357"
    >
-      <v-card dark>
+      <v-card
+        dark
+        color="primary"
+      >
        <v-card-title
          class="headline"
          primary-title
        >
-          Pipeline Name
+          {{ isPipelineNameEdit ? "Edit Pipeline Name" : "Create Pipeline" }}
        </v-card-title>
        <v-card-text>
          <CVinput
            v-model="newPipelineName"
            name="Pipeline"
            :error-message="checkPipelineName"
-            @Enter="savePipelineNameChange"
+          />
+          <CVselect
+            v-model="newPipelineType"
+            name="Pipeline Type"
+            :list="['Reflective', 'Shape']"
+            :disabled="isPipelineNameEdit"
          />
        </v-card-text>
        <v-divider />
@@ -213,161 +202,205 @@
        </v-card-actions>
      </v-card>
    </v-dialog>
+    <v-dialog
+      v-model="showPipeTypeDialog"
+      width="600"
+    >
+      <v-card
+        color="primary"
+        dark
+      >
+        <v-card-title>Change Pipeline Type</v-card-title>
+        <v-card-text>
+          Changing the type of this pipeline will erase the current pipeline's settings and replace it with a new {{ ['Reflective', 'Shape'][proposedPipelineType] }} pipeline. <b class="red--text format_bold">You will lose all settings for the pipeline
+            "{{ ($store.getters.isDriverMode ? ['Driver Mode'] : []).concat($store.getters.pipelineList)[currentPipelineIndex] }}."</b> Are you sure you want to do this?
+          <v-row
+            class="mt-6"
+            style="display: flex; align-items: center; justify-content: center"
+            align="center"
+          >
+            <v-btn
+              class="mr-3"
+              color="red"
+              width="250"
+              @click="e => changePipeType(true)"
+            >
+              Yes, replace this pipeline
+            </v-btn>
+            <v-btn
+              class="ml-10"
+              color="secondary"
+              width="250"
+              @click="e => changePipeType(false)"
+            >
+              No, take me back
+            </v-btn>
+          </v-row>
+        </v-card-text>
+      </v-card>
+    </v-dialog>
  </div>
 </template>

 <script>
-    import CVicon from '../common/cv-icon'
-    import CVselect from '../common/cv-select'
-    import CVinput from '../common/cv-input'
-
-    export default {
-        name: "CameraAndPipelineSelect",
-        components: {
-            CVicon,
-            CVselect,
-            CVinput
-        },
-        data: () => {
-            return {
-                re: RegExp("^[A-Za-z0-9 \\-)(]*[A-Za-z0-9][A-Za-z0-9 \\-)(.]*$"),
-                isCameraNameEdit: false,
-                newCameraName: "",
-                cameraNameError: "",
-                isPipelineNameEdit: false,
-                namingDialog: false,
-                newPipelineName: "",
-                duplicateDialog: false,
-                pipeIndexToDuplicate: undefined
-            }
-        },
-        computed: {
-            checkCameraName() {
-                if (this.newCameraName !== this.$store.getters.cameraList[this.currentCameraIndex]) {
-                    if (this.re.test(this.newCameraName)) {
-                        for (let cam in this.cameraList) {
-                            if (this.cameraList.hasOwnProperty(cam)) {
-                                if (this.newCameraName === this.cameraList[cam]) {
-                                    return "A camera by that name already Exists"
-                                }
-                            }
-                        }
-                    } else {
-                        return "A camera name can only contain letters, numbers and spaces"
-                    }
-                }
-                return "";
-            },
-            checkPipelineName() {
-                if (this.newPipelineName !== this.$store.getters.pipelineList[this.currentPipelineIndex - 1] || this.isPipelineNameEdit === false) {
-                    if (this.re.test(this.newPipelineName)) {
-                        for (let pipe in this.$store.getters.pipelineList) {
-                            if (this.$store.getters.pipelineList.hasOwnProperty(pipe)) {
-                                if (this.newPipelineName === this.$store.getters.pipelineList[pipe]) {
-                                    return "A pipeline with this name already exists"
-                                }
-                            }
-                        }
-                    } else {
-                        return "A pipeline name can only contain letters, numbers, and spaces"
-                    }
-                }
-                return ""
-            },
-            currentCameraIndex: {
-                get() {
-                    return this.$store.getters.currentCameraIndex;
-                },
-                set(value) {
-                    this.$store.commit('currentCameraIndex', value);
-                }
-            },
-            currentPipelineIndex: {
-                get() {
-                    return this.$store.getters.currentPipelineIndex + (this.$store.getters.isDriverMode ? 1 : 0);
-                },
-                set(value) {
-                    this.$store.commit('currentPipelineIndex', value - (this.$store.getters.isDriverMode ? 1 : 0));
-                }
-            }
-        },
-        methods: {
-            changeCameraName() {
-                this.newCameraName = this.$store.getters.cameraList[this.currentCameraIndex];
-                this.isCameraNameEdit = true;
-            },
-            saveCameraNameChange() {
-                if (this.checkCameraName === "") {
-                    // this.handleInputWithIndex("changeCameraName", this.newCameraName);
-                    this.axios.post('http://' + this.$address + '/api/setCameraNickname',
-                        {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
-                        // eslint-disable-next-line
-                        .then(r => {
-                            this.$emit('camera-name-changed')
-                        })
-                        .catch(e => {
-                            console.log("HTTP error while changing camera name " + e);
-                            this.$emit('camera-name-changed')
-                        })
-                    this.discardCameraNameChange();
-                }
-            },
-            discardCameraNameChange() {
-                this.isCameraNameEdit = false;
-                this.newCameraName = "";
-            },
-            toPipelineNameChange() {
-                this.newPipelineName = this.$store.getters.pipelineList[this.currentPipelineIndex - 1];
-                this.isPipelineNameEdit = true;
-                this.namingDialog = true;
-            },
-            toCreatePipeline() {
-                this.newPipelineName = "New Pipeline";
-                this.isPipelineNameEdit = false;
-                this.namingDialog = true;
-            },
-            openDuplicateDialog() {
-                this.pipeIndexToDuplicate = this.currentPipelineIndex - 1;
-                this.duplicateDialog = true;
-            },
-            deleteCurrentPipeline() {
-                if (this.$store.getters.pipelineList.length > 1) {
-                    this.handleInputWithIndex('deleteCurrentPipeline', {});
-                } else {
-                    this.snackbar = true;
-                }
-            },
-            savePipelineNameChange() {
-                if (this.checkPipelineName === "") {
-                    if (this.isPipelineNameEdit) {
-                        this.handleInputWithIndex("changePipelineName", this.newPipelineName);
-                    } else {
-                        this.handleInputWithIndex("addNewPipeline", this.newPipelineName);
-                    }
-                    this.discardPipelineNameChange();
-                }
-            },
-            duplicatePipeline() {
-                // if (!this.anotherCamera) {
-                //     this.pipelineDuplicate.camera = -1
-                // }
-                this.handleInputWithIndex("duplicatePipeline", this.pipeIndexToDuplicate);
-                // this.axios.post("http://" + this.$address + "/api/vision/duplicate", this.pipeIndexToDuplicate);
-
-                this.closeDuplicateDialog();
-            },
-            closeDuplicateDialog() {
-                this.duplicateDialog = false;
-                this.pipeIndexToDuplicate = undefined;
-            },
-            discardPipelineNameChange() {
-                this.namingDialog = false;
-                this.isPipelineNameEdit = false;
-                this.newPipelineName = "";
-            },
-        }
+import CVicon from '../common/cv-icon'
+import CVselect from '../common/cv-select'
+import CVinput from '../common/cv-input'

