Ensure cameras with gain will always have it enabled (#388)

Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. 

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

.clang-format

@@ -0,0 +1,167 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
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+AllowShortLoopsOnASingleLine: true
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+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: false
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    false
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...

.github/CODEOWNERS

@@ -1,3 +1,2 @@
 # These owners will be the default owners for everything in the repo.
 *	@PhotonVision/program-devs
-

.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:
@@ -29,7 +31,7 @@ jobs:
     steps:
     # Checkout code.
     - uses: actions/checkout@v1
-    
+
     # Setup Node.js
     - name: Setup Node.js
       uses: actions/setup-node@v1
@@ -47,12 +49,7 @@ jobs:
         name: built-client
         path: photon-client/dist/
 
-  build-server:
+  photon-build-all:
-    # 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
 
@@ -60,7 +57,11 @@ 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
         uses: actions/setup-java@v1
@@ -71,19 +72,28 @@ jobs:
       - name: Gradle Build
         run: |
           chmod +x gradlew
-          ./gradlew build -x check
+          ./gradlew build -x check --max-workers 1
+
+      # 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
 
-      # Run Tests Generate Coverage Report.
-      - name: Gradle Test and Coverage
-        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:
@@ -97,23 +107,18 @@ jobs:
       - uses: actions/setup-python@v2
         with:
           python-version: '3.6'
-        
+
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
           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
           make lint
-          
+
       - name: Build the docs
         run: |
           make html
@@ -123,15 +128,127 @@ jobs:
         with:
           name: built-docs
           path: build/html
-      
 
-  build-package:
+  photonserver-check-lint:
-    needs: [build-client, build-server, build-offline-docs]
+    # The type of runner that the job will run on.
+    runs-on: ubuntu-latest
 
-    # Let all steps run within the photon-server dir.
+    steps:
-    defaults:
+      # Checkout code.
-      run:
+      - uses: actions/checkout@v1
-        working-directory: photon-server
+
+      # Install Java 11.
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+
+      # Check server code with Spotless.
+      - run: |
+          chmod +x gradlew
+          ./gradlew spotlessCheck
+
+
+
+  #  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:2022-18.04
+            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 sh -c "echo 'deb http://archive.ubuntu.com/ubuntu/ $(lsb_release -cs)-proposed restricted main multiverse universe' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo apt-get update -q
+          sudo apt-get install -y clang-format-12
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat -clang 12
+      - 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
@@ -139,7 +256,7 @@ jobs:
     steps:
       # Checkout code.
       - uses: actions/checkout@v1
-      
+
       # Install Java 11.
       - uses: actions/setup-java@v1
         with:
@@ -147,8 +264,8 @@ jobs:
 
       # Clear any existing web resources.
       - run: |
-          rm -rf src/main/resources/web/*
+          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p src/main/resources/web/docs
+          mkdir -p photon-server/src/main/resources/web/docs
 
       # Download client artifact to resources folder.
       - uses: actions/download-artifact@v2
@@ -160,54 +277,59 @@ jobs:
       - uses: actions/download-artifact@v2
         with:
           name: built-docs
-          path: photon-server/src/main/resources/web/docs     
+          path: photon-server/src/main/resources/web/docs
 
-
+      # Build fat jar for both pi and everything
-      # Print folder contents.
-      - run: ls
-        working-directory: photon-server/src/main/resources/web/
-
-      # Build fat jar.
       - run: |
           chmod +x gradlew
-          ./gradlew shadowJar
+          ./gradlew photon-server:shadowJar --max-workers 1
-        working-directory: photon-server
+          ./gradlew photon-server:shadowJar --max-workers 1 -Ppionly
+
+      # The image will only pull the Pi JAR in
+      - name: Generate image
+        if: github.event_name != 'pull_request'
+        run: |
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh
 
       # Upload final fat jar as artifact.
       - uses: actions/upload-artifact@master
         with:
           name: jar
           path: photon-server/build/libs
-    
+      - uses: actions/upload-artifact@master
-      - uses: eine/tip@master
+        with:
+          name: image
+          path: photonvision*.zip
+
+      - uses: pyTooling/Actions/releaser@r0
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
           tag: 'Dev'
           rm: true
           files: |
             photon-server/build/libs/*.jar
+            photonvision*.zip
         if: github.event_name == 'push'
 
-  check-lint:
+  photon-release:
-    # Let all steps run within the photon-server dir.
+    if: startsWith(github.ref, 'refs/tags/v')
-    defaults:
+    needs: [photon-build-package]
-      run:
-        working-directory: photon-server
-
-    # The type of runner that the job will run on.
     runs-on: ubuntu-latest
-    
     steps:
-      # Checkout code.
+      # This *should* pull in fat and pi-only jars
-      - uses: actions/checkout@v1
+      - uses: actions/download-artifact@v2
-
-      # Install Java 11.
-      - uses: actions/setup-java@v1
         with:
-          java-version: 11
+          name: jar
-      
+
-      # Check server code with Spotless.
+      # And the image we made previously
-      - run: |
+      - uses: actions/download-artifact@v2
-          chmod +x gradlew
+        with:
-          ./gradlew spotlessCheck
+          name: image
-            
+
+      # All we've downloaded (ideally) is the fat jar, pi jar, and image. So just upload it all
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: '**/*'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -104,17 +104,25 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser
 
-
+# Temporary build files
-photon-server/.gradle
+**/.gradle
-photon-server/target
+**/target
-photon-server/src/main/java/META-INF
+**/src/main/java/META-INF
-photon-server/.settings
+**/.settings
-photon-server/.classpath
+**/.classpath
-photon-server/.project
+**/.project
-photon-server/settings
+**/settings
-photon-server/dependency-reduced-pom.xml
+**/dependency-reduced-pom.xml
 # photon-server/photon-vision.iml
 
+# compile_commands
+compile_commands.json
+
+# clang configuration and clangd cache
+.clang
+.clangd/
+.cache/
+
 New client/photon-client/*
 
 *.prefs
@@ -126,3 +134,12 @@ 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/

.styleguide

@@ -0,0 +1,31 @@
+cppHeaderFileInclude {
+  \.h$
+  \.hpp$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+modifiableFileExclude {
+  \.jpg$
+  \.png$
+  \.so$
+}
+
+includeProject {
+  ^photonLib/
+}
+
+includeOtherLibs {
+  ^frc/
+  ^networktables/
+  ^units/
+  ^wpi/
+}
+
+licenseUpdateExclude {
+  \.java$
+}

.styleguide-license

@@ -0,0 +1,16 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */

LicenseHeader.txt

@@ -14,4 +14,3 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-

README.md

@@ -1,25 +1,32 @@
 # 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.
+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.
-
-# Roadmap
-
-Our roadmap is publicly available on [Trello](https://trello.com/photonvision).
 
 ## Authors
 
-A list of contributors is available in our documentation on ReadTheDocs.
+<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
+  <img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
+</a>
 
+## Gradle Arguments
+
+Note that these are case sensitive!
+
+* `-Ppionly`: only builds for `linuxraspbian`, which reduces JAR size. The JAR name will have "-raspi" appended.
+- `-PtgtIp`: deploys (builds and copies the JAR) to the coprocessor at the specified IP
+- `-Pprofile`: enables JVM profiling
 
 ## 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). 
+
+* [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).
 
 * [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
 
@@ -29,5 +36,11 @@ A list of contributors is available in our documentation on ReadTheDocs.
 
 * [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
 
-## License  
+## 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)
+
+## Meeting Notes
+Our meeting notes can be found in the wiki section of this repository.
+
+* [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
+* [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)

build.gradle

@@ -0,0 +1,54 @@
+plugins {
+    id "com.diffplug.spotless" version "6.1.2"
+    id "com.github.johnrengelman.shadow" version "7.1.2"
+    id "com.github.node-gradle.node" version "3.1.1" apply false
+    id "edu.wpi.first.GradleJni" version "1.0.0"
+    id "edu.wpi.first.GradleVsCode" version "1.1.0"
+    id "edu.wpi.first.NativeUtils" version "2022.8.1" 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 = "2022.1.1"
+    opencvVersion = "4.5.2-1"
+    joglVersion = "2.4.0-rc-20200307"
+    pubVersion = versionString
+    isDev = pubVersion.startsWith("dev")
+
+
+    jniPlatforms = project.hasProperty('pionly') ? ['linuxraspbian']
+        : ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
+
+    println("Building for archs " + jniPlatforms)
+}
+
+spotless {
+    java {
+        toggleOffOn()
+        googleJavaFormat()
+        indentWithTabs(2)
+        indentWithSpaces(4)
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    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")
+    }
+}

codecov.yml

@@ -2,4 +2,4 @@ coverage:
   # Turning off commit status to prevent failed checks if coverage decreases
   status:
     project: no
-    patch: no 
+    patch: no

gradle.properties

@@ -0,0 +1,8 @@
+# The --add-exports flags work around a bug with spotless and JDK 17
+# https://github.com/diffplug/spotless/issues/834
+org.gradle.jvmargs= \
+  --add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
-distributionSha256Sum=5a3578b9f0bb162f5e08cf119f447dfb8fa950cedebb4d2a977e912a11a74b91
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -82,6 +82,7 @@ esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
@@ -129,6 +130,7 @@ fi
 if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
     JAVACMD=`cygpath --unix "$JAVACMD"`
 
