Add more GPU accel support detection and more libpicam error checks (#257)

hasTargets has the potential to allow users to inadvertantly create NPEs.

.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
@@ -78,12 +79,17 @@ jobs:
         run: ./gradlew jacocoTestReport
       
       # 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 +110,6 @@ 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
@@ -123,15 +124,9 @@ 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
+  photon-build-package:
+    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs]
 
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
@@ -147,8 +142,8 @@ jobs:
 
       # Clear any existing web resources.
       - run: |
-          rm -rf src/main/resources/web/*
-          mkdir -p src/main/resources/web/docs
+          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
@@ -162,16 +157,10 @@ jobs:
           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
+          ./gradlew photon-server:shadowJar
 
       # Upload final fat jar as artifact.
       - uses: actions/upload-artifact@master
@@ -188,12 +177,7 @@ jobs:
             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 +194,101 @@ 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
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build
+      - run: ./gradlew photon-lib: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:2020-18.04
+            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
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build
+      - 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: |
+            ls -la
+            wpiformat -clang 10 -f photon-lib
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD

.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/

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)

build.gradle

@@ -0,0 +1,45 @@
+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 = "2021.2.1"
+    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")
+    }
+}

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

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', {})
             }

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

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

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

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

photon-client/src/views/CamerasView.vue

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

photon-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>

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

photon-core/build.gradle

@@ -0,0 +1,52 @@
+import java.time.LocalDateTime
+import java.time.format.DateTimeFormatter
+
+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 {
+    String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
+    File versionFile = new File(java.nio.file.Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java")
+            .toAbsolutePath().toString())
+    versionFile.delete()
+    versionFile << "package org.photonvision;\n" +
+            "\n" +
+            "/*\n" +
+            " * Autogenerated file! Do not manually edit this file. This version is regenerated\n" +
+            " * any time the publish task is run, or when this file is deleted.\n" +
+            " */\n" +
+            "\n" +
+            "@SuppressWarnings(\"ALL\")\n" +
+            "public final class PhotonVersion {\n" +
+            "    public static final String versionString = \"${versionString}\";\n" +
+            "    public static final String buildDate = \"${date}\";\n" +
+            "    public static final boolean isRelease = !versionString.startsWith(\"dev\");\n" +
+            "}"
+}
+
+build.dependsOn writeCurrentVersionJava

photon-core/settings.gradle

@@ -0,0 +1,2 @@
+rootProject.name = 'photon-core'
+

photon-core/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();
     }
 

photon-core/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());
         }
     }
 

photon-core/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<>();

photon-core/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;
+    }
 }

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -79,6 +79,7 @@ public class NetworkTablesManager {
         ntInstance.stopServer();
 
         ntInstance.startClientTeam(teamNumber);
+        ntInstance.startDSClient();
         if (ntInstance.isConnected()) {
             logger.info("[NetworkTablesManager] Connected to the robot!");
         } else {

photon-core/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;
     }
 }

photon-core/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

photon-core/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 "";
-        }
-    }
 }

photon-core/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 {

photon-core/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));
         }
     }
 

photon-core/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());
+    }
 }

photon-core/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
 
     /**

photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java

@@ -28,14 +28,13 @@ 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);
         frameProvider =
                 new FileFrameProvider(
                         Path.of(cameraConfiguration.path),
@@ -48,7 +47,7 @@ public class FileVisionSource implements VisionSource {
     }
 
     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);

photon-core/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);
     }
 }

photon-core/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 success = PicamJNI.setExposure((int) Math.round(exposure));
+            if (!success) logger.warn("Couldn't set Pi camera exposure");
         }
 
         @Override
         public void setBrightness(int brightness) {
             lastBrightness = brightness;
-            PicamJNI.setBrightness(brightness);
+            var success = PicamJNI.setBrightness(brightness);
+            if (!success) logger.warn("Couldn't set Pi camera brightness");
         }
 