+export default {
+  name: "CameraAndPipelineSelect",
+  components: {
+    CVicon,
+    CVselect,
+    CVinput
+  },
+  data: () => {
+    return {
+      re: RegExp("^[A-Za-z0-9 \\-)(]*[A-Za-z0-9][A-Za-z0-9 \\-)(.]*$"),
+      isCameraNameEdit: false,
+      newCameraName: "",
+      cameraNameError: "",
+      isPipelineNameEdit: false,
+      namingDialog: false,
+      newPipelineName: "",
+      newPipelineType: 0,
+      duplicateDialog: false,
+      showPipeTypeDialog: false,
+      proposedPipelineType : 0,
+      pipeIndexToDuplicate: undefined
    }
+  },
+  computed: {
+    checkCameraName() {
+      if (this.newCameraName !== this.$store.getters.cameraList[this.currentCameraIndex]) {
+        if (this.re.test(this.newCameraName)) {
+          for (let cam in this.cameraList) {
+            if (this.cameraList.hasOwnProperty(cam)) {
+              if (this.newCameraName === this.cameraList[cam]) {
+                return "A camera by that name already Exists"
+              }
+            }
+          }
+        } else {
+          return "A camera name can only contain letters, numbers and spaces"
+        }
+      }
+      return "";
+    },
+    checkPipelineName() {
+      if (this.newPipelineName !== this.$store.getters.pipelineList[this.currentPipelineIndex - 1] || this.isPipelineNameEdit === false) {
+        if (this.re.test(this.newPipelineName)) {
+          for (let pipe in this.$store.getters.pipelineList) {
+            if (this.$store.getters.pipelineList.hasOwnProperty(pipe)) {
+              if (this.newPipelineName === this.$store.getters.pipelineList[pipe]) {
+                return "A pipeline with this name already exists"
+              }
+            }
+          }
+        } else {
+          return "A pipeline name can only contain letters, numbers, and spaces"
+        }
+      }
+      return ""
+    },
+    currentCameraIndex: {
+      get() {
+        return this.$store.getters.currentCameraIndex;
+      },
+      set(value) {
+        this.$store.commit('currentCameraIndex', value);
+      }
+    },
+    currentPipelineIndex: {
+      get() {
+        return this.$store.getters.currentPipelineIndex + (this.$store.getters.isDriverMode ? 1 : 0);
+      },
+      set(value) {
+        this.$store.commit('currentPipelineIndex', value - (this.$store.getters.isDriverMode ? 1 : 0));
+      }
+    },
+    currentPipelineType: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.pipelineType - 2;
+      },
+      set(value) {
+        value; // nop, since we have the dialog for this
+      }
+    }
+  },
+  methods: {
+    showTypeDialog(idx) {
+      // Only show the dialog if it's a new type
+      this.showPipeTypeDialog = idx !== this.currentPipelineType;
+      this.proposedPipelineType = idx;
+    },
+    changePipeType(actuallyChange) {
+      const newIdx = actuallyChange ? this.proposedPipelineType : this.currentPipelineType
+      this.handleInputWithIndex('pipelineType', newIdx);
+      this.showPipeTypeDialog = false;
+    },
+    changeCameraName() {
+      this.newCameraName = this.$store.getters.cameraList[this.currentCameraIndex];
+      this.isCameraNameEdit = true;
+    },
+    saveCameraNameChange() {
+      if (this.checkCameraName === "") {
+        // this.handleInputWithIndex("changeCameraName", this.newCameraName);
+        this.axios.post('http://' + this.$address + '/api/setCameraNickname',
+            {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
+            // eslint-disable-next-line
+            .then(r => {
+              this.$emit('camera-name-changed')
+            })
+            .catch(e => {
+              console.log("HTTP error while changing camera name " + e);
+              this.$emit('camera-name-changed')
+            })
+        this.discardCameraNameChange();
+      }
+    },
+    discardCameraNameChange() {
+      this.isCameraNameEdit = false;
+      this.newCameraName = "";
+    },
+    toPipelineNameChange() {
+      this.newPipelineName = this.$store.getters.pipelineList[this.currentPipelineIndex - 1];
+      this.isPipelineNameEdit = true;
+      this.namingDialog = true;
+    },
+    toCreatePipeline() {
+      this.newPipelineName = "New Pipeline";
+      this.isPipelineNameEdit = false;
+      this.namingDialog = true;
+    },
+    deleteCurrentPipeline() {
+      if (this.$store.getters.pipelineList.length > 1) {
+        this.handleInputWithIndex('deleteCurrentPipeline', {});
+      } else {
+        this.snackbar = true;
+      }
+    },
+    savePipelineNameChange() {
+      if (this.checkPipelineName === "") {
+        if (this.isPipelineNameEdit) {
+          this.handleInputWithIndex("changePipelineName", this.newPipelineName);
+        } else {
+          this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.newPipelineType]); // 0 for reflective, 1 for colored shpae
+        }
+        this.discardPipelineNameChange();
+      }
+    },
+    duplicatePipeline() {
+      this.handleInputWithIndex("duplicatePipeline", this.currentPipelineIndex);
+    },
+    discardPipelineNameChange() {
+      this.namingDialog = false;
+      this.isPipelineNameEdit = false;
+      this.newPipelineName = "";
+    },
+  }
+
+}
 </script>

 <style scoped>
--- a/photon-client/src/main.js
+++ b/photon-client/src/main.js
@@ -29,9 +29,11 @@ Vue.use(VueAxios, axios);
 Vue.prototype.$msgPack = msgPack(true);

 import {dataHandleMixin} from './mixins/global/dataHandleMixin'
-
 Vue.mixin(dataHandleMixin);

+import {stateMixin} from './mixins/global/stateMixin'
+Vue.mixin(stateMixin);
+
 new Vue({
    router,
    store,
--- a/photon-client/src/mixins/global/dataHandleMixin.js
+++ b/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);
        },
--- a/photon-client/src/mixins/global/stateMixin.js
+++ b/photon-client/src/mixins/global/stateMixin.js
@@ -0,0 +1,10 @@
+export const stateMixin = {
+    methods: {
+        currentPipelineType() {
+            return this.$store.getters.pipelineType
+        },
+        currentPipelineSettings() {
+            return this.$store.getters.currentPipelineSettings
+        },
+    }
+};
--- a/photon-client/src/store/index.js
+++ b/photon-client/src/store/index.js
@@ -42,7 +42,7 @@ export default new Vuex.Store({
                isFovConfigurable: true,
                calibrated: false,
                currentPipelineSettings: {
-                    pipelineType: 2, // One of "driver", "reflective", "shape"
+                    pipelineType: 2, // One of "calib", "driver", "reflective", "shape"
                    // 2 is reflective

                    // Settings that apply to all pipeline types
@@ -245,5 +245,6 @@ export default new Vuex.Store({
        },
        pipelineList: state => state.cameraSettings[state.currentCameraIndex].pipelineNicknames,
        calibrationList: state => state.cameraSettings[state.currentCameraIndex].calibrations,
+        pipelineType: state => state.cameraSettings[state.currentCameraIndex].currentPipelineSettings.pipelineType
    }
 })
--- a/photon-client/src/views/CamerasView.vue
+++ b/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"
--- a/photon-client/src/views/PipelineView.vue
+++ b/photon-client/src/views/PipelineView.vue
@@ -34,7 +34,7 @@
                :text-color="fpsTooLow ? 'white' : 'grey'"
              >
                <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
-                <span v-if="!fpsTooLow">{{ Math.round($store.state.pipelineResults.latency) }} ms latency</span>
+                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 100) }} ms latency</span>
                <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
                <span v-else>stop viewing the color stream for better performance</span>
              </v-chip>
--- a/photon-client/src/views/PipelineViews/ContoursTab.vue
+++ b/photon-client/src/views/PipelineViews/ContoursTab.vue
@@ -1,160 +1,286 @@
 <template>
  <div>
    <CVrangeSlider
-      v-model="contourArea"
-      name="Area"
-      min="0"
-      max="100"
-      step="0.1"
-      @input="handlePipelineData('contourArea')"
-      @rollback="e=> rollback('contourArea',e)"
+        v-model="contourArea"
+        name="Area"
+        min="0"
+        max="100"
+        step="0.1"
+        @input="handlePipelineData('contourArea')"
    />
    <CVrangeSlider
-      v-model="contourRatio"
-      name="Ratio (W/H)"
-      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
-      min="0"
-      max="100"
-      step="0.1"
-      @input="handlePipelineData('contourRatio')"
-      @rollback="e=> rollback('contourRatio',e)"
+        v-model="contourRatio"
+        v-if="currentPipelineType() !== 3"
+        name="Ratio (W/H)"
+        tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
+        min="0"
+        max="100"
+        step="0.1"
+        @input="handlePipelineData('contourRatio')"
    />
    <CVrangeSlider
-      v-model="contourFullness"
-      name="Fullness"
-      tooltip="Min and max ratio between a contour's area and its bounding rectangle"
-      min="0"
-      max="100"
-      @input="handlePipelineData('contourFullness')"
-      @rollback="e=> rollback('contourFullness',e)"
+        v-model="contourFullness"
+        v-if="currentPipelineType() !== 3"
+        name="Fullness"
+        tooltip="Min and max ratio between a contour's area and its bounding rectangle"
+        min="0"
+        max="100"
+        @input="handlePipelineData('contourFullness')"
+    />
+    <CVrangeSlider
+        v-model="contourPerimeter"
+        v-if="currentPipelineType() === 3"
+        name="Perimeter"
+        tooltip="Min and max perimeter of the shape, in pixels"
+        min="0"
+        max="4000"
+        @input="handlePipelineData('contourPerimeter')"
    />
    <CVslider
-      v-model="contourSpecklePercentage"
-      name="Speckle Rejection"
-      tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
-      min="0"
-      max="100"
-      :slider-cols="largeBox"
-      @input="handlePipelineData('contourSpecklePercentage')"
-      @rollback="e=> rollback('contourSpecklePercentage',e)"
+        v-model="contourSpecklePercentage"
+        name="Speckle Rejection"
+        tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
+        min="0"
+        max="100"
+        :slider-cols="largeBox"
+        @input="handlePipelineData('contourSpecklePercentage')"
    />
+    <template v-if="currentPipelineType() !== 3">
+      <CVselect
+          v-model="contourGroupingMode"
+          name="Target Grouping"
+          tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
+          :select-cols="largeBox"
+          :list="['Single','Dual']"
+          @input="handlePipelineData('contourGroupingMode')"
+      />
+      <CVselect
+          v-model="contourIntersection"
+          name="Target Intersection"
+          tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
+          :select-cols="largeBox"
+          :list="['None','Up','Down','Left','Right']"
+          :disabled="contourGroupingMode === 0"
+          @input="handlePipelineData('contourIntersection')"
+      />
+    </template>
+    <!-- If we arent not a shape, we are a shape-->
+    <template v-else>
+      <v-divider class="mt-3"/>
+      <CVselect
+          v-model="contourShape"
+          name="Target Shape"
+          tooltip="The shape of targets to look for"
+          :select-cols="largeBox"
+          :list="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
+          @input="handlePipelineData('contourShape')"
+      />
+
+      <!-- Accuracy % is only for polygons-->
+      <CVslider
+          v-model="accuracyPercentage"
+          :disabled="currentPipelineSettings().contourShape < 1"
+          name="Shape Simplification"
+          tooltip="How much we should simply the input contour before checking how many sides it has"
+          min="0"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('accuracyPercentage')"
+      />
+      <!-- Similarly, the threshold is only for circles -->
+      <CVslider
+          v-model="circleDetectThreshold"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Circle match distance"
+          tooltip="How close the centroid of a contour must be to the center of a circle in order for them to be matched"
+          min="1"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('circleDetectThreshold')"
+      />
+      <CVrangeSlider
+          v-model="contourRadius"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Radius"
+          min="0"
+          max="100"
+          step="1"
+          @input="handlePipelineData('contourRadius')"
+      />
+      <CVslider
+          v-model="maxCannyThresh"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Max Canny Threshold"
+          min="1"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('maxCannyThresh')"
+      />
+      <CVslider
+          v-model="circleAccuracy"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Circle Accuracy"
+          min="0"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('circleAccuracy')"
+      />
+      <v-divider class="mt-3"/>
+    </template>
    <CVselect
-      v-model="contourGroupingMode"
-      name="Target Grouping"
-      tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
-      :select-cols="largeBox"
-      :list="['Single','Dual']"
-      @input="handlePipelineData('contourGroupingMode')"
-      @rollback="e=> rollback('contourGroupingMode',e)"
-    />
-    <CVselect
-      v-model="contourIntersection"
-      name="Target Intersection"
-      tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
-      :select-cols="largeBox"
-      :list="['None','Up','Down','Left','Right']"
-      :disabled="contourGroupingMode === 0"
-      @input="handlePipelineData('contourIntersection')"
-      @rollback="e=> rollback('contourIntersection',e)"
-    />
-    <CVselect
-      v-model="contourSortMode"
-      name="Target Sort"
-      tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
-      :select-cols="largeBox"
-      :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
-      @input="handlePipelineData('contourSortMode')"
-      @rollback="e => rollback('contourSortMode', e)"
+        v-model="contourSortMode"
+        name="Target Sort"
+        tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
+        :select-cols="largeBox"
+        :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
+        @input="handlePipelineData('contourSortMode')"
+        @rollback="e => rollback('contourSortMode', e)"
    />
  </div>
 </template>