     # We build the pattern for arguments to be converted via cygpath

gradlew.bat

@@ -1,100 +1,89 @@
-@rem
+@rem
-@rem Copyright 2015 the original author or authors.
+@rem Copyright 2015 the original author or authors.
-@rem
+@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem Licensed under the Apache License, Version 2.0 (the "License");
-@rem you may not use this file except in compliance with the License.
+@rem you may not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
+@rem You may obtain a copy of the License at
-@rem
+@rem
-@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem      https://www.apache.org/licenses/LICENSE-2.0
-@rem
+@rem
-@rem Unless required by applicable law or agreed to in writing, software
+@rem Unless required by applicable law or agreed to in writing, software
-@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
+@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
+@rem limitations under the License.
-@rem
+@rem
-
+
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%" == "" @echo off
-@rem ##########################################################################
+@rem ##########################################################################
-@rem
+@rem
-@rem  Gradle startup script for Windows
+@rem  Gradle startup script for Windows
-@rem
+@rem
-@rem ##########################################################################
+@rem ##########################################################################
-
+
-@rem Set local scope for the variables with windows NT shell
+@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal
+if "%OS%"=="Windows_NT" setlocal
-
+
-set DIRNAME=%~dp0
+set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%" == "" set DIRNAME=.
-set APP_BASE_NAME=%~n0
+set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
+set APP_HOME=%DIRNAME%
-
+
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
-set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
-
+
-@rem Find java.exe
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-if defined JAVA_HOME goto findJavaFromJavaHome
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
-
+
-set JAVA_EXE=java.exe
+@rem Find java.exe
-%JAVA_EXE% -version >NUL 2>&1
+if defined JAVA_HOME goto findJavaFromJavaHome
-if "%ERRORLEVEL%" == "0" goto init
+
-
+set JAVA_EXE=java.exe
-echo.
+%JAVA_EXE% -version >NUL 2>&1
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+if "%ERRORLEVEL%" == "0" goto execute
-echo.
+
-echo Please set the JAVA_HOME variable in your environment to match the
+echo.
-echo location of your Java installation.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-
+echo.
-goto fail
+echo Please set the JAVA_HOME variable in your environment to match the
-
+echo location of your Java installation.
-:findJavaFromJavaHome
+
-set JAVA_HOME=%JAVA_HOME:"=%
+goto fail
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
-
+:findJavaFromJavaHome
-if exist "%JAVA_EXE%" goto init
+set JAVA_HOME=%JAVA_HOME:"=%
-
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-echo.
+
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+if exist "%JAVA_EXE%" goto execute
-echo.
+
-echo Please set the JAVA_HOME variable in your environment to match the
+echo.
-echo location of your Java installation.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-
+echo.
-goto fail
+echo Please set the JAVA_HOME variable in your environment to match the
-
+echo location of your Java installation.
-:init
+
-@rem Get command-line arguments, handling Windows variants
+goto fail
-
+
-if not "%OS%" == "Windows_NT" goto win9xME_args
+:execute
-
+@rem Setup the command line
-:win9xME_args
+
-@rem Slurp the command line arguments.
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-set CMD_LINE_ARGS=
+
-set _SKIP=2
+
-
+@rem Execute Gradle
-:win9xME_args_slurp
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
-if "x%~1" == "x" goto execute
+
-
+:end
-set CMD_LINE_ARGS=%*
+@rem End local scope for the variables with windows NT shell
-
+if "%ERRORLEVEL%"=="0" goto mainEnd
-:execute
+
-@rem Setup the command line
+:fail
-
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+rem the _cmd.exe /c_ return code!
-
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-@rem Execute Gradle
+exit /b 1
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
-
+:mainEnd
-:end
+if "%OS%"=="Windows_NT" endlocal
-@rem End local scope for the variables with windows NT shell
+
-if "%ERRORLEVEL%"=="0" goto mainEnd
+:omega
-
-:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega

photon-client/package-lock.json

@@ -2118,16 +2118,6 @@
       "integrity": "sha512-Jus9s4CDbqwocc5pOAnh8ShfrnMcPHuJYzVcSUU7lrh8Ni5HuIqX3oilL86p3dlTrk0LzHRCgA/GQ7uNCw6l2Q==",
       "dev": true
     },
-    "@types/mini-css-extract-plugin": {
-      "version": "0.9.1",
-      "resolved": "https://registry.npmjs.org/@types/mini-css-extract-plugin/-/mini-css-extract-plugin-0.9.1.tgz",
-      "integrity": "sha512-+mN04Oszdz9tGjUP/c1ReVwJXxSniLd7lF++sv+8dkABxVNthg6uccei+4ssKxRHGoMmPxdn7uBdJWONSJGTGQ==",
-      "dev": true,
-      "optional": true,
-      "requires": {
-        "@types/webpack": "*"
-      }
-    },
     "@types/minimatch": {
       "version": "3.0.3",
       "resolved": "https://registry.npmjs.org/@types/minimatch/-/minimatch-3.0.3.tgz",
@@ -2164,6 +2154,12 @@
       "integrity": "sha512-+wYo+L6ZF6BMoEjtf8zB2esQsqdV6WsjRK/GP9WOgLPrq87PbNWgIxS76dS5uvl/QXtHGakZmwTznIfcPXcKlQ==",
       "dev": true
     },
+    "@types/raf": {
+      "version": "3.4.0",
+      "resolved": "https://registry.npmjs.org/@types/raf/-/raf-3.4.0.tgz",
+      "integrity": "sha512-taW5/WYqo36N7V39oYyHP9Ipfd5pNFvGTIQsNGj86xV88YQ7GnI30/yMfKDF7Zgin0m3e+ikX88FvImnK4RjGw==",
+      "optional": true
+    },
     "@types/range-parser": {
       "version": "1.2.3",
       "resolved": "https://registry.npmjs.org/@types/range-parser/-/range-parser-1.2.3.tgz",
@@ -2679,17 +2675,6 @@
           "integrity": "sha512-bY6fj56OUQ0hU1KjFNDQuJFezqKdrAyFdIevADiqrWHwSlbmBNMHp5ak2f40Pm8JTFyM2mqxkG6ngkHO11f/lg==",
           "dev": true
         },
-        "ansi-styles": {
-          "version": "4.2.1",
-          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.2.1.tgz",
-          "integrity": "sha512-9VGjrMsG1vePxcSweQsN20KY/c4zN0h9fLjqAbwbPfahM3t+NL+M9HC8xeXG2I8pX5NoamTGNuomEUFI7fcUjA==",
-          "dev": true,
-          "optional": true,
-          "requires": {
-            "@types/color-name": "^1.1.1",
-            "color-convert": "^2.0.1"
-          }
-        },
         "browserslist": {
           "version": "4.14.0",
           "resolved": "https://registry.npmjs.org/browserslist/-/browserslist-4.14.0.tgz",
@@ -2734,23 +2719,6 @@
           "integrity": "sha512-Hpwa4obv7EGP+TjkCh/wVvbtNJewxmtg4yVJBLFnxo35vbPapBr138bUWENkb5j5L9JZJ9RXLn4OrXRG/cecPQ==",
           "dev": true
         },
-        "color-convert": {
-          "version": "2.0.1",
-          "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz",
-          "integrity": "sha512-RRECPsj7iu/xb5oKYcsFHSppFNnsj/52OVTRKb4zP5onXwVF3zVmmToNcOfGC+CRDpfK/U584fMg38ZHCaElKQ==",
-          "dev": true,
-          "optional": true,
-          "requires": {
-            "color-name": "~1.1.4"
-          }
-        },
-        "color-name": {
-          "version": "1.1.4",
-          "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.4.tgz",
-          "integrity": "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA==",
-          "dev": true,
-          "optional": true
-        },
         "electron-to-chromium": {
           "version": "1.3.554",
           "resolved": "https://registry.npmjs.org/electron-to-chromium/-/electron-to-chromium-1.3.554.tgz",
@@ -2784,13 +2752,6 @@
             "path-exists": "^4.0.0"
           }
         },
-        "has-flag": {
-          "version": "4.0.0",
-          "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
-          "integrity": "sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==",
-          "dev": true,
-          "optional": true
-        },
         "locate-path": {
           "version": "5.0.0",
           "resolved": "https://registry.npmjs.org/locate-path/-/locate-path-5.0.0.tgz",
@@ -2924,16 +2885,6 @@
             "ansi-regex": "^5.0.0"
           }
         },
-        "supports-color": {
-          "version": "7.2.0",
-          "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz",
-          "integrity": "sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==",
-          "dev": true,
-          "optional": true,
-          "requires": {
-            "has-flag": "^4.0.0"
-          }
-        },
         "terser-webpack-plugin": {
           "version": "2.3.8",
           "resolved": "https://registry.npmjs.org/terser-webpack-plugin/-/terser-webpack-plugin-2.3.8.tgz",
@@ -2960,34 +2911,6 @@
             "psl": "^1.1.28",
             "punycode": "^2.1.1"
           }
-        },
-        "vue-loader-v16": {
-          "version": "npm:vue-loader@16.0.0-beta.5",
-          "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.0.0-beta.5.tgz",
-          "integrity": "sha512-ciWfzNefqWlmzKznCWY9hl+fPP4KlQ0A9MtHbJ/8DpyY+dAM8gDrjufIdxwTgC4szE4EZC3A6ip/BbrqM84GqA==",
-          "dev": true,
-          "optional": true,
-          "requires": {
-            "@types/mini-css-extract-plugin": "^0.9.1",
-            "chalk": "^3.0.0",
-            "hash-sum": "^2.0.0",
-            "loader-utils": "^1.2.3",
-            "merge-source-map": "^1.1.0",
-            "source-map": "^0.6.1"
-          },
-          "dependencies": {
-            "chalk": {
-              "version": "3.0.0",
-              "resolved": "https://registry.npmjs.org/chalk/-/chalk-3.0.0.tgz",
-              "integrity": "sha512-4D3B6Wf41KOYRFdszmDqMCGq5VV/uMAB273JILmO+3jAlh8X4qDtdtgCR3fxtbLEMzSx22QdhnDcJvu2u1fVwg==",
-              "dev": true,
-              "optional": true,
-              "requires": {
-                "ansi-styles": "^4.1.0",
-                "supports-color": "^7.1.0"
-              }
-            }
-          }
         }
       }
     },
@@ -3559,8 +3482,7 @@
     "atob": {
       "version": "2.1.2",
       "resolved": "https://registry.npmjs.org/atob/-/atob-2.1.2.tgz",
-      "integrity": "sha512-Wm6ukoaOGJi/73p/cl2GvLjTI5JM1k/O14isD73YML8StrH/7/lRFgmg8nICZgD3bZZvjwCGxtMOD3wWNAu8cg==",
+      "integrity": "sha512-Wm6ukoaOGJi/73p/cl2GvLjTI5JM1k/O14isD73YML8StrH/7/lRFgmg8nICZgD3bZZvjwCGxtMOD3wWNAu8cg=="
-      "dev": true
     },
     "autoprefixer": {
       "version": "9.8.6",
@@ -3819,6 +3741,12 @@
         }
       }
     },
+    "base64-arraybuffer": {
+      "version": "0.2.0",
+      "resolved": "https://registry.npmjs.org/base64-arraybuffer/-/base64-arraybuffer-0.2.0.tgz",
+      "integrity": "sha512-7emyCsu1/xiBXgQZrscw/8KPRT44I4Yq9Pe6EGs3aPRTsWuggML1/1DTuZUuIaJPIm1FTDUVXl4x/yW8s0kQDQ==",
+      "optional": true
+    },
     "base64-js": {
       "version": "1.3.1",
       "resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.3.1.tgz",
@@ -4110,6 +4038,11 @@
         "node-releases": "^1.1.44"
       }
     },
+    "btoa": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/btoa/-/btoa-1.2.1.tgz",
+      "integrity": "sha512-SB4/MIGlsiVkMcHmT+pSmIPoNDoHg+7cMzmt3Uxt628MTz2487DKSqK/fuhFBrkuqrYv5UCEnACpF4dTFNKc/g=="
+    },
     "buffer": {
       "version": "4.9.2",
       "resolved": "https://registry.npmjs.org/buffer/-/buffer-4.9.2.tgz",
@@ -4390,6 +4323,45 @@
       "integrity": "sha512-6ljkLtF1KM5fQ+5ZN0wuyVvvebJxgJPTmScOMaFuQN2QuOzvRJnWSKfzQskQU5IOU4Gap3zasYPIinzwUjoj/g==",
       "dev": true
     },
+    "canvg": {
+      "version": "3.0.9",
+      "resolved": "https://registry.npmjs.org/canvg/-/canvg-3.0.9.tgz",
+      "integrity": "sha512-rDXcnRPuz4QHoCilMeoTxql+fvGqNAxp+qV/KHD8rOiJSAfVjFclbdUNHD2Uqfthr+VMg17bD2bVuk6F07oLGw==",
+      "optional": true,
+      "requires": {
+        "@babel/runtime": "^7.12.5",
+        "@types/raf": "^3.4.0",
+        "core-js": "^3.8.3",
+        "raf": "^3.4.1",
+        "regenerator-runtime": "^0.13.7",
+        "rgbcolor": "^1.0.1",
+        "stackblur-canvas": "^2.0.0",
+        "svg-pathdata": "^6.0.3"
+      },
+      "dependencies": {
+        "@babel/runtime": {
+          "version": "7.16.0",
+          "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.16.0.tgz",
+          "integrity": "sha512-Nht8L0O8YCktmsDV6FqFue7vQLRx3Hb0B37lS5y0jDRqRxlBG4wIJHnf9/bgSE2UyipKFA01YtS+npRdTWBUyw==",
+          "optional": true,
+          "requires": {
+            "regenerator-runtime": "^0.13.4"
+          }
+        },
+        "core-js": {
+          "version": "3.19.0",
+          "resolved": "https://registry.npmjs.org/core-js/-/core-js-3.19.0.tgz",
+          "integrity": "sha512-L1TpFRWXZ76vH1yLM+z6KssLZrP8Z6GxxW4auoCj+XiViOzNPJCAuTIkn03BGdFe6Z5clX5t64wRIRypsZQrUg==",
+          "optional": true
+        },
+        "regenerator-runtime": {
+          "version": "0.13.9",
+          "resolved": "https://registry.npmjs.org/regenerator-runtime/-/regenerator-runtime-0.13.9.tgz",
+          "integrity": "sha512-p3VT+cOEgxFsRRA9X4lkI1E+k2/CtnKtU4gcxyaCUreilL/vqI6CdZ3wxVUx3UOUg+gnUOQQcRI7BmSI656MYA==",
+          "optional": true
+        }
+      }
+    },
     "case-sensitive-paths-webpack-plugin": {
       "version": "2.3.0",
       "resolved": "https://registry.npmjs.org/case-sensitive-paths-webpack-plugin/-/case-sensitive-paths-webpack-plugin-2.3.0.tgz",
@@ -5172,6 +5144,15 @@
         "timsort": "^0.3.0"
       }
     },
+    "css-line-break": {
+      "version": "2.0.1",
+      "resolved": "https://registry.npmjs.org/css-line-break/-/css-line-break-2.0.1.tgz",
+      "integrity": "sha512-gwKYIMUn7xodIcb346wgUhE2Dt5O1Kmrc16PWi8sL4FTfyDj8P5095rzH7+O8CTZudJr+uw2GCI/hwEkDJFI2w==",
+      "optional": true,
+      "requires": {
+        "base64-arraybuffer": "^0.2.0"
+      }
+    },
     "css-loader": {
       "version": "3.6.0",
       "resolved": "https://registry.npmjs.org/css-loader/-/css-loader-3.6.0.tgz",
@@ -5809,6 +5790,12 @@
         "domelementtype": "1"
       }
     },
+    "dompurify": {
+      "version": "2.3.3",
+      "resolved": "https://registry.npmjs.org/dompurify/-/dompurify-2.3.3.tgz",
+      "integrity": "sha512-dqnqRkPMAjOZE0FogZ+ceJNM2dZ3V/yNOuFB7+39qpO93hHhfRpHw3heYQC7DPK9FqbQTfBKUJhiSfz4MvXYwg==",
+      "optional": true
+    },
     "domutils": {
       "version": "1.7.0",
       "resolved": "https://registry.npmjs.org/domutils/-/domutils-1.7.0.tgz",
@@ -6743,6 +6730,11 @@
         "websocket-driver": ">=0.5.1"
       }
     },
+    "fflate": {
+      "version": "0.4.8",
+      "resolved": "https://registry.npmjs.org/fflate/-/fflate-0.4.8.tgz",
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         "onetime": {
           "version": "1.1.0",
-          "resolved": "http://registry.npmjs.org/onetime/-/onetime-1.1.0.tgz",
+          "resolved": "https://registry.npmjs.org/onetime/-/onetime-1.1.0.tgz",
           "integrity": "sha1-ofeDj4MUxRbwXs78vEzP4EtO14k="
         },
         "optimist": {
@@ -17346,7 +17524,7 @@
         },
         "parse-asn1": {
           "version": "5.1.1",
-          "resolved": "http://registry.npmjs.org/parse-asn1/-/parse-asn1-5.1.1.tgz",
+          "resolved": "https://registry.npmjs.org/parse-asn1/-/parse-asn1-5.1.1.tgz",
           "integrity": "sha512-KPx7flKXg775zZpnp9SxJlz00gTd4BmJ2yJufSc44gMCRrRQ7NSzAcSJQfifuOLgW6bEi+ftrALtsgALeB2Adw==",
           "requires": {
             "asn1.js": "^4.0.0",
@@ -17569,7 +17747,7 @@
         },
         "public-encrypt": {
           "version": "4.0.2",
-          "resolved": "http://registry.npmjs.org/public-encrypt/-/public-encrypt-4.0.2.tgz",
+          "resolved": "https://registry.npmjs.org/public-encrypt/-/public-encrypt-4.0.2.tgz",
           "integrity": "sha512-4kJ5Esocg8X3h8YgJsKAuoesBgB7mqH3eowiDzMUPKiRDDE7E/BqqZD1hnTByIaAFiwAw246YEltSq7tdrOH0Q==",
           "requires": {
             "bn.js": "^4.1.0",
@@ -17685,7 +17863,7 @@
         },
         "readable-stream": {
           "version": "2.3.6",
-          "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
+          "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
           "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==",
           "requires": {
             "core-util-is": "~1.0.0",
@@ -17998,7 +18176,7 @@
         },
         "sha.js": {
           "version": "2.4.11",
-          "resolved": "http://registry.npmjs.org/sha.js/-/sha.js-2.4.11.tgz",
+          "resolved": "https://registry.npmjs.org/sha.js/-/sha.js-2.4.11.tgz",
           "integrity": "sha512-QMEp5B7cftE7APOjk5Y6xgrbWu+WkLVQwk8JNjZ8nKRciZaByEW6MubieAiToS7+dwvrjGhH8jRXz3MVd0AYqQ==",
           "requires": {
             "inherits": "^2.0.1",
@@ -18176,7 +18354,7 @@
           "dependencies": {
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -18205,7 +18383,7 @@
           "dependencies": {
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -18243,7 +18421,7 @@
             },
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -18269,7 +18447,7 @@
           "dependencies": {
             "debug": {
               "version": "2.2.0",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.2.0.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.2.0.tgz",
               "integrity": "sha1-+HBX6ZWxofauaklgZkE3vFbwOdo=",
               "requires": {
                 "ms": "0.7.1"
@@ -18464,7 +18642,7 @@
         },
         "table": {
           "version": "3.8.3",
-          "resolved": "http://registry.npmjs.org/table/-/table-3.8.3.tgz",
+          "resolved": "https://registry.npmjs.org/table/-/table-3.8.3.tgz",
           "integrity": "sha1-K7xULw/amGGnVdOUf+/Ys/UThV8=",
           "requires": {
             "ajv": "^4.7.0",
@@ -18521,7 +18699,7 @@
         },
         "through": {
           "version": "2.3.8",
-          "resolved": "http://registry.npmjs.org/through/-/through-2.3.8.tgz",
+          "resolved": "https://registry.npmjs.org/through/-/through-2.3.8.tgz",
           "integrity": "sha1-DdTJ/6q8NXlgsbckEV1+Doai4fU="
         },
         "time-stamp": {
@@ -18697,7 +18875,7 @@
             },
             "yargs": {
               "version": "3.10.0",
-              "resolved": "http://registry.npmjs.org/yargs/-/yargs-3.10.0.tgz",
+              "resolved": "https://registry.npmjs.org/yargs/-/yargs-3.10.0.tgz",
               "integrity": "sha1-9+572FfdfB0tOMDnTvvWgdFDH9E=",
               "requires": {
                 "camelcase": "^1.0.2",
@@ -19339,7 +19517,7 @@
         },
         "wrap-ansi": {
           "version": "2.1.0",
-          "resolved": "http://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz",
+          "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz",
           "integrity": "sha1-2Pw9KE3QV5T+hJc8rs3Rz4JP3YU=",
           "requires": {
             "string-width": "^1.0.1",
@@ -20250,9 +20428,9 @@
       "dev": true
     },
     "y18n": {
-      "version": "4.0.0",
+      "version": "4.0.3",
-      "resolved": "https://registry.npmjs.org/y18n/-/y18n-4.0.0.tgz",
+      "resolved": "https://registry.npmjs.org/y18n/-/y18n-4.0.3.tgz",
-      "integrity": "sha512-r9S/ZyXu/Xu9q1tYlpsLIsa3EeLXXk0VwlxqTcFRfg9EhMW+17kbt9G0NrgCmhGb5vT2hyhJZLfDGx+7+5Uj/w==",
+      "integrity": "sha512-JKhqTOwSrqNA1NY5lSztJ1GrBiUodLMmIZuLiDaMRJ+itFd+ABVE8XBjOvIWL+rSqNDC74LCSFmlb/U4UZ4hJQ==",
       "dev": true
     },
     "yallist": {