         @Override
         public void setGain(int gain) {
             lastGain = gain;
-            PicamJNI.setGain(gain);
+            var success = PicamJNI.setGain(gain);
+            if (!success) 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 success = PicamJNI.destroyCamera();
+            if (!success)
+                throw new RuntimeException(
+                        "Couldn't destroy a zero copy Pi camera while switching video modes");
+            success = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
+            if (!success)
+                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

photon-core/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) {

photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java

@@ -19,8 +19,6 @@ package org.photonvision.vision.frame;
 
 import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import org.apache.commons.math3.fraction.Fraction;
-import org.apache.commons.math3.util.FastMath;
 import org.opencv.core.Point;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
@@ -79,23 +77,20 @@ public class FrameStaticProperties {
         DoubleCouple horizVertViews =
                 calculateHorizontalVerticalFoV(this.fov, this.imageWidth, this.imageHeight);
 
-        horizontalFocalLength = this.imageWidth / (2 * FastMath.tan(horizVertViews.getFirst() / 2));
-        verticalFocalLength = this.imageHeight / (2 * FastMath.tan(horizVertViews.getSecond() / 2));
+        horizontalFocalLength = this.imageWidth / (2 * Math.tan(horizVertViews.getFirst() / 2));
+        verticalFocalLength = this.imageHeight / (2 * Math.tan(horizVertViews.getSecond() / 2));
     }
 
     public static DoubleCouple calculateHorizontalVerticalFoV(
             double diagonalFoV, int imageWidth, int imageHeight) {
-        double diagonalView = FastMath.toRadians(diagonalFoV);
-        Fraction aspectFraction = new Fraction(imageWidth, imageHeight);
 
-        int horizontalRatio = aspectFraction.getNumerator();
-        int verticalRatio = aspectFraction.getDenominator();
+        double diagonalView = Math.toRadians(diagonalFoV);
+        double diagonalAspect = Math.hypot(imageWidth, imageHeight);
 
-        double diagonalAspect = FastMath.hypot(horizontalRatio, verticalRatio);
         double horizontalView =
-                FastMath.atan(FastMath.tan(diagonalView / 2) * (horizontalRatio / diagonalAspect)) * 2;
+                Math.atan(Math.tan(diagonalView / 2) * (imageWidth / diagonalAspect)) * 2;
         double verticalView =
-                FastMath.atan(FastMath.tan(diagonalView / 2) * (verticalRatio / diagonalAspect)) * 2;
+                Math.atan(Math.tan(diagonalView / 2) * (imageHeight / diagonalAspect)) * 2;
 
         return new DoubleCouple(horizontalView, verticalView);
     }

photon-core/src/main/java/org/photonvision/vision/frame/provider/AcceleratedPicamFrameProvider.java

@@ -18,6 +18,7 @@
 package org.photonvision.vision.frame.provider;
 
 import org.opencv.core.Mat;
+import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.PicamJNI;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
@@ -34,7 +35,13 @@ public class AcceleratedPicamFrameProvider implements FrameProvider {
         this.settables = visionSettables;
 
         var vidMode = settables.getCurrentVideoMode();
-        PicamJNI.createCamera(vidMode.width, vidMode.height, vidMode.fps);
+        var success = PicamJNI.createCamera(vidMode.width, vidMode.height, vidMode.fps);
+        if (!success) {
+            success = PicamJNI.destroyCamera();
+            if (!success) throw new RuntimeException("Couldn't destroy Pi camera after init failure!");
+            throw new RuntimeException(
+                    "Couldn't initialize zero copy Pi camera; check stdout for native code logs");
+        }
     }
 
     @Override
@@ -47,6 +54,8 @@ public class AcceleratedPicamFrameProvider implements FrameProvider {
         long matHandle = PicamJNI.grabFrame(false);
         mat = new CVMat(new Mat(matHandle));
         return new Frame(
-                mat, System.nanoTime() - PicamJNI.getFrameLatency(), settables.getFrameStaticProperties());
+                mat,
+                MathUtils.wpiNanoTime() - PicamJNI.getFrameLatency(),
+                settables.getFrameStaticProperties());
     }
 }