 <script>
-    import CVrangeSlider from '../../components/common/cv-range-slider'
-    import CVselect from '../../components/common/cv-select'
-    import CVslider from '../../components/common/cv-slider'
+import CVrangeSlider from '../../components/common/cv-range-slider'
+import CVselect from '../../components/common/cv-select'
+import CVslider from '../../components/common/cv-slider'

-    export default {
-        name: 'Contours',
-        components: {
-            CVrangeSlider,
-            CVselect,
-            CVslider
-        },
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['value'],
+export default {
+  name: 'Contours',
+  components: {
+    CVrangeSlider,
+    CVselect,
+    CVslider
+  },
+  // eslint-disable-next-line vue/require-prop-types
+  props: ['value'],

-        data() {
-            return {}
-        },
-        computed: {
-          largeBox: {
-            get() {
-              // Sliders and selectors should be fuller width if we're on screen size medium and
-              // up and either not in compact mode (because the tab will be 100% screen width),
-              // or in driver mode (where the card will also be 100% screen width).
-              return this.$vuetify.breakpoint.mdAndUp && (!this.$store.state.compactMode || this.$store.getters.isDriverMode) ? 10 : 8;
-            }
-          },
-            contourArea: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourArea
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourArea": val});
-                }
-            },
-            contourRatio: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourRatio
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourRatio": val});
-                }
-            },
-            contourFullness: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourFullness
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourFullness": val});
-                }
-            },
-            contourSpecklePercentage: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourSpecklePercentage
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
-                }
-            },
-            contourGroupingMode: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourGroupingMode
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourGroupingMode": val});
-                }
-            },
-            contourSortMode: {
-              get() {
-                return this.$store.getters.currentPipelineSettings.contourSortMode
-              },
-              set(val) {
-                this.$store.commit("mutatePipeline", {"contourSortMode": val});
-              }
-            },
-            contourIntersection: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourIntersection
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourIntersection": val});
-                }
-            }
-        },
-        methods: {},
-    }
+  data() {
+    return {}
+  },
+  computed: {
+    largeBox: {
+      get() {
+        // Sliders and selectors should be fuller width if we're on screen size medium and
+        // up and either not in compact mode (because the tab will be 100% screen width),
+        // or in driver mode (where the card will also be 100% screen width).
+        return this.$vuetify.breakpoint.mdAndUp && (!this.$store.state.compactMode || this.$store.getters.isDriverMode) ? 10 : 8;
+      }
+    },
+    contourArea: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourArea
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourArea": val});
+      }
+    },
+    contourRatio: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourRatio
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourRatio": val});
+      }
+    },
+    contourFullness: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourFullness
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourFullness": val});
+      }
+    },
+    contourPerimeter: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourPerimeter
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourPerimeter": val});
+      }
+    },
+    contourSpecklePercentage: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourSpecklePercentage
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
+      }
+    },
+    contourGroupingMode: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourGroupingMode
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourGroupingMode": val});
+      }
+    },
+    contourSortMode: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourSortMode
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourSortMode": val});
+      }
+    },
+    contourShape: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourShape
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourShape": val});
+      }
+    },
+    contourIntersection: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourIntersection
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourIntersection": val});
+      }
+    },
+    accuracyPercentage: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.accuracyPercentage
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"accuracyPercentage": val});
+      }
+    },
+    contourRadius: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourRadius
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourRadius": val});
+      }
+    },
+    circleDetectThreshold: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.circleDetectThreshold
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"circleDetectThreshold": val});
+      }
+    },
+    maxCannyThresh: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.maxCannyThresh
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"maxCannyThresh": val});
+      }
+    },
+    circleAccuracy: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.circleAccuracy
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"circleAccuracy": val});
+      }
+    },
+  },
+  methods: {},
+}
 </script>

 <style lang="" scoped>
--- a/photon-client/src/views/PipelineViews/ThresholdTab.vue
+++ b/photon-client/src/views/PipelineViews/ThresholdTab.vue
@@ -1,48 +1,66 @@
 <template>
  <div>
    <CVrangeSlider
-      v-model="hsvHue"
-      name="Hue"
-      tooltip="Describes color"
-      :min="0"
-      :max="180"
-      @input="handlePipelineData('hsvHue')"
-      @rollback="e => rollback('hue',e)"
+        v-model="hsvHue"
+        name="Hue"
+        tooltip="Describes color"
+        :min="0"
+        :max="180"
+        @input="handlePipelineData('hsvHue')"
+        @rollback="e => rollback('hue',e)"
    />
    <CVrangeSlider
-      v-model="hsvSaturation"
-      name="Saturation"
-      tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
-      :min="0"
-      :max="255"
-      @input="handlePipelineData('hsvSaturation')"
-      @rollback="e => rollback('saturation',e)"
+        v-model="hsvSaturation"
+        name="Saturation"
+        tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
+        :min="0"
+        :max="255"
+        @input="handlePipelineData('hsvSaturation')"
+        @rollback="e => rollback('saturation',e)"
    />
    <CVrangeSlider
-      v-model="hsvValue"
-      name="Value"
-      tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
-      :min="0"
-      :max="255"
-      @input="handlePipelineData('hsvValue')"
-      @rollback="e => rollback('value',e)"
+        v-model="hsvValue"
+        name="Value"
+        tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
+        :min="0"
+        :max="255"
+        @input="handlePipelineData('hsvValue')"
+        @rollback="e => rollback('value',e)"
    />
+    <template v-if="this.currentPipelineType() === 3">
+      <CVSwitch
+          v-model="erode"
+          name="Erode"
+          tooltip="Removes pixels around the edges of white areas in the thresholded image"
+          @input="handlePipelineData('erode')"
+          @rollback="e => rollback('erode',e)"
+      />
+      <CVSwitch
+          v-model="dilate"
+          class="mb-0"
+          name="Dilate"
+          tooltip="Adds pixels around the edges of white areas in the thresholded image"
+          @input="handlePipelineData('dilate')"
+          @rollback="e => rollback('dilate',e)"
+      />
+    </template>
+    <v-divider class="mb-3 mt-3"/>
    <div class="pt-3 white--text">
      Color Picker
    </div>
    <v-divider
-      class="mt-3"
+        class="mt-3"
    />
    <v-row
-      justify="center"
-      class="mt-3 mb-3"
+        justify="center"
+        class="mt-3 mb-3"
    >
      <template v-if="!$store.state.colorPicking">
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(3)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(3)"
        >
          <v-icon left>
            mdi-minus
@@ -50,10 +68,10 @@
          Shrink Range
        </v-btn>
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(1)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(1)"
        >
          <v-icon left>
            mdi-plus-minus
@@ -61,10 +79,10 @@
          Set To Average
        </v-btn>
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(2)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(2)"
        >
          <v-icon left>
            mdi-plus
@@ -74,11 +92,11 @@
      </template>
      <template v-else>
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          style="width: 30%;"
-          small
-          @click="setFunction(0)"
+            color="accent"
+            class="ma-2 black--text"
+            style="width: 30%;"
+            small
+            @click="setFunction(0)"
        >
          Cancel
        </v-btn>
@@ -88,112 +106,130 @@
 </template>