photon-client/package.json

@@ -13,6 +13,7 @@
     "axios": "^0.19.2",
     "core-js": "^2.6.11",
     "downloadjs": "^1.4.7",
+    "jspdf": "^2.4.0",
     "material-design-icons-iconfont": "^5.0.1",
     "msgpack5": "^4.2.1",
     "vue": "^2.6.12",

photon-client/public/index.html

@@ -17,4 +17,4 @@
     <!-- built files will be auto injected -->
 </body>
 
-</html>
+</html>

photon-client/src/App.vue

@@ -91,25 +91,51 @@
           </v-list-item-content>
         </v-list-item>
 
-        <v-list-item style="position: absolute; bottom: 0; left: 0;">
+        <div style="position: absolute; bottom: 0; left: 0;">
-          <v-list-item-icon>
+          <v-list-item>
-            <v-icon v-if="$store.state.backendConnected">
+            <v-list-item-icon>
-              mdi-wifi
+              <v-icon v-if="$store.state.settings.networkSettings.runNTServer">mdi-server</v-icon>
-            </v-icon>
+              <img v-else-if="$store.state.ntConnectionInfo.connected" src="@/assets/robot.svg" alt="">
-            <v-icon
+              <img v-else class="pulse" style="border-radius: 100%" src="@/assets/robot-off.svg" alt="">
-              v-else
+            </v-list-item-icon>
-              class="pulse"
+            <v-list-item-content>
-              style="border-radius: 100%;"
+              <v-list-item-title class="text-wrap" v-if="$store.state.settings.networkSettings.runNTServer">
-            >
+                NetworkTables server running for {{$store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero'}} clients!
-              mdi-wifi-off
+              </v-list-item-title>
-            </v-icon>
+              <v-list-item-title class="text-wrap" v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected">
-          </v-list-item-icon>
+                Robot connected! {{$store.state.ntConnectionInfo.address}}
-          <v-list-item-content>
+              </v-list-item-title>
-            <v-list-item-title>
+              <v-list-item-title class="text-wrap" v-else>
-              {{ $store.state.backendConnected ? "Connected" : "Trying to connect..." }}
+                Not connected to robot!
-            </v-list-item-title>
+              </v-list-item-title>
-          </v-list-item-content>
+              <a
-        </v-list-item>
+                  href="/#/settings"
+                  style="color:#FFD843"
+              >{{"Team: " + $store.state.settings.networkSettings.teamNumber}}</a>
+            </v-list-item-content>
+          </v-list-item>
+
+          <v-list-item>
+            <v-list-item-icon>
+              <v-icon v-if="$store.state.backendConnected">
+                mdi-wifi
+              </v-icon>
+              <v-icon
+                  v-else
+                  class="pulse"
+                  style="border-radius: 100%;"
+              >
+                mdi-wifi-off
+              </v-icon>
+            </v-list-item-icon>
+            <v-list-item-content>
+              <v-list-item-title class="text-wrap">
+                {{ $store.state.backendConnected ? "Backend Connected" : "Trying to connect..." }}
+              </v-list-item-title>
+            </v-list-item-content>
+          </v-list-item>
+        </div>
+
       </v-list>
     </v-navigation-drawer>
     <v-main>
@@ -132,23 +158,53 @@
     >
       <logs />
     </v-dialog>
+    <v-dialog
+        v-model="needsTeamNumberSet"
+        width="500"
+        dark
+        persistent
+    >
+      <v-card
+          dark
+          color="primary"
+          flat
+      >
+        <v-card-title>No team number set!</v-card-title>
+        <v-card-text>
+          PhotonVision cannot connect to your robot! Please
+          <a
+              href="/#/settings"
+              style="color:#FFD843"
+          >head to the settings page</a> and set your team number.
+        </v-card-text>
+      </v-card>
+    </v-dialog>
   </v-app>
 </template>
 
 <script>
 import Logs from "./views/LogsView"
+// import {mapState} from "vuex";
 
-    export default {
+export default {
         name: 'App',
         components: {
             Logs
         },
         data: () => ({
             // Used so that we can switch back to the previously selected pipeline after camera calibration
-            previouslySelectedIndex: undefined,
+            previouslySelectedIndices: [],
             timer: undefined,
+            teamNumberDialog: true
         }),
         computed: {
+            needsTeamNumberSet: {
+              get() {
+                return this.$store.state.settings.networkSettings.teamNumber < 1
+                    && this.teamNumberDialog && this.$store.state.backendConnected
+                    && !this.$route.name.toLowerCase().includes("settings");
+              }
+            },
             compact: {
                 get() {
                     if (this.$store.state.compactMode === undefined) {
@@ -163,6 +219,12 @@ import Logs from "./views/LogsView"
                     localStorage.setItem("compactMode", value);
                 },
             },
+            // ...mapState({
+              // ntServerMode: state => state.settings.networkSettings.runNTServer,
+              // ntClients: state => state.ntConnectionInfo.clients,
+              // ntConnected: state => state.ntConnectionInfo.connected,
+              // backendConnected: state => state.backendConnected
+            // })
         },
         created() {
             document.addEventListener("keydown", e => {
@@ -197,12 +259,12 @@ import Logs from "./views/LogsView"
                 }
             };
             this.$options.sockets.onopen = () => {
-                this.$store.state.backendConnected = true;
+                this.$store.commit("backendConnected", true)
                 this.$store.state.connectedCallbacks.forEach(it => it())
             };
 
             let closed = () => {
-                this.$store.state.backendConnected = false;
+              this.$store.commit("backendConnected", false)
             };
             this.$options.sockets.onclose = closed;
             this.$options.sockets.onerror = closed;
@@ -213,6 +275,8 @@ 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 +304,23 @@ import Logs from "./views/LogsView"
                 })
             },
             switchToDriverMode() {
-                this.previouslySelectedIndex = this.$store.getters.currentPipelineIndex;
+                if (!this.previouslySelectedIndices) this.previouslySelectedIndices = [];
-                this.handleInputWithIndex('currentPipeline', -1)
+
-            },
+                for (const [i, cameraSettings] of this.$store.state.cameraSettings.entries()) {
-            rollbackPipelineIndex() {
+                  this.previouslySelectedIndices[i] = cameraSettings.currentPipelineIndex;
-                if (this.previouslySelectedIndex !== null) {
+                  this.handleInputWithIndex('currentPipeline', -1, i);
-                    this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndex || 0);
                 }
-                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', {})
             }
@@ -333,4 +405,4 @@ import Logs from "./views/LogsView"
             font-size: 14px !important;
         }
     }
-</style>
+</style>

photon-client/src/assets/robot-off.svg

@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="24" height="24" viewBox="0 0 24 24"><path fill="white" d="M23 15V18C23 18.5 22.64 18.88 22.17 18.97L18.97 15.77C19 15.68 19 15.59 19 15.5C19 14.12 17.88 13 16.5 13C16.41 13 16.32 13 16.23 13.03L10.2 7H11V5.73C10.4 5.39 10 4.74 10 4C10 2.9 10.9 2 12 2S14 2.9 14 4C14 4.74 13.6 5.39 13 5.73V7H14C17.87 7 21 10.13 21 14H22C22.55 14 23 14.45 23 15M22.11 21.46L20.84 22.73L19.89 21.78C19.62 21.92 19.32 22 19 22H5C3.9 22 3 21.11 3 20V19H2C1.45 19 1 18.55 1 18V15C1 14.45 1.45 14 2 14H3C3 11.53 4.29 9.36 6.22 8.11L1.11 3L2.39 1.73L22.11 21.46M10 15.5C10 14.12 8.88 13 7.5 13S5 14.12 5 15.5 6.12 18 7.5 18 10 16.88 10 15.5M16.07 17.96L14.04 15.93C14.23 16.97 15.04 17.77 16.07 17.96Z" /></svg>

photon-client/src/assets/robot.svg

@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="24" height="24" viewBox="0 0 24 24"><path fill="white" d="M12,2C13.1,2 14,2.9 14,4C14,4.74 13.6,5.39 13,5.73V7H14C17.87,7 21,10.13 21,14H22C22.55,14 23,14.45 23,15V18C23,18.55 22.55,19 22,19H21V20C21,21.1 20.1,22 19,22H5C3.9,22 3,21.1 3,20V19H2C1.45,19 1,18.55 1,18V15C1,14.45 1.45,14 2,14H3C3,10.13 6.13,7 10,7H11V5.73C10.4,5.39 10,4.74 10,4C10,2.9 10.9,2 12,2M7.5,13C6.12,13 5,14.12 5,15.5C5,16.88 6.12,18 7.5,18C8.88,18 10,16.88 10,15.5C10,14.12 8.88,13 7.5,13M16.5,13C15.12,13 14,14.12 14,15.5C14,16.88 15.12,18 16.5,18C17.88,18 19,16.88 19,15.5C19,14.12 17.88,13 16.5,13Z" /></svg>

photon-client/src/components/common/cv-icon.vue

@@ -51,4 +51,4 @@
     .hover:hover {
         color: white !important;
     }
-</style>
+</style>

photon-client/src/components/common/cv-image.vue

@@ -59,4 +59,4 @@
             }
         },
     }
-</script>
+</script>

photon-client/src/components/common/cv-input.vue

@@ -61,4 +61,4 @@ s
 </script>
 
 <style lang="css" scoped>
-</style>
+</style>

photon-client/src/components/common/cv-number-input.vue

@@ -54,4 +54,4 @@
 
 <style lang="" scoped>
 
-</style>
+</style>

photon-client/src/components/common/cv-radio.vue

@@ -41,4 +41,4 @@
 
 <style lang="" scoped>
 
-</style>
+</style>

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);
@@ -128,4 +129,4 @@ export default {
 </script>
 
 <style lang="" scoped>
-</style>
+</style>

photon-client/src/components/common/cv-select.vue

@@ -62,4 +62,4 @@ import TooltippedLabel from "./cv-tooltipped-label";
 </script>
 
 <style>
-</style>
+</style>

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

@@ -105,4 +105,4 @@ export default {
 </script>
 
 <style lang="" scoped>
-</style>
+</style>

photon-client/src/components/common/cv-switch.vue

@@ -48,4 +48,4 @@ export default {
 
 <style lang="" scoped>
 
-</style>
+</style>

photon-client/src/components/common/cv-tooltipped-label.vue

@@ -24,4 +24,4 @@
         // eslint-disable-next-line vue/require-prop-types
         props: ['text', 'tooltip'],
     }
-</script>
+</script>

photon-client/src/components/pipeline/3D/MiniMap.vue

@@ -151,4 +151,4 @@
         width: 80px;
         text-align: center;
     }
-</style>
+</style>

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"
@@ -132,67 +136,52 @@
           </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"
+      >
+        <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"
+            name="Name"
             :error-message="checkPipelineName"
-            @Enter="savePipelineNameChange"
           />
+<!--          <CVselect-->
+<!--            v-model="currentPipelineType"-->
+<!--            name="Pipeline Type"-->
+<!--            :list="['Reflective', 'Shape']"-->
+<!--            :disabled="true"-->
+<!--          />-->
         </v-card-text>
         <v-divider />
         <v-card-actions>
@@ -213,163 +202,206 @@
         </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 CVicon from '../common/cv-icon'
-    import CVselect from '../common/cv-select'
+import CVselect from '../common/cv-select'
-    import CVinput from '../common/cv-input'
+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 = "";
-            },
-        }
 
+export default {
+  name: "CameraAndPipelineSelect",
+  components: {
+    CVicon,
+    CVselect,
+    CVinput
+  },
+  data: () => {
+    return {
+      re: RegExp("^[A-Za-z0-9 \\-)(]*[A-Za-z0-9][A-Za-z0-9 \\-)(.]*$"),
+      isCameraNameEdit: false,
+      newCameraName: "",
+      cameraNameError: "",
+      isPipelineNameEdit: false,
+      namingDialog: false,
+      newPipelineName: "",
+      duplicateDialog: false,
+      showPipeTypeDialog: false,
+      proposedPipelineType : 0,
+      pipeIndexToDuplicate: undefined
     }
+  },
+  computed: {
+    checkCameraName() {
+      if (this.newCameraName !== this.$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>
 
-</style>
+</style>

photon-client/src/components/pipeline/OutputTab/DualCalibration.vue

@@ -60,4 +60,4 @@
 
 <style scoped>
 
-</style>
+</style>

photon-client/src/components/pipeline/OutputTab/SingleCalibration.vue

@@ -45,4 +45,4 @@
 
 <style scoped>
 
-</style>
+</style>

photon-client/src/jsPDFFonts/readme.md

@@ -0,0 +1,7 @@
+# JSPDF Fonts
+
+These are .js interpretations of the .tff files in the branding folder. They are used by jspdf to apply branding-approprate fonts to any .pdf file generation (ex: calibration targets)
+
+https://peckconsulting.s3.amazonaws.com/fontconverter/fontconverter.html is the converter used to generate them.
+
+https://www.devlinpeck.com/tutorials/jspdf-custom-font has more info creating/using them.

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,

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/mixins/global/stateMixin.js

@@ -0,0 +1,10 @@
+export const stateMixin = {
+    methods: {
+        currentPipelineType() {
+            return this.$store.getters.pipelineType
+        },
+        currentPipelineSettings() {
+            return this.$store.getters.currentPipelineSettings
+        },
+    }
+};

photon-client/src/plugins/ColorPicker.js

@@ -122,4 +122,4 @@ function shrinkRange(range, color) {
 }
 
 
-export default {initColorPicker, colorPickerClick, eyeDrop, expand, shrink}
+export default {initColorPicker, colorPickerClick, eyeDrop, expand, shrink}

photon-client/src/scss/variables.scss

@@ -5,4 +5,4 @@ $body-font-family: $default-font;
 $heading-font-family: $default-font;
 .v-application {
     font-family: $default-font !important;
-}
+}

photon-client/src/store/index.js

@@ -15,6 +15,13 @@ export default new Vuex.Store({
     },
     state: {
         backendConnected: false,
+        ntConnectionInfo: {
+            connected: false,
+            address: "",
+            clients: 0,
+            possibleRios: ["Loading..."],
+            deviceips: ["Loading..."],
+        },
         connectedCallbacks: [],
         colorPicking: false,
         logsOverlay: false,
@@ -42,7 +49,7 @@ 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
@@ -143,6 +150,8 @@ export default new Vuex.Store({
         settings: set('settings'),
         calibrationData: set('calibrationData'),
         metrics: set('metrics'),
+        ntConnectionInfo: set('ntConnectionInfo'),
+        backendConnected: set('backendConnected'),
         logString: (state, newStr) => {
             const str = state.logMessages;
             str.push(newStr);
@@ -245,5 +254,6 @@ 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
     }
-})
+})

photon-client/src/store/modules/undoRedo.js

@@ -69,4 +69,4 @@ export default {
         }
     }
 
-};
+};

photon-client/src/theme.js

@@ -5,4 +5,4 @@ const theme = Object.freeze({
     background: "#232C37",
 });
 
-export default theme;
+export default theme;

photon-client/src/views/CamerasView.vue

@@ -19,15 +19,16 @@
             <CVselect
               v-model="currentCameraIndex"
               name="Camera"
-              select-cols="10"
               :list="$store.getters.cameraList"
               @input="handleInput('currentCamera',currentCameraIndex)"
+              :select-cols="$vuetify.breakpoint.mdAndUp ? 10 : 7"
             />
             <CVnumberinput
               v-model="cameraSettings.fov"
               :tooltip="cameraSettings.isFovConfigurable ? 'Field of view (in degrees) of the camera measured across the diagonal of the frame, in a video mode which covers the whole sensor area.' : 'This setting is managed by a vendor'"
               name="Maximum diagonal FOV"
               :disabled="!cameraSettings.isFovConfigurable"
+              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
             />
             <br>
             <CVnumberinput
@@ -35,6 +36,7 @@
               name="Camera pitch"
               tooltip="How many degrees above the horizontal the physical camera is tilted"
               :step="0.01"
+              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
             />
             <br>
             <v-btn
@@ -66,43 +68,51 @@
                 cols="12"
                 md="6"
               >
-                <CVselect
+                <v-form
-                  v-model="selectedFilteredResIndex"
+                  ref="form"
-                  name="Resolution"
+                  v-model="settingsValid"
-                  select-cols="7"
+                >
-                  :list="stringResolutionList"
+                  <CVselect
-                  :disabled="isCalibrating"
+                    v-model="selectedFilteredResIndex"
-                  tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
+                    name="Resolution"
-                />
+                    select-cols="7"
-                <CVselect
+                    :list="stringResolutionList"
-                  v-model="boardType"
+                    :disabled="isCalibrating"
-                  name="Board Type"
+                    tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
-                  select-cols="7"
+                  />
-                  :list="['Chessboard', 'Dot Grid']"
+                  <CVselect
-                  :disabled="isCalibrating"
+                    v-model="boardType"
-                  tooltip="Calibration board pattern to use"
+                    name="Board Type"
-                />
+                    select-cols="7"
-                <CVnumberinput
+                    :list="['Chessboard', 'Dot Grid']"
-                  v-model="squareSizeIn"
+                    :disabled="isCalibrating"
-                  name="Pattern Spacing (in)"
+                    tooltip="Calibration board pattern to use"
-                  label-cols="5"
+                  />
-                  tooltip="Spacing between pattern features in inches"
+                  <CVnumberinput
-                  :disabled="isCalibrating"
+                    v-model="squareSizeIn"
-                />
+                    name="Pattern Spacing (in)"
-                <CVnumberinput
+                    tooltip="Spacing between pattern features in inches"
-                  v-model="boardWidth"
+                    :disabled="isCalibrating"
-                  name="Board width"
+                    :rules="[v => (v > 0) || 'Size must be positive']"
-                  label-cols="5"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
-                  tooltip="Width of the board in dots or chessboard squares; with the standard chessboard, this is usually 8"
+                  />
-                  :disabled="isCalibrating"
+                  <CVnumberinput
-                />
+                    v-model="boardWidth"
-                <CVnumberinput
+                    name="Board width"
-                  v-model="boardHeight"
+                    tooltip="Width of the board in dots or chessboard squares"
-                  name="Board height"
+                    :disabled="isCalibrating"
-                  label-cols="5"
+                    :rules="[v => (v >= 4) || 'Width must be at least 4']"
-                  tooltip="Height of the board in dots or chessboard squares; with the standard chessboard, this is usually 8"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
-                  :disabled="isCalibrating"
+                  />
-                />
+                  <CVnumberinput
+                    v-model="boardHeight"
+                    name="Board height"
+                    tooltip="Height of the board in dots or chessboard squares"
+                    :disabled="isCalibrating"
+                    :rules="[v => (v >= 4) || 'Height must be at least 4']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
+                  />
+                </v-form>
               </v-col>
 