 <script>
-    import CVrangeSlider from '../../components/common/cv-range-slider'
-    
-    export default {
-        name: 'Threshold',
-        components: {
-            CVrangeSlider
-        },
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['value'],
-        data() {
-            return {
-                currentFunction: undefined,
-                colorPicker: undefined,
-                showThresholdState: 0
-            }
-        },
-        computed: {
-            hsvHue: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.hsvHue
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"hsvHue": val})
-                }
-            },
-            hsvSaturation: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.hsvSaturation
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"hsvSaturation": val})
-                }
-            },
-            hsvValue: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.hsvValue
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"hsvValue": val})
-                }
-            }
-        },
-        mounted: function () {
-            const self = this;
-            this.colorPicker = require('../../plugins/ColorPicker').default;
-            this.$nextTick(() => {
-                self.colorPicker.initColorPicker();
-            });
-        },
-        methods: {
-            onClick(event) {
-                if (this.currentFunction !== undefined) {
-                    this.colorPicker.initColorPicker();
+import CVrangeSlider from '../../components/common/cv-range-slider'
+import CVSwitch from "@/components/common/cv-switch";

-                    let s = this.$store.getters.currentPipelineSettings;
-                    let hsvArray = this.colorPicker.colorPickerClick(event, this.currentFunction,
-                        [
-                                [s.hsvHue[0], s.hsvSaturation[0], s.hsvValue[0]],
-                                [s.hsvHue[1], s.hsvSaturation[1], s.hsvValue[1]]
-                        ].map(hsv => hsv.map(it => it || 0)));
-                    // That `map` calls are to make sure that we don't let any undefined/null values slip in
-                    this.currentFunction = undefined;
-                    this.$store.state.colorPicking = false;
-                    this.handlePipelineUpdate("outputShouldDraw", true);
-
-                    s.hsvHue = [hsvArray[0][0], hsvArray[1][0]];
-                    s.hsvSaturation = [hsvArray[0][1], hsvArray[1][1]];
-                    s.hsvValue = [hsvArray[0][2], hsvArray[1][2]];
-
-                    let msg = this.$msgPack.encode({
-                        "changePipelineSetting": {
-                            'hsvHue': s.hsvHue,
-                            'hsvSaturation': s.hsvSaturation,
-                            'hsvValue': s.hsvValue,
-                            'cameraIndex': this.$store.state.currentCameraIndex
-                        }
-                    });
-                    this.$socket.send(msg);
-                    this.$emit('update');
-                }
-            },
-            setFunction(index) {
-                switch (index) {
-                    case 0:
-                        this.currentFunction = undefined;
-                        this.$store.state.colorPicking = false;
-
-                        this.handlePipelineUpdate("outputShouldDraw", true);
-                        return;
-                    case 1:
-                        this.currentFunction = this.colorPicker.eyeDrop;
-                        break;
-                    case 2:
-                        this.currentFunction = this.colorPicker.expand;
-                        break;
-                    case 3:
-                        this.currentFunction = this.colorPicker.shrink;
-                        break;
-                }
-                this.$store.state.colorPicking = true;
-
-                this.handlePipelineUpdate("outputShouldDraw", false);
-                this.$store.commit("mutatePipeline", {"inputShouldShow": true});
-                this.handlePipelineUpdate("inputShouldShow", true);
-            }
-        }
+export default {
+  name: 'Threshold',
+  components: {
+    CVSwitch,
+    CVrangeSlider
+  },
+  // eslint-disable-next-line vue/require-prop-types
+  props: ['value'],
+  data() {
+    return {
+      currentFunction: undefined,
+      colorPicker: undefined,
+      showThresholdState: 0
    }
+  },
+  computed: {
+    hsvHue: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hsvHue
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hsvHue": val})
+      }
+    },
+    hsvSaturation: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hsvSaturation
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hsvSaturation": val})
+      }
+    },
+    hsvValue: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hsvValue
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hsvValue": val})
+      }
+    },
+    erode: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.erode
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"erode": val});
+      }
+    },
+    dilate: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.dilate
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"dilate": val});
+      }
+    },
+  },
+  mounted: function () {
+    const self = this;
+    this.colorPicker = require('../../plugins/ColorPicker').default;
+    this.$nextTick(() => {
+      self.colorPicker.initColorPicker();
+    });
+  },
+  methods: {
+    onClick(event) {
+      if (this.currentFunction !== undefined) {
+        this.colorPicker.initColorPicker();
+
+        let s = this.$store.getters.currentPipelineSettings;
+        let hsvArray = this.colorPicker.colorPickerClick(event, this.currentFunction,
+            [
+              [s.hsvHue[0], s.hsvSaturation[0], s.hsvValue[0]],
+              [s.hsvHue[1], s.hsvSaturation[1], s.hsvValue[1]]
+            ].map(hsv => hsv.map(it => it || 0)));
+        // That `map` calls are to make sure that we don't let any undefined/null values slip in
+        this.currentFunction = undefined;
+        this.$store.state.colorPicking = false;
+        this.handlePipelineUpdate("outputShouldDraw", true);
+
+        s.hsvHue = [hsvArray[0][0], hsvArray[1][0]];
+        s.hsvSaturation = [hsvArray[0][1], hsvArray[1][1]];
+        s.hsvValue = [hsvArray[0][2], hsvArray[1][2]];
+
+        let msg = this.$msgPack.encode({
+          "changePipelineSetting": {
+            'hsvHue': s.hsvHue,
+            'hsvSaturation': s.hsvSaturation,
+            'hsvValue': s.hsvValue,
+            'cameraIndex': this.$store.state.currentCameraIndex
+          }
+        });
+        this.$socket.send(msg);
+        this.$emit('update');
+      }
+    },
+    setFunction(index) {
+      switch (index) {
+        case 0:
+          this.currentFunction = undefined;
+          this.$store.state.colorPicking = false;
+
+          this.handlePipelineUpdate("outputShouldDraw", true);
+          return;
+        case 1:
+          this.currentFunction = this.colorPicker.eyeDrop;
+          break;
+        case 2:
+          this.currentFunction = this.colorPicker.expand;
+          break;
+        case 3:
+          this.currentFunction = this.colorPicker.shrink;
+          break;
+      }
+      this.$store.state.colorPicking = true;
+
+      this.handlePipelineUpdate("outputShouldDraw", false);
+      this.$store.commit("mutatePipeline", {"inputShouldShow": true});
+      this.handlePipelineUpdate("inputShouldShow", true);
+    }
+  }
+}

 </script>
--- a/photon-core/.gitignore
+++ b/photon-core/.gitignore
@@ -0,0 +1,13 @@
+bin/*
+.settings/*
+.project
+.classpath
+*.prefs
+.gradle
+.gradle/*
+build
+build/*
+photonvision/*
+photonvision_config/*
+
+src/main/java/org/photonvision/PhotonVersion.java
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -0,0 +1,36 @@
+import java.nio.file.Path
+
+apply from: "${rootDir}/shared/common.gradle"
+
+dependencies {
+    implementation project(':photon-targeting')
+
+    implementation 'io.javalin:javalin:3.7.0'
+
+    implementation 'org.msgpack:msgpack-core:0.8.20'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.8.20'
+
+    // wpiutil
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxaarch64bionic"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxraspbian"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxx86-64"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:osxx86-64"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:windowsx86-64"
+
+    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion"
+
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
+
+    // Zip
+    compile 'org.zeroturnaround:zt-zip:1.14'
+}
+
+task writeCurrentVersionJava {
+    writePhotonVersionFile(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
+            versionString)
+}
+
+build.dependsOn writeCurrentVersionJava
--- a/photon-core/settings.gradle
+++ b/photon-core/settings.gradle
@@ -0,0 +1,2 @@
+rootProject.name = 'photon-core'
+
--- a/photon-server/src/main/java/org/photonvision/common/ProgramStatus.java
+++ b/photon-server/src/main/java/org/photonvision/common/ProgramStatus.java
--- a/photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
--- a/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -332,8 +332,8 @@ public class ConfigManager {
        return loadedConfigurations;
    }