               <!-- Calibrated table -->
@@ -227,19 +237,14 @@
                   small
                   outlined
                   style="width: 100%;"
+                  :disabled="!settingsValid"
                   @click="downloadBoard"
                 >
                   <v-icon left>
                     mdi-download
                   </v-icon>
-                  Download Chessboard
+                  Download Target
                 </v-btn>
-                <a
-                  ref="calibrationFile"
-                  style="color: black; text-decoration: none; display: none"
-                  :href="require('../assets/chessboard.png')"
-                  download="chessboard.png"
-                />
               </v-col>
             </v-row>
           </div>
@@ -260,7 +265,7 @@
           <v-dialog
             v-model="snack"
             width="500px"
-            persistent="true"
+            :persistent="true"
           >
             <v-card
               color="primary"
@@ -325,6 +330,8 @@ import CVnumberinput from '../components/common/cv-number-input';
 import CVslider from '../components/common/cv-slider';
 import CVimage from "../components/common/cv-image";
 import TooltippedLabel from "../components/common/cv-tooltipped-label";
+import jsPDF from "jspdf";
+import "../jsPDFFonts/Prompt-Regular-normal.js";
 
 export default {
     name: 'Cameras',
@@ -341,11 +348,12 @@ export default {
             calibrationInProgress: false,
             calibrationFailed: false,
             filteredVideomodeIndex: 0,
+            settingsValid: true,
         }
     },
     computed: {
         disallowCalibration() {
-            return !(this.calibrationData.boardType === 0 || this.calibrationData.boardType === 1);
+            return !(this.calibrationData.boardType === 0 || this.calibrationData.boardType === 1) || !this.settingsValid;
         },
         checkCancellation() {
             if (this.isCalibrating) {
@@ -486,9 +494,97 @@ export default {
             return ret;
         },
         downloadBoard() {
-            this.axios.get("http://" + this.$address + require('../assets/chessboard.png'), {responseType: 'blob'}).then((response) => {
+            // Generates a .pdf of a board for calibration and downloads it
-                require('downloadjs')(response.data, "Calibration Board", "image/png");
+
-            });
+            //Murica paper.
+            var doc = new jsPDF({unit: 'in', format:'letter'});
+            var paper_x = 8.5;
+            var paper_y = 11.0;
+
+            //Load in custom fonts
+            console.log(doc.getFontList());
+            doc.setFont('Prompt-Regular');
+            doc.setFontSize(12);
+
+            // Common Parameters
+            var num_x = this.boardWidth;
+            var num_y = this.boardHeight;
+            var patternSize = this.squareSizeIn;
+            var isCheckerboard = (this.boardType==0);
+
+            var x_coord = 0.0;
+            var y_coord = 0.0;
+            var x_idx = 0;
+            var y_idx = 0;
+            var start_x = 0;
+            var start_y = 0;
+
+            var annotation = num_x + " x " + num_y + " | " + patternSize + "in "
+
+            if(isCheckerboard){
+              ///////////////////////////////////////////
+              // Checkerboard Pattern
+
+              start_x = paper_x/2.0 - (num_x * patternSize)/2.0;
+              start_y = paper_y/2.0 - (num_y * patternSize)/2.0;
+
+              for(y_idx = 0; y_idx < num_y; y_idx++){
+                for(x_idx = 0; x_idx < num_x; x_idx++){
+
+                  x_coord = start_x + x_idx * patternSize;
+                  y_coord = start_y + y_idx * patternSize;
+                  if((x_idx + y_idx) % 2 == 0){
+                    doc.rect(x_coord, y_coord, patternSize, patternSize, "F");
+                  }
+                }
+              }
+
+            } else {
+              ///////////////////////////////////////////
+              // Assymetric Dot-Grid Pattern
+              // see https://github.com/opencv/opencv/blob/b450dd7a87bc69997a8417d94bdfb87427a9fe62/modules/calib3d/src/circlesgrid.cpp#L437
+              // as well as FindBoardCornersPipe.java's Dotboard implementation
+
+              start_x = paper_x/2.0 - ((2*(num_x-1) + (num_y-1) % 2) * patternSize)/2.0;
+              start_y = paper_y/2.0 - (num_y-1 * patternSize)/2.0;
+
+              // Dot Grid Pattern
+              for(y_idx = 0; y_idx < num_y; y_idx++){
+                for(x_idx = 0; x_idx < num_x; x_idx++){
+                  x_coord = start_x + (2*x_idx + y_idx % 2) * patternSize;
+                  y_coord = start_y + y_idx * patternSize;
+                  doc.circle(x_coord, y_coord, patternSize/4.0, "F");
+                }
+              }
+            }
+
+            ///////////////////////////////////////////
+            // Draw a fixed size inch ruler pattern to
+            // help users debug their printers
+            var lineStartX = 1.0;
+            var lineEndX = paper_x - lineStartX;
+            var lineY = paper_y - 1.0;
+            doc.setFont('Prompt-Regular');
+            doc.setLineWidth(0.01);
+            doc.line(lineStartX, lineY, lineEndX, lineY);
+            var segIdx = 0;
+            for(var tickX = lineStartX; tickX <= lineEndX; tickX += 1.0){
+              doc.line(tickX, lineY, tickX, lineY + 0.25);
+              doc.text(String(segIdx) + (segIdx == 0 ? " in" : ""), tickX + 0.1, lineY + 0.25);
+              segIdx++;
+            }
+
+
+            ///////////////////////////////////////////
+            // Annotate what was drawn + branding
+            var img = new Image();
+            img.src = require('@/assets/logoMono.png');
+            doc.addImage(img, 'PNG', 1.0, 0.75, 1.4, 0.5 );
+            doc.setFont('Prompt-Regular');
+            doc.text(annotation, paper_x-1.0, 1.0, {maxWidth:(paper_x - 2.0)/2, align:"right"});
+
+            doc.save("calibrationTarget.pdf");
+
         },
         sendCameraSettings() {
             this.axios.post("http://" + this.$address + "/api/settings/camera", {
@@ -563,4 +659,4 @@ export default {
 .v-data-table th, td {
     font-size: 1rem !important;
 }
-</style>
+</style>

photon-client/src/views/PipelineView.vue

@@ -34,10 +34,17 @@
                 :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>
+              <v-chip small label color="red" text-color="white" v-if="!$store.state.ntConnectionInfo.connected || $store.state.settings.networkSettings.runNTServer">
+                <span>
+                {{ $store.state.settings.networkSettings.runNTServer ?
+                    "NetworkTables Server Enabled! Photonlib may not work" :
+                    "NetworkTables not connected!" }}
+                </span>
+              </v-chip>
               <v-switch
                 v-model="driverMode"
                 label="Driver Mode"
@@ -83,6 +90,7 @@
         >
           <v-card
             color="primary"
+            class="mt-3"
           >
             <!--            <v-btn @click="onCamNameChange">-->
             <!--              Reload-->
@@ -91,7 +99,7 @@
           </v-card>
           <v-card
             :disabled="$store.getters.isDriverMode || $store.state.colorPicking"
-            class="mt-3"
+            class="mt-6 mb-3"
             color="primary"
           >
             <v-row
@@ -421,6 +429,12 @@ export default {
                     .some(e => e.width === resolution.width && e.height === resolution.height)
           }
         },
+        isRobotConnected: {
+          get() {
+            // return this.$store.state.ntConnectionInfo.connected && this.$store.state.backendConnected;
+            return true;
+          }
+        }
     },
     created() {
         this.$store.state.connectedCallbacks.push(this.reloadStreams)
@@ -469,4 +483,4 @@ th {
     width: 80px;
     text-align: center;
 }
-</style>
+</style>

photon-client/src/views/PipelineViews/ContoursTab.vue

@@ -1,162 +1,288 @@
 <template>
   <div>
     <CVrangeSlider
-      v-model="contourArea"
+        v-model="contourArea"
-      name="Area"
+        name="Area"
-      min="0"
+        min="0"
-      max="100"
+        max="100"
-      step="0.1"
+        step="0.1"
-      @input="handlePipelineData('contourArea')"
+        @input="handlePipelineData('contourArea')"
-      @rollback="e=> rollback('contourArea',e)"
     />
     <CVrangeSlider
-      v-model="contourRatio"
+        v-model="contourRatio"
-      name="Ratio (W/H)"
+        v-if="currentPipelineType() !== 3"
-      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
+        name="Ratio (W/H)"
-      min="0"
+        tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
-      max="100"
+        min="0"
-      step="0.1"
+        max="100"
-      @input="handlePipelineData('contourRatio')"
+        step="0.1"
-      @rollback="e=> rollback('contourRatio',e)"
+        @input="handlePipelineData('contourRatio')"
     />
     <CVrangeSlider
-      v-model="contourFullness"
+        v-model="contourFullness"
-      name="Fullness"
+        v-if="currentPipelineType() !== 3"
-      tooltip="Min and max ratio between a contour's area and its bounding rectangle"
+        name="Fullness"
-      min="0"
+        tooltip="Min and max ratio between a contour's area and its bounding rectangle"
-      max="100"
+        min="0"
-      @input="handlePipelineData('contourFullness')"
+        max="100"
-      @rollback="e=> rollback('contourFullness',e)"
+        @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"
+        v-model="contourSpecklePercentage"
-      name="Speckle Rejection"
+        name="Speckle Rejection"
-      tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
+        tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
-      min="0"
+        min="0"
-      max="100"
+        max="100"
-      :slider-cols="largeBox"
+        :slider-cols="largeBox"
-      @input="handlePipelineData('contourSpecklePercentage')"
+        @input="handlePipelineData('contourSpecklePercentage')"
-      @rollback="e=> rollback('contourSpecklePercentage',e)"
     />
+    <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','2orMore']"
+          @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"
+        v-model="contourSortMode"
-      name="Target Grouping"
+        name="Target Sort"
-      tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
+        tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
-      :select-cols="largeBox"
+        :select-cols="largeBox"
-      :list="['Single','Dual']"
+        :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
-      @input="handlePipelineData('contourGroupingMode')"
+        @input="handlePipelineData('contourSortMode')"
-      @rollback="e=> rollback('contourGroupingMode',e)"
+        @rollback="e => rollback('contourSortMode', 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)"
     />
   </div>
 </template>
 
 <script>
-    import CVrangeSlider from '../../components/common/cv-range-slider'
+import CVrangeSlider from '../../components/common/cv-range-slider'
-    import CVselect from '../../components/common/cv-select'
+import CVselect from '../../components/common/cv-select'
-    import CVslider from '../../components/common/cv-slider'
+import CVslider from '../../components/common/cv-slider'
 