-    public void addCameraConfigurations(HashMap<VisionSource, CameraConfiguration> sources) {
-        getConfig().addCameraConfigs(sources.values());
+    public void addCameraConfigurations(List<VisionSource> sources) {
+        getConfig().addCameraConfigs(sources);
        requestSave();
    }

--- a/photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
--- a/photon-server/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
--- a/photon-server/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
--- a/photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -28,6 +28,7 @@ import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.raspi.PicamJNI;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.processes.VisionSource;

 // TODO rename this class
 public class PhotonConfiguration {
@@ -75,9 +76,9 @@ public class PhotonConfiguration {
        return cameraConfigurations;
    }

-    public void addCameraConfigs(Collection<CameraConfiguration> config) {
-        for (var c : config) {
-            addCameraConfig(c);
+    public void addCameraConfigs(Collection<VisionSource> sources) {
+        for (var s : sources) {
+            addCameraConfig(s.getCameraConfiguration());
        }
    }

--- a/photon-server/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeDestination.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeDestination.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeService.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeService.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/events/DataChangeEvent.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/events/DataChangeEvent.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/events/HTTPRequestEvent.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/events/HTTPRequestEvent.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java
@@ -34,6 +34,13 @@ public class OutgoingUIEvent<T> extends DataChangeEvent<T> {
        this.originContext = originContext;
    }

+    public static OutgoingUIEvent<HashMap<String, Object>> wrappedOf(
+            String commandName, Object value) {
+        HashMap<String, Object> data = new HashMap<>();
+        data.put(commandName, value);
+        return new OutgoingUIEvent<>(commandName, data);
+    }
+
    public static OutgoingUIEvent<HashMap<String, Object>> wrappedOf(
            String commandName, String propertyName, Object value, WsContext originContext) {
        HashMap<String, Object> data = new HashMap<>();
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -20,13 +20,17 @@ package org.photonvision.common.dataflow.networktables;
 import edu.wpi.first.networktables.EntryNotification;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import java.util.ArrayList;
+import java.util.List;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
-import org.photonvision.vision.pipeline.result.SimplePipelineResult;
+import org.photonvision.vision.target.TrackedTarget;

 public class NTDataPublisher implements CVPipelineResultConsumer {

@@ -163,7 +167,9 @@ public class NTDataPublisher implements CVPipelineResultConsumer {

    @Override
    public void accept(CVPipelineResult result) {
-        var simplified = new SimplePipelineResult(result);
+        var simplified =
+                new PhotonPipelineResult(
+                        result.getLatencyMillis(), simpleFromTrackedTargets(result.targets));
        Packet packet = new Packet(simplified.getPacketSize());
        simplified.populatePacket(packet);

@@ -201,4 +207,14 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
        }
        rootTable.getInstance().flush();
    }
+
+    public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
+        var ret = new ArrayList<PhotonTrackedTarget>();
+        for (var t : targets) {
+            ret.add(
+                    new PhotonTrackedTarget(
+                            t.getYaw(), t.getPitch(), t.getArea(), t.getSkew(), t.getCameraToTarget()));
+        }
+        return ret;
+    }
 }
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.function.Consumer;
+import org.photonvision.PhotonVersion;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -62,16 +63,23 @@ public class NetworkTablesManager {
                hasReportedConnectionFailure = false;
                lastConnectMessageMillis = System.currentTimeMillis();
                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
+                getInstance().broadcastVersion();
            }
        }
    }

+    private void broadcastVersion() {
+        kRootTable.getEntry("version").setString(PhotonVersion.versionString);
+        kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);
+    }
+
    public void setConfig(NetworkConfig config) {
        if (config.runNTServer) {
            setServerMode();
        } else {
            setClientMode(config.teamNumber);
        }
+        broadcastVersion();
    }

    private void setClientMode(int teamNumber) {
@@ -79,17 +87,20 @@ public class NetworkTablesManager {
        ntInstance.stopServer();

        ntInstance.startClientTeam(teamNumber);
+        ntInstance.startDSClient();
        if (ntInstance.isConnected()) {
            logger.info("[NetworkTablesManager] Connected to the robot!");
        } else {
            logger.error(
                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
        }
+        broadcastVersion();
    }

    private void setServerMode() {
        logger.info("Starting NT Server");
        ntInstance.stopClient();
        ntInstance.startServer();
+        broadcastVersion();
    }
 }
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
@@ -17,14 +17,13 @@

 package org.photonvision.common.dataflow.websocket;

-import com.fasterxml.jackson.core.JsonProcessingException;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.server.SocketHandler;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;

 public class UIDataPublisher implements CVPipelineResultConsumer {
@@ -39,16 +38,17 @@ public class UIDataPublisher implements CVPipelineResultConsumer {

    @Override
    public void accept(CVPipelineResult result) {
-        var now = System.currentTimeMillis();
+        long now = System.currentTimeMillis();
+
+        var dataMap = new HashMap<String, Object>();
+        dataMap.put("latency", result.getLatencyMillis());

        // only update the UI at 15hz
        if (lastUIResultUpdateTime + 1000.0 / 10.0 > now) return;

        var uiMap = new HashMap<Integer, HashMap<String, Object>>();
-        var dataMap = new HashMap<String, Object>();

        dataMap.put("fps", result.fps);
-        dataMap.put("latency", result.getLatencyMillis());

        var targets = result.targets;

@@ -57,18 +57,10 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
            uiTargets.add(t.toHashMap());
        }
        dataMap.put("targets", uiTargets);
-
        uiMap.put(index, dataMap);
-        var retMap = new HashMap<String, Object>();
-        retMap.put("updatePipelineResult", uiMap);
-
-        try {
-            SocketHandler.getInstance().broadcastMessage(retMap, null);
-        } catch (JsonProcessingException e) {
-            logger.error(e.getMessage());
-            logger.error(Arrays.toString(e.getStackTrace()));
-        }

+        DataChangeService.getInstance()
+                .publishEvent(OutgoingUIEvent.wrappedOf("updatePipelineResult", uiMap));
        lastUIResultUpdateTime = now;
    }
 }
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioCommand.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioCommand.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
@@ -27,7 +27,6 @@ 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.pi.PigpioSocket;
-import org.photonvision.common.hardware.VisionLED.VisionLEDMode;
 import org.photonvision.common.hardware.metrics.MetricsBase;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -91,7 +90,7 @@ public class HardwareManager {
                                pigpioSocket);

        ledModeEntry = NetworkTablesManager.getInstance().kRootTable.getEntry("ledMode");
-        ledModeEntry.setNumber(VisionLEDMode.VLM_DEFAULT.value);
+        ledModeEntry.setNumber(VisionLEDMode.kDefault.value);
        ledModeListener =
                visionLED == null
                        ? null
--- a/photon-server/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/Platform.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/StatusLED.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/StatusLED.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/VisionLED.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/VisionLED.java
@@ -40,7 +40,7 @@ public class VisionLED {
    private final int brightnessMax;
    private final PigpioSocket pigpioSocket;

-    private VisionLEDMode currentLedMode = VisionLEDMode.VLM_DEFAULT;
+    private VisionLEDMode currentLedMode = VisionLEDMode.kDefault;
    private BooleanSupplier pipelineModeSupplier;

    private int mappedBrightnessPercentage;
@@ -111,7 +111,7 @@ public class VisionLED {
    }

    public void setState(boolean on) {
-        setInternal(on ? VisionLEDMode.VLM_ON : VisionLEDMode.VLM_OFF, false);
+        setInternal(on ? VisionLEDMode.kOn : VisionLEDMode.kOff, false);
    }

    void onLedModeChange(EntryNotification entryNotification) {
@@ -120,20 +120,20 @@ public class VisionLED {
            VisionLEDMode newLedMode;
            switch (newLedModeRaw) {
                case -1:
-                    newLedMode = VisionLEDMode.VLM_DEFAULT;
+                    newLedMode = VisionLEDMode.kDefault;
                    break;
                case 0:
-                    newLedMode = VisionLEDMode.VLM_OFF;
+                    newLedMode = VisionLEDMode.kOff;
                    break;
                case 1:
-                    newLedMode = VisionLEDMode.VLM_ON;
+                    newLedMode = VisionLEDMode.kOn;
                    break;
                case 2:
-                    newLedMode = VisionLEDMode.VLM_BLINK;
+                    newLedMode = VisionLEDMode.kBlink;
                    break;
                default:
                    logger.warn("User supplied invalid LED mode, falling back to Default");
-                    newLedMode = VisionLEDMode.VLM_DEFAULT;
+                    newLedMode = VisionLEDMode.kDefault;
                    break;
            }
            setInternal(newLedMode, true);
@@ -145,16 +145,16 @@ public class VisionLED {