-    export default {
+export default {
-        name: 'Contours',
+  name: 'Contours',
-        components: {
+  components: {
-            CVrangeSlider,
+    CVrangeSlider,
-            CVselect,
+    CVselect,
-            CVslider
+    CVslider
-        },
+  },
-        // eslint-disable-next-line vue/require-prop-types
+  // eslint-disable-next-line vue/require-prop-types
-        props: ['value'],
+  props: ['value'],
 
-        data() {
+  data() {
-            return {}
+    return {}
-        },
+  },
-        computed: {
+  computed: {
-          largeBox: {
+    largeBox: {
-            get() {
+      get() {
-              // Sliders and selectors should be fuller width if we're on screen size medium and
+        // 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),
+        // 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).
+        // or in driver mode (where the card will also be 100% screen width).
-              return this.$vuetify.breakpoint.mdAndUp && (!this.$store.state.compactMode || this.$store.getters.isDriverMode) ? 10 : 8;
+        return this.$vuetify.breakpoint.mdAndUp && (!this.$store.state.compactMode || this.$store.getters.isDriverMode) ? 10 : 8;
-            }
+      }
-          },
+    },
-            contourArea: {
+    contourArea: {
-                get() {
+      get() {
-                    return this.$store.getters.currentPipelineSettings.contourArea
+        return this.$store.getters.currentPipelineSettings.contourArea
-                },
+      },
-                set(val) {
+      set(val) {
-                    this.$store.commit("mutatePipeline", {"contourArea": val});
+        this.$store.commit("mutatePipeline", {"contourArea": val});
-                }
+      }
-            },
+    },
-            contourRatio: {
+    contourRatio: {
-                get() {
+      get() {
-                    return this.$store.getters.currentPipelineSettings.contourRatio
+        return this.$store.getters.currentPipelineSettings.contourRatio
-                },
+      },
-                set(val) {
+      set(val) {
-                    this.$store.commit("mutatePipeline", {"contourRatio": val});
+        this.$store.commit("mutatePipeline", {"contourRatio": val});
-                }
+      }
-            },
+    },
-            contourFullness: {
+    contourFullness: {
-                get() {
+      get() {
-                    return this.$store.getters.currentPipelineSettings.contourFullness
+        return this.$store.getters.currentPipelineSettings.contourFullness
-                },
+      },
-                set(val) {
+      set(val) {
-                    this.$store.commit("mutatePipeline", {"contourFullness": val});
+        this.$store.commit("mutatePipeline", {"contourFullness": val});
-                }
+      }
-            },
+    },
-            contourSpecklePercentage: {
+    contourPerimeter: {
-                get() {
+      get() {
-                    return this.$store.getters.currentPipelineSettings.contourSpecklePercentage
+        return this.$store.getters.currentPipelineSettings.contourPerimeter
-                },
+      },
-                set(val) {
+      set(val) {
-                    this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
+        this.$store.commit("mutatePipeline", {"contourPerimeter": val});
-                }
+      }
-            },
+    },
-            contourGroupingMode: {
+    contourSpecklePercentage: {
-                get() {
+      get() {
-                    return this.$store.getters.currentPipelineSettings.contourGroupingMode
+        return this.$store.getters.currentPipelineSettings.contourSpecklePercentage
-                },
+      },
-                set(val) {
+      set(val) {
-                    this.$store.commit("mutatePipeline", {"contourGroupingMode": val});
+        this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
-                }
+      }
-            },
+    },
-            contourSortMode: {
+    contourGroupingMode: {
-              get() {
+      get() {
-                return this.$store.getters.currentPipelineSettings.contourSortMode
+        return this.$store.getters.currentPipelineSettings.contourGroupingMode
-              },
+      },
-              set(val) {
+      set(val) {
-                this.$store.commit("mutatePipeline", {"contourSortMode": val});
+        this.$store.commit("mutatePipeline", {"contourGroupingMode": val});
-              }
+      }
-            },
+    },
-            contourIntersection: {
+    contourSortMode: {
-                get() {
+      get() {
-                    return this.$store.getters.currentPipelineSettings.contourIntersection
+        return this.$store.getters.currentPipelineSettings.contourSortMode
-                },
+      },
-                set(val) {
+      set(val) {
-                    this.$store.commit("mutatePipeline", {"contourIntersection": val});
+        this.$store.commit("mutatePipeline", {"contourSortMode": val});
-                }
+      }
-            }
+    },
-        },
+    contourShape: {
-        methods: {},
+      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>
 
-</style>
+</style>

photon-client/src/views/PipelineViews/InputTab.vue

@@ -170,7 +170,11 @@
             // It would probably be cleaner if this checked that we're on the Raspi 3 instead of checking for GPU accel status
             const width = this.$store.getters.videoFormatList[
                     this.$store.getters.currentCameraSettings.currentPipelineSettings.cameraVideoModeIndex]['width'];
-            return unfilteredStreamDivisors.filter((x) => !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
+
+            // If GPU acceleration is enabled, the  downsized width must be below 400px
+            // This check should be skipped if we're currently in driver mode
+            return unfilteredStreamDivisors.filter((x) => this.$store.getters.isDriverMode
+                    || !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
           },
           getNumSkippedStreamDivisors() {
             return unfilteredStreamDivisors.length - this.getRawStreamDivisors().length;

photon-client/src/views/PipelineViews/OutputTab.vue

@@ -156,4 +156,4 @@
 </script>
 
 <style scoped>
-</style>
+</style>

photon-client/src/views/PipelineViews/PnPTab.vue

@@ -60,7 +60,7 @@
         },
         data() {
             return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java 
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java
                 snackbar: {
                     color: "Success",
                     text: ""
@@ -155,4 +155,4 @@
         margin-left: auto;
         margin-right: auto;
     }
-</style>
+</style>

photon-client/src/views/PipelineViews/TargetsTab.vue

@@ -97,4 +97,4 @@
     .v-data-table td {
       font-family: monospace !important;
     }
-</style>
+</style>

photon-client/src/views/PipelineViews/ThresholdTab.vue

@@ -1,48 +1,66 @@
 <template>
   <div>
     <CVrangeSlider
-      v-model="hsvHue"
+        v-model="hsvHue"
-      name="Hue"
+        name="Hue"
-      tooltip="Describes color"
+        tooltip="Describes color"
-      :min="0"
+        :min="0"
-      :max="180"
+        :max="180"
-      @input="handlePipelineData('hsvHue')"
+        @input="handlePipelineData('hsvHue')"
-      @rollback="e => rollback('hue',e)"
+        @rollback="e => rollback('hue',e)"
     />
     <CVrangeSlider
-      v-model="hsvSaturation"
+        v-model="hsvSaturation"
-      name="Saturation"
+        name="Saturation"
-      tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
+        tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
-      :min="0"
+        :min="0"
-      :max="255"
+        :max="255"
-      @input="handlePipelineData('hsvSaturation')"
+        @input="handlePipelineData('hsvSaturation')"
-      @rollback="e => rollback('saturation',e)"
+        @rollback="e => rollback('saturation',e)"
     />
     <CVrangeSlider
-      v-model="hsvValue"
+        v-model="hsvValue"
-      name="Value"
+        name="Value"
-      tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
+        tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
-      :min="0"
+        :min="0"
-      :max="255"
+        :max="255"
-      @input="handlePipelineData('hsvValue')"
+        @input="handlePipelineData('hsvValue')"
-      @rollback="e => rollback('value',e)"
+        @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"
+        justify="center"
-      class="mt-3 mb-3"
+        class="mt-3 mb-3"
     >
       <template v-if="!$store.state.colorPicking">
         <v-btn
-          color="accent"
+            color="accent"
-          class="ma-2 black--text"
+            class="ma-2 black--text"
-          small
+            small
-          @click="setFunction(3)"
+            @click="setFunction(3)"
         >
           <v-icon left>
             mdi-minus
@@ -50,10 +68,10 @@
           Shrink Range
         </v-btn>
         <v-btn
-          color="accent"
+            color="accent"
-          class="ma-2 black--text"
+            class="ma-2 black--text"
-          small
+            small
-          @click="setFunction(1)"
+            @click="setFunction(1)"
         >
           <v-icon left>
             mdi-plus-minus
@@ -61,10 +79,10 @@
           Set To Average
         </v-btn>
         <v-btn
-          color="accent"
+            color="accent"
-          class="ma-2 black--text"
+            class="ma-2 black--text"
-          small
+            small
-          @click="setFunction(2)"
+            @click="setFunction(2)"
         >
           <v-icon left>
             mdi-plus
@@ -74,11 +92,11 @@
       </template>
       <template v-else>
         <v-btn
-          color="accent"
+            color="accent"
-          class="ma-2 black--text"
+            class="ma-2 black--text"
-          style="width: 30%;"
+            style="width: 30%;"
-          small
+            small
-          @click="setFunction(0)"
+            @click="setFunction(0)"
         >
           Cancel
         </v-btn>
@@ -88,112 +106,130 @@
 </template>
 
 <script>
-    import CVrangeSlider from '../../components/common/cv-range-slider'
+import CVrangeSlider from '../../components/common/cv-range-slider'
-    
+import CVSwitch from "@/components/common/cv-switch";
-    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();
 
-                    let s = this.$store.getters.currentPipelineSettings;
+export default {
-                    let hsvArray = this.colorPicker.colorPickerClick(event, this.currentFunction,
+  name: 'Threshold',
-                        [
+  components: {
-                                [s.hsvHue[0], s.hsvSaturation[0], s.hsvValue[0]],
+    CVSwitch,
-                                [s.hsvHue[1], s.hsvSaturation[1], s.hsvValue[1]]
+    CVrangeSlider
-                        ].map(hsv => hsv.map(it => it || 0)));
+  },
-                    // That `map` calls are to make sure that we don't let any undefined/null values slip in
+  // eslint-disable-next-line vue/require-prop-types
-                    this.currentFunction = undefined;
+  props: ['value'],
-                    this.$store.state.colorPicking = false;
+  data() {
-                    this.handlePipelineUpdate("outputShouldDraw", true);
+    return {
-
+      currentFunction: undefined,
-                    s.hsvHue = [hsvArray[0][0], hsvArray[1][0]];
+      colorPicker: undefined,
-                    s.hsvSaturation = [hsvArray[0][1], hsvArray[1][1]];
+      showThresholdState: 0
-                    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.$store.commit("mutatePipeline", {"inputShouldShow": true});
-                this.handlePipelineUpdate("inputShouldShow", true);
-            }
-        }
     }
+  },
+  computed: {
+    hsvHue: {
+      get() {
+        return this.$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();
 