        if (fromNT) {
            switch (newLedMode) {
-                case VLM_DEFAULT:
+                case kDefault:
                    setStateImpl(pipelineModeSupplier.getAsBoolean());
                    break;
-                case VLM_OFF:
+                case kOff:
                    setStateImpl(false);
                    break;
-                case VLM_ON:
+                case kOn:
                    setStateImpl(true);
                    break;
-                case VLM_BLINK:
+                case kBlink:
                    blinkImpl(85, -1);
                    break;
            }
@@ -166,15 +166,15 @@ public class VisionLED {
                            + newLedMode.toString()
                            + "\"");
        } else {
-            if (currentLedMode == VisionLEDMode.VLM_DEFAULT) {
+            if (currentLedMode == VisionLEDMode.kDefault) {
                switch (newLedMode) {
-                    case VLM_DEFAULT:
+                    case kDefault:
                        setStateImpl(pipelineModeSupplier.getAsBoolean());
                        break;
-                    case VLM_OFF:
+                    case kOff:
                        setStateImpl(false);
                        break;
-                    case VLM_ON:
+                    case kOn:
                        setStateImpl(true);
                        break;
                }
@@ -182,32 +182,4 @@ public class VisionLED {
            logger.info("Changing LED internal state to " + newLedMode.toString());
        }
    }
-
-    public enum VisionLEDMode {
-        VLM_DEFAULT(-1),
-        VLM_OFF(0),
-        VLM_ON(1),
-        VLM_BLINK(2);
-
-        public final int value;
-
-        VisionLEDMode(int value) {
-            this.value = value;
-        }
-
-        @Override
-        public String toString() {
-            switch (this) {
-                case VLM_DEFAULT:
-                    return "Default";
-                case VLM_OFF:
-                    return "Off";
-                case VLM_ON:
-                    return "On";
-                case VLM_BLINK:
-                    return "Blink";
-            }
-            return "";
-        }
-    }
 }
--- a/photon-server/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java
--- a/photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java
@@ -17,13 +17,13 @@

 package org.photonvision.common.hardware.metrics;

-import com.fasterxml.jackson.core.JsonProcessingException;
 import java.util.HashMap;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.server.SocketHandler;

 public class MetricsPublisher {
    private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
@@ -65,14 +65,7 @@ public class MetricsPublisher {
        metrics.put("gpuMemUtil", gpuMetrics.getMallocedMemory());
        metrics.put("diskUtilPct", diskMetrics.getUsedDiskPct());

-        var retMap = new HashMap<String, Object>();
-        retMap.put("metrics", metrics);
-
-        try {
-            SocketHandler.getInstance().broadcastMessage(retMap, null);
-        } catch (JsonProcessingException e) {
-            logger.error("Exception while sending metrics!", e);
-        }
+        DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
    }

    private static class Singleton {
--- a/photon-server/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java
+++ b/photon-server/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java
--- a/photon-server/src/main/java/org/photonvision/common/logging/LogGroup.java
+++ b/photon-server/src/main/java/org/photonvision/common/logging/LogGroup.java
--- a/photon-server/src/main/java/org/photonvision/common/logging/LogLevel.java
+++ b/photon-server/src/main/java/org/photonvision/common/logging/LogLevel.java
--- a/photon-server/src/main/java/org/photonvision/common/logging/Logger.java
+++ b/photon-server/src/main/java/org/photonvision/common/logging/Logger.java
@@ -33,7 +33,6 @@ import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.server.SocketHandler;

@SuppressWarnings("unused")
 public class Logger {
@@ -302,12 +301,12 @@ public class Logger {
    private static class UILogAppender implements LogAppender {
        @Override
        public void log(String message, LogLevel level) {
-            var messageMap = new SocketHandler.UIMap();
+            var messageMap = new HashMap<String, Object>();
            messageMap.put("logMessage", message);
            messageMap.put("logLevel", level.code);
-            var superMap = new SocketHandler.UIMap();
+            var superMap = new HashMap<String, Object>();
            superMap.put("logMessage", messageMap);
-            DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("log", superMap));
+            DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("log", superMap));
        }
    }

@@ -345,6 +344,8 @@ public class Logger {
                wantsFlush = true;
            } catch (IOException e) {
                e.printStackTrace();
+            } catch (NullPointerException e) {
+                // Nothing to do - no stream available for writing
            }
        }
    }
--- a/photon-server/src/main/java/org/photonvision/common/networking/NetworkInterface.java
+++ b/photon-server/src/main/java/org/photonvision/common/networking/NetworkInterface.java
--- a/photon-server/src/main/java/org/photonvision/common/networking/NetworkManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/networking/NetworkManager.java
--- a/photon-server/src/main/java/org/photonvision/common/networking/NetworkMode.java
+++ b/photon-server/src/main/java/org/photonvision/common/networking/NetworkMode.java
--- a/photon-server/src/main/java/org/photonvision/common/scripting/ScriptCommandType.java
+++ b/photon-server/src/main/java/org/photonvision/common/scripting/ScriptCommandType.java
--- a/photon-server/src/main/java/org/photonvision/common/scripting/ScriptConfig.java
+++ b/photon-server/src/main/java/org/photonvision/common/scripting/ScriptConfig.java
--- a/photon-server/src/main/java/org/photonvision/common/scripting/ScriptEvent.java
+++ b/photon-server/src/main/java/org/photonvision/common/scripting/ScriptEvent.java
--- a/photon-server/src/main/java/org/photonvision/common/scripting/ScriptEventType.java
+++ b/photon-server/src/main/java/org/photonvision/common/scripting/ScriptEventType.java
--- a/photon-server/src/main/java/org/photonvision/common/scripting/ScriptManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/scripting/ScriptManager.java
--- a/photon-server/src/main/java/org/photonvision/common/util/ColorHelper.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/ColorHelper.java
--- a/photon-server/src/main/java/org/photonvision/common/util/MemoryManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/MemoryManager.java
--- a/photon-server/src/main/java/org/photonvision/common/util/ReflectionUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/ReflectionUtils.java
--- a/photon-server/src/main/java/org/photonvision/common/util/SerializationUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/SerializationUtils.java
--- a/photon-server/src/main/java/org/photonvision/common/util/ShellExec.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/ShellExec.java
--- a/photon-server/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -135,7 +135,7 @@ public class TestUtils {
    }

    private static Path getResourcesFolderPath(boolean testMode) {
-        return Path.of("src", (testMode ? "main" : "test"), "resources").toAbsolutePath();
+        return Path.of(testMode ? "src/main/resources" : "../test-resources").toAbsolutePath();
    }

    public static Path getTestMode2019ImagePath() {
--- a/photon-server/src/main/java/org/photonvision/common/util/TimedTaskManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/TimedTaskManager.java
--- a/photon-server/src/main/java/org/photonvision/common/util/file/FileUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/file/FileUtils.java
--- 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
--- a/photon-server/src/main/java/org/photonvision/common/util/java/TriConsumer.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/java/TriConsumer.java
--- a/photon-server/src/main/java/org/photonvision/common/util/math/IPUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/math/IPUtils.java
--- a/photon-server/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -17,13 +17,13 @@

 package org.photonvision.common.util.math;

-import org.apache.commons.math3.util.FastMath;
+import edu.wpi.first.wpiutil.WPIUtilJNI;

 public class MathUtils {
    MathUtils() {}

    public static double toSlope(Number angle) {
-        return FastMath.atan(FastMath.toRadians(angle.doubleValue() - 90));
+        return Math.atan(Math.toRadians(angle.doubleValue() - 90));
    }

    public static int safeDivide(int quotient, int divisor) {
@@ -43,6 +43,10 @@ public class MathUtils {
        return nanos / 1000000.0;
    }

+    public static double nanosToMillis(double nanos) {
+        return nanos / 1000000.0;
+    }
+
    public static long millisToNanos(long millis) {
        return millis * 1000000;
    }
@@ -59,4 +63,21 @@ public class MathUtils {
    public static int map(int value, int inMin, int inMax, int outMin, int outMax) {
        return (int) Math.floor(map((double) value, inMin, inMax, outMin, outMax) + 0.5);
    }
+
+    /**
+    * Linearly interpolates between two values.
+    *
+    * @param startValue The start value.
+    * @param endValue The end value.
+    * @param t The fraction for interpolation.
+    * @return The interpolated value.
+    */
+    @SuppressWarnings("ParameterName")
+    public static double lerp(double startValue, double endValue, double t) {
+        return startValue + (endValue - startValue) * t;
+    }
+
+    public static long wpiNanoTime() {
+        return microsToNanos(WPIUtilJNI.now());
+    }
 }
--- a/photon-server/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
--- a/photon-server/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
--- a/photon-server/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
--- a/photon-server/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java
--- a/photon-server/src/main/java/org/photonvision/raspi/PicamJNI.java
+++ b/photon-server/src/main/java/org/photonvision/raspi/PicamJNI.java
@@ -85,7 +85,7 @@ public class PicamJNI {
    }

    public static boolean isSupported() {
-        return libraryLoaded && getSensorModel() != SensorModel.Disconnected;
+        return libraryLoaded && !isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
    }

    public static SensorModel getSensorModel() {
@@ -105,6 +105,9 @@ public class PicamJNI {

    private static native String getSensorModelRaw();

+    // This is the main thing we need that isn't supported on Pi 4s, which makes it a good check
+    private static native boolean isVCSMSupported();
+
    // Everything here is static because multiple picams are unsupported at the hardware level

    /**
--- a/photon-server/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-server/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
--- a/photon-server/src/main/java/org/photonvision/vision/calibration/JsonMat.java
+++ b/photon-server/src/main/java/org/photonvision/vision/calibration/JsonMat.java
--- a/photon-server/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
--- a/photon-server/src/main/java/org/photonvision/vision/camera/CameraType.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/CameraType.java
--- a/photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -28,27 +28,30 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;

-public class FileVisionSource implements VisionSource {
+public class FileVisionSource extends VisionSource {

-    private final CameraConfiguration cameraConfiguration;
    private final FileFrameProvider frameProvider;
    private final FileSourceSettables settables;

    public FileVisionSource(CameraConfiguration cameraConfiguration) {
-        this.cameraConfiguration = cameraConfiguration;
+        super(cameraConfiguration);
+        var calibration =
+                cameraConfiguration.calibrations.size() > 0
+                        ? cameraConfiguration.calibrations.get(0)
+                        : null;
        frameProvider =
                new FileFrameProvider(
                        Path.of(cameraConfiguration.path),
                        cameraConfiguration.FOV,
                        FileFrameProvider.MAX_FPS,
                        cameraConfiguration.camPitch,
-                        cameraConfiguration.calibrations.get(0));
+                        calibration);
        settables =
                new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);
    }

    public FileVisionSource(String name, String imagePath, double fov) {
-        cameraConfiguration = new CameraConfiguration(name, imagePath);
+        super(new CameraConfiguration(name, imagePath));
        frameProvider = new FileFrameProvider(imagePath, fov);
        settables =
                new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);
--- a/photon-server/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
--- a/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -33,19 +33,18 @@ import org.photonvision.vision.frame.provider.USBFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;

-public class USBCameraSource implements VisionSource {
+public class USBCameraSource extends VisionSource {
    private final Logger logger;
    private final UsbCamera camera;
    private final USBCameraSettables usbCameraSettables;
    private final USBFrameProvider usbFrameProvider;
-    public final CameraConfiguration configuration;
    private final CvSink cvSink;

    public final QuirkyCamera cameraQuirks;

    public USBCameraSource(CameraConfiguration config) {
+        super(config);
        logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        configuration = config;
        camera = new UsbCamera(config.nickname, config.path);
        cvSink = CameraServer.getInstance().getVideo(this.camera);

@@ -88,7 +87,6 @@ public class USBCameraSource implements VisionSource {
            super(configuration);
            getAllVideoModes();
            setVideoMode(videoModes.get(0));
-            calculateFrameStaticProps();
        }

        private int timeToPiCamV2RawExposure(double time_us) {
@@ -281,6 +279,6 @@ public class USBCameraSource implements VisionSource {
    @Override
    public int hashCode() {
        return Objects.hash(
-                camera, usbCameraSettables, usbFrameProvider, configuration, cvSink, cameraQuirks);
+                camera, usbCameraSettables, usbFrameProvider, cameraConfiguration, cvSink, cameraQuirks);
    }
 }
--- a/photon-server/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
@@ -29,13 +29,14 @@ import org.photonvision.vision.frame.provider.AcceleratedPicamFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;

-public class ZeroCopyPicamSource implements VisionSource {
+public class ZeroCopyPicamSource extends VisionSource {
    private static final Logger logger = new Logger(ZeroCopyPicamSource.class, LogGroup.Camera);

    private final VisionSourceSettables settables;
    private final AcceleratedPicamFrameProvider frameProvider;

    public ZeroCopyPicamSource(CameraConfiguration configuration) {
+        super(configuration);
        if (configuration.cameraType != CameraType.ZeroCopyPicam) {
            throw new IllegalArgumentException(
                    "GPUAcceleratedPicamSource only accepts CameraConfigurations with type Picam");
@@ -99,8 +100,7 @@ public class ZeroCopyPicamSource implements VisionSource {
                        0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
                videoModes.put(
                        1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-                videoModes.put(
-                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 40, 90, .72));
+                // TODO: fix 1280x720 in the native code and re-add it
                videoModes.put(
                        3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
            } else {
@@ -136,19 +136,22 @@ public class ZeroCopyPicamSource implements VisionSource {
        @Override
        public void setExposure(double exposure) {
            lastExposure = exposure;
-            PicamJNI.setExposure((int) Math.round(exposure));
+            var failure = PicamJNI.setExposure((int) Math.round(exposure));
+            if (failure) logger.warn("Couldn't set Pi camera exposure");
        }

        @Override
        public void setBrightness(int brightness) {
            lastBrightness = brightness;
-            PicamJNI.setBrightness(brightness);
+            var failure = PicamJNI.setBrightness(brightness);
+            if (failure) logger.warn("Couldn't set Pi camera brightness");
        }

        @Override
        public void setGain(int gain) {
            lastGain = gain;
-            PicamJNI.setGain(gain);
+            var failure = PicamJNI.setGain(gain);
+            if (failure) logger.warn("Couldn't set Pi camera gain");
        }

        @Override
@@ -159,8 +162,14 @@ public class ZeroCopyPicamSource implements VisionSource {
        @Override
        protected void setVideoModeInternal(VideoMode videoMode) {
            var mode = (FPSRatedVideoMode) videoMode;
-            PicamJNI.destroyCamera();
-            PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
+            var failure = PicamJNI.destroyCamera();
+            if (failure)
+                throw new RuntimeException(
+                        "Couldn't destroy a zero copy Pi camera while switching video modes");
+            failure = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
+            if (failure)
+                throw new RuntimeException(
+                        "Couldn't create a zero copy Pi camera while switching video modes");

            // We don't store last settings on the native side, and when you change video mode these get
            // reset on MMAL's end
--- a/photon-server/src/main/java/org/photonvision/vision/frame/Frame.java
+++ b/photon-server/src/main/java/org/photonvision/vision/frame/Frame.java
@@ -18,6 +18,7 @@
 package org.photonvision.vision.frame;

 import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;

@@ -33,13 +34,14 @@ public class Frame implements Releasable {
    }

    public Frame(CVMat image, FrameStaticProperties frameStaticProperties) {
-        this(image, System.nanoTime(), frameStaticProperties);
+        this(image, MathUtils.wpiNanoTime(), frameStaticProperties);
    }

    public Frame() {
-        timestampNanos = 0;
-        image = new CVMat();
-        frameStaticProperties = new FrameStaticProperties(0, 0, 0, new Rotation2d(), null);
+        this(
+                new CVMat(),
+                MathUtils.wpiNanoTime(),
+                new FrameStaticProperties(0, 0, 0, new Rotation2d(), null));
    }

    public void copyTo(Frame destFrame) {
--- a/photon-server/src/main/java/org/photonvision/vision/frame/FrameConsumer.java
+++ b/photon-server/src/main/java/org/photonvision/vision/frame/FrameConsumer.java
--- a/photon-server/src/main/java/org/photonvision/vision/frame/FrameDivisor.java
+++ b/photon-server/src/main/java/org/photonvision/vision/frame/FrameDivisor.java
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Matt	a731c7a8db	Revert part of #288 (#306 ) Fixes picam streaming/hangs	2021-10-30 12:27:41 -04:00
Matt	7e74da5cff	Make photonlib complain if versions don't match (#302 ) Adds messages if Photon isn't detected or major versions don't match	2021-10-18 22:31:18 -04:00
Matt	0977fd0dff	Update PacketTest.java (#301 ) Adds unit test to make sure the packet structure doesn't change	2021-10-16 09:42:21 -04:00
Matt	3241ef7b1b	Update dev tag matcher (#300 )	2021-10-07 11:13:11 -04:00
Matt	f922466d41	Fix contour grouping (#298 ) Fixes bug where n+1 contours were needed to match a target of size n	2021-10-05 12:16:50 -04:00
Matt	243f06da2d	Fix vision module stream index logic (#295 ) Previous logic could cause stream index with multiple cameras to run away	2021-10-03 22:43:39 -04:00
Matt	44e91a184d	Publish photon-targeting (#292 ) Pushes photon-targeting to Maven	2021-10-03 10:58:35 -04:00
Matt	e6b0f398b6	Fix versioning picked up in CI (#291 ) Fixes ignore blob in versioningHelper	2021-09-24 18:51:40 -04:00
Chris Gerth	5a475e1071	Fix crash in logging when log files are not writable (#286 ) * Addresses null pointer crash in logging when log files are not writable * One of these days, I'll be able to type code without spotless complaining. But today is not that day.	2021-09-23 22:38:50 -04:00
Tyler Veness	f8def88e4d	Rename tests to appease wpiformat (#290 )	2021-09-23 21:13:04 -04:00
Chris Gerth	db09e5209f	Colored shape fix (#288 ) * Move test images out of resources folder * Limit workers in CI * Fix image area filtering bug in colored shape * Add missing picam settings * Swap to make blank/empty Mat when a picam doesn't supply a color image. Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2021-09-23 18:48:18 -04:00
Matt	9fdd945a52	Fix compilation with `gradlew build` (#284 ) * Fix everything but test mode * Update TestUtils.java * Jank testutils fix * Limit workers in CI	2021-09-07 06:49:07 -07:00
Matt	00b8e7d1c5	Add colored shape to the UI (#258 ) * Fixup colored shape backend code * More colored shape stuff * Start adding shape change to drawing * Mostly works! * Add powercell image for shape test mode * Make super-duper-sure to release stuff Fixes colored shape leak * Move approx poly dp into Contour * Adjust epsilon threshold * Add dialog to change pipeline type * Run spotless * Make yes red :> * Move "no" button * Fix duplication/deletion name logic and switching * Fix compilation errors from rebase * Update VisionSourceManager.java * Update type dialog, remove duplicate popup The dropdown still switches even if the user says "no" tho Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>	2021-09-03 22:20:55 -04:00
Tyler Veness	798b8e398a	Remove hasTargets member variable and fix docs warnings (#283 ) hasTargets is redundant because the same information can be obtained by checking the size of the targets array.	2021-09-03 22:19:38 -04:00
Tyler Veness	affb27038b	Fix uninitialized variables in PhotonPipelineResult (#282 ) If the default constructor is used, some member variables weren't properly initialized.	2021-09-02 20:48:05 -07:00
Tyler Veness	6767781a41	Update photonlib vendordep JSON URL (#281 )	2021-09-01 05:11:03 -07:00
Matt	6007cc752d	Add libpicam with gain slider bugfix (#278 ) * Add libpicam with gain slider bugfix * Patches to get zero-copy working with Pi3. -- Success/Failure mistmatch assumptions - lots of functions in the JNI return true on failure (not true on success) -- isVSCMSupported() is currently implemented to be "isVSCMNotSupported()" Likely, we'll want at least some .so changes Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>	2021-08-31 23:48:11 -04:00
Banks T	9cf5c77d69	CI test fix (#280 ) Addresses OOM in CI	2021-08-31 20:27:51 -07:00
Matt	9dc5481d1c	Push dev tag last	2021-04-02 17:04:22 -04:00
Matt	3948650e6c	[photonlib] Fix C++ compilation errors (#266 ) Properly builds linux athena artifacts and fixes vendor JSON bug	2021-03-28 14:36:03 -07:00
Chris Gerth	49fcdb64ed	Update Sim Example Unit Conversions (#265 ) Updated Java examples to fix radians/degrees mismatch. Inspected c++ examples - they create a units::degree_t from the NT value, which should be handled properly inside the PhotonUtils methods.	2021-03-23 10:57:32 -07:00
Banks T	1e715ce4bb	Sim target sorting and "easy" NT entries (#262 ) * Typo fixes, add target sorting * Add easy NT entries * spotttttttttttttttttlessssssssssssss * Run wpiformat * Fix return on no targets * formatting hell 2 electric boogaloo Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2021-03-23 12:47:26 -04:00
Vasista Vovveti	f9fd7a0b45	Handle GetLatestResult segfault (#259 ) * Handle GetLatestResult segfault * Update PhotonCamera.cpp * Update PhotonCamera.cpp	2021-03-21 16:29:29 -04:00
Matt	e9a3c2d1b8	Pull tags in photon CI (#263 )	2021-03-15 16:13:45 -07:00
Banks T	129575dd23	Fix Test Mode (#246 ) * Fix test mode path and args * spoooootless * Fix unit test resources	2021-03-07 21:39:02 -05:00
Declan Freeman-Gleason	ba8d2691fc	Add more GPU accel support detection and more libpicam error checks (#257 )	2021-03-02 17:49:29 -05:00
Matt	f3d3a59ca0	Use snapshot repo for dev releases (#241 )	2021-02-23 15:07:43 -05:00
Matt	b653fc7db1	deprecate hasTargets (#252 ) hasTargets has the potential to allow users to inadvertantly create NPEs.	2021-02-23 15:07:31 -05:00
MarkGhebrial	71ee03a531	Draw 2D contours on top (#254 ) Closes #102	2021-02-23 15:07:03 -05:00
Banks T	4a2493ff2e	Remove spamy CSCore prints in unit tests (#255 )	2021-02-23 11:37:01 -08:00
Banks T	0b20111824	Add update script (#248 )	2021-02-01 11:00:29 -08:00
Banks T	449977e63b	Update NetworkTablesManager.java (#250 ) Allows NT connection on Romi	2021-01-29 12:20:16 -08:00
Banks T	b0504cbef5	Add VisionModule order determinism (#245 ) This makes sure that VisionModules always appear in the same order.	2021-01-29 10:57:18 -08:00
Matt	fccb395564	Fix CVMat weirdness in calibration unit test (#240 ) * Remove failing assertion Cannot reproduce locally. * comment out other test * Update Calibrate3dPipeTest.java	2021-01-29 07:08:09 -05:00
Chris Gerth	b510417541	Fixup support for log messages in the client web interface (#247 )	2021-01-26 23:48:14 -05:00
Chris Gerth	0330467874	Add Basic Sim Example (#237 ) * WIP adding sim pose example * WIP making examples buildable like WPI. Not quite there yet.... * Make examples runnable * remove lock * add lock * WIP Adding a simpler example for simulation * Spotless Apply * Added simulation-supporting aim and range example * Spotless, revised hand usage to be consistent across examples, and propagated required -1.0's to non-sim examples. Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>	2021-01-26 23:26:15 -05:00
Banks T	4c15a46cda	Move CameraConfiguration to VisionSource (#244 )	2021-01-22 22:10:20 -08:00
Matt	d59f8d1227	Cleanup photonlib deps (#243 ) Removes unnecessary photonlib dependencies and removes commons-math.	2021-01-22 22:05:39 -08:00
Matt	bbc8a3137b	Fix photon-lib spelling in CI (#239 )	2021-01-19 05:48:15 -08:00
Prateek Machiraju	951c038f19	Clean up buildscripts (#238 ) Cleans up gradle buildscripts.	2021-01-18 19:12:57 -08:00
Prateek Machiraju	1b0c5af86e	Make examples runnable, start work on examples (#235 ) Co-authored-by: Chris <chrisgerth010592@gmail.com> Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2021-01-18 10:56:04 -05:00
Banks T	a113bd4192	Fix processing timings in CVPipelineResult (#236 )	2021-01-17 23:28:00 -05:00
Matt	d3c23345da	Use wpi::Now for image capture timestamp (#232 ) This uses the same time source as CSCore does for image captures, and will make latency measurements more accurate. Co-authored-by: Banks T <btrout.dhrs@gmail.com>	2021-01-17 14:57:21 -08:00
Matt	2e1b3d0f83	Add Photonlib (#231 ) Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.	2021-01-16 20:41:47 -08:00
Banks T	58b39f47aa	Split photon-server and photon-core (#211 ) Uses multiple Gradle projects to support the split.	2021-01-14 18:45:26 -08:00
Declan Freeman-Gleason	dc0f8cf296	Fetch tags before building server so that the version string is correct (#230 )	2021-01-12 12:37:41 -08:00
Declan Freeman-Gleason	3d34d1ca40	Remove 1280x720 on the Pi Camera v1 for now (#228 )	2021-01-11 00:35:04 -05:00
Matt	5298de0f64	Run on tags starting with 'v' (#227 )	2021-01-10 17:24:04 -08:00
Declan Freeman-Gleason	2330b72451	When describing the current commit, exclude the Dev tag (#226 ) * When describing the current release, exclude the Dev tag * Only run the release task on non-dev tags (i.e. real release tags)	2021-01-10 15:57:16 -08:00
Matt	69d2499e1a	Upload release with artifact on tag (#225 )	2021-01-10 11:35:10 -08:00
Declan Freeman-Gleason	0a4dcd17e0	Set inputShouldShow to false when all websockets disconnect (#224 )	2021-01-09 16:35:42 -08:00
Declan Freeman-Gleason	15c687655a	Use computed value to clear up TypeError in dialog persistient prop	2021-01-09 14:50:46 -08:00
Declan Freeman-Gleason	839f959681	Make CVRangeSlider gracefully accept undefined values	2021-01-09 14:50:46 -08:00
Declan Freeman-Gleason	0b2de7d9f1	Make pipeline index rollback work with multiple cameras	2021-01-09 14:50:46 -08:00
Declan Freeman-Gleason	5d139e0a4e	Update and improve README (#223 )	2021-01-09 11:14:14 -08:00
Matt	b2d939b3b5	Avoid implicit downcast in corner detection (#219 )	2021-01-08 02:42:54 -05:00
Chris Gerth	f7e29a1992	Update which-cam-controls-LEDs logic (#220 ) Modified VisionModule.java to cause any camera the either has a vendor-defined FOV or the PiCam quirks to control the LED state. This is a bit of a patch, and directly assumes that piCam's are the devices primarily used for vision processing. This fixes a tiny bit of pain experienced with a pi3b + picam v1 + usb Cam where not having the USB cam causes the LED's to be working normally, but plugging in the USB cam causes them to be always off. Parallel issue entered in documentation to add this to known limitations of photon - if you had a set of all usb cameras, we wouldn't know which one is being used for vision processing, and would not be able to control the LED's accordingly. The ultimate solution is just to have teams control the NT entry themselves, which is easy enough. But, docs shouild be updated to reflect that.	2021-01-07 23:42:05 -08:00