-</script>
+        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>

photon-client/src/views/SettingsView.vue

@@ -49,6 +49,7 @@
             return {
                 selectedTab: 0,
                 snack: false,
+                calibrationInProgress: false,
                 snackbar: {
                   color: "accent",
                   text: ""
@@ -85,4 +86,4 @@
         height: auto !important;
         vertical-align: middle;
     }
-</style>
+</style>

photon-client/src/views/SettingsViews/General.vue

@@ -91,7 +91,7 @@
       <v-col
         cols="12"
         sm="6"
-        lg="3"
+        md="4"
       >
         <v-btn
           color="secondary"
@@ -106,7 +106,7 @@
       <v-col
         cols="12"
         sm="6"
-        lg="3"
+        md="4"
       >
         <v-btn
           color="secondary"
@@ -120,7 +120,21 @@
       </v-col>
       <v-col
         cols="12"
-        lg="3"
+        md="4"
+      >
+        <v-btn
+          color="secondary"
+          @click="$refs.offlineUpdate.click()"
+        >
+          <v-icon left>
+            mdi-update
+          </v-icon>
+          Offline Update
+        </v-btn>
+      </v-col>
+      <v-col
+        cols="12"
+        lg="6"
       >
         <v-btn
           color="red"
@@ -134,7 +148,7 @@
       </v-col>
       <v-col
         cols="12"
-        lg="3"
+        lg="6"
       >
         <v-btn
           color="red"
@@ -172,6 +186,15 @@
       :href="'http://' + this.$address + '/api/settings/photonvision_config.zip'"
       download="photonvision-settings.zip"
     />
+
+    <!-- Special hidden new jar upload input that gets 'clicked' when the user posts a new .jar -->
+    <input
+      ref="offlineUpdate"
+      type="file"
+      accept=".jar"
+      style="display: none;"
+      @change="doOfflineUpdate"
+    >
   </div>
 </template>
 
@@ -181,6 +204,7 @@ export default {
     data() {
         return {
             snack: false,
+            uploadPercentage: 0.0,
             snackbar: {
                 color: "success",
                 text: ""
@@ -226,7 +250,7 @@ export default {
                 {headers: {"Content-Type": "multipart/form-data"}}).then(() => {
                 this.snackbar = {
                     color: "success",
-                    text: "Settings imported successfully! Program will now exit...",
+                    text: "Settings imported successfully! PhotonVision will restart in the background...",
                 };
                 this.snack = true;
             }).catch(err => {
@@ -234,7 +258,7 @@ export default {
                   this.snackbar = {
                       color: "error",
                       text: "Error while uploading settings file! Could not process provided file.",
-                  };               
+                  };
                 } else if (err.request) {
                   this.snackbar = {
                       color: "error",
@@ -249,6 +273,52 @@ export default {
                 this.snack = true;
             });
         },
+        doOfflineUpdate(event) {
+          this.snackbar = {
+                color: "secondary",
+                text: "New Software Upload in Process..."
+            };
+            this.snack = true;
+
+            let formData = new FormData();
+            formData.append("jarData", event.target.files[0]);
+            this.axios.post("http://" + this.$address + "/api/settings/offlineUpdate", formData,
+                {headers: {"Content-Type": "multipart/form-data"},
+                 onUploadProgress: function( progressEvent ) {
+                    this.uploadPercentage = parseInt( Math.round( ( progressEvent.loaded / progressEvent.total ) * 100 ) );
+                    if(this.uploadPercentage < 99.5){
+                      this.snackbar.text = "New Software Upload in Process, " + this.uploadPercentage + "% complete";
+                    } else {
+                      this.snackbar.text = "Installing uploaded software...";
+                    }
+
+                 }.bind(this)
+                }).then(() => {
+                this.snackbar = {
+                    color: "success",
+                    text: "New .jar copied successfully! PhotonVision will restart in the background...",
+                };
+                this.snack = true;
+            }).catch(err => {
+                if (err.response) {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file! Could not process provided file.",
+                  };
+                } else if (err.request) {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file! No respond to upload attempt.",
+                  };
+                } else {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file!",
+                  };
+                }
+                this.snack = true;
+            });
+        },
     }
 }
 </script>
@@ -266,6 +336,8 @@ export default {
   text-align: left;
   margin-bottom: 10px;
   width: 100%;
+  display: block;
+  overflow-x: auto;
 }
 
 .infoElem {
@@ -276,4 +348,4 @@ export default {
   border-right: 1px solid;
 }
 
-</style>
+</style>

photon-client/src/views/SettingsViews/Lighting.vue

@@ -41,4 +41,4 @@
 
 <style lang="" scoped>
 
-</style>
+</style>

photon-client/src/views/SettingsViews/Networking.vue

@@ -4,20 +4,21 @@
       ref="form"
       v-model="valid"
     >
-      <CVSwitch
-        v-model="runNTServer"
-        name="Run NetworkTables Server"
-        tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
-      />
       <CVnumberinput
         v-model="teamNumber"
         :disabled="settings.runNTServer"
         name="Team Number"
         :rules="[v => (v > 0) || 'Team number must be greater than zero', v => (v < 10000) || 'Team number must have fewer than five digits']"
         class="mb-4"
+        :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
       />
+      <v-chip label color="red" v-bind:style="$vuetify.breakpoint.xsOnly ? 'height: auto;' : ''" text-color="white" v-if="parseInt(teamNumber) < 1 && !runNTServer">
+        <span class="text-wrap">
+          Team number not set! NetworkTables cannot connect.
+        </span>
+      </v-chip>
       <CVradio
-        v-model="connectionType"
+          v-model="connectionType"
         :list="['DHCP','Static']"
         :disabled="!$store.state.settings.networkSettings.supported"
       />
@@ -35,15 +36,84 @@
         :rules="[v => isHostname(v) || 'Invalid hostname']"
         name="Hostname"
       />
+      Advanced
+      <v-divider/>
+      <CVSwitch
+          v-model="runNTServer"
+          name="Run NetworkTables Server (Debugging Only!)"
+          tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+          class="mt-3 mb-3"
+          :text-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
+      />
+      <v-chip label color="red" text-color="white" v-if="runNTServer">
+        <span>
+          Disable this switch if you're on a robot! Photonlib will NOT work.
+        </span>
+      </v-chip>
     </v-form>
     <v-btn
       color="accent"
+      :class="runNTServer ? 'mt-3' : ''"
       style="color: black; width: 100%;"
       :disabled="!valid && !runNTServer"
       @click="sendGeneralSettings()"
     >
       Save
     </v-btn>
+    <v-divider class="mt-4 mb-4"/>
+    <v-row>
+      <v-col cols="12" sm="6">
+
+        <v-simple-table
+            fixed-header
+            height="100%"
+            dense
+        >
+          <template v-slot:default>
+            <thead style="font-size: 1.25rem;">
+            <tr>
+              <th>
+                Device IPs
+              </th>
+            </tr>
+            </thead>
+            <tbody>
+            <tr
+                v-for="(value, index) in $store.state.ntConnectionInfo.deviceips"
+                :key="index"
+            >
+              <td>{{ value }}</td>
+            </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-col>
+      <v-col cols="12" sm="6">
+        <v-simple-table
+            fixed-header
+            height="100%"
+            dense
+        >
+          <template v-slot:default>
+            <thead style="font-size: 1.25rem;">
+            <tr>
+              <th>
+                Possible RoboRIOs
+              </th>
+            </tr>
+            </thead>
+            <tbody>
+            <tr
+                v-for="(value, index) in $store.state.ntConnectionInfo.possibleRios"
+                :key="index"
+            >
+              <td>{{ value }}</td>
+            </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-col>
+    </v-row>
   </div>
 </template>
 
@@ -179,6 +249,24 @@ export default {
 }
 </script>
 
-<style lang="" scoped>
+<style scoped>
+    .v-data-table {
+      /*text-align: center;*/
+      background-color: transparent !important;
+      width: 100%;
+      height: 100%;
+      overflow-y: auto;
+    }
 
+    .v-data-table th {
+      background-color: #006492 !important;
+    }
+
+    .v-data-table th, td {
+      font-size: 1rem !important;
+    }
+
+    .v-data-table td {
+      font-family: monospace !important;
+    }
 </style>

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 +1,32 @@
+import java.nio.file.Path
+
+apply from: "${rootDir}/shared/common.gradle"
+
+dependencies {
+    implementation project(':photon-targeting')
+
+    implementation 'io.javalin:javalin:4.2.0'
+
+    implementation 'org.msgpack:msgpack-core:0.9.0'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
+
+    // wpiutil
+    jniPlatforms.each { implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:$it" }
+
+    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion"
+
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
+
+    // Zip
+    implementation 'org.zeroturnaround:zt-zip:1.14'
+}
+
+task writeCurrentVersionJava {
+    writePhotonVersionFile(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
+            versionString)
+}
+
+build.dependsOn writeCurrentVersionJava

photon-core/settings.gradle

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

photon-core/src/main/java/org/photonvision/common/ProgramStatus.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common;
 
 public enum ProgramStatus {

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -14,13 +14,12 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.logging.LogGroup;

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
@@ -332,8 +331,8 @@ public class ConfigManager {
         return loadedConfigurations;
     }
 
-    public void addCameraConfigurations(HashMap<VisionSource, CameraConfiguration> sources) {
+    public void addCameraConfigurations(List<VisionSource> sources) {
-        getConfig().addCameraConfigs(sources.values());
+        getConfig().addCameraConfigs(sources);
         requestSave();
     }
 

photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
@@ -24,7 +23,6 @@ import java.util.List;
 
 @JsonIgnoreProperties(ignoreUnknown = true)
 public class HardwareConfig {
-
     public final String deviceName;
     public final String deviceLogoPath;
     public final String supportURL;

photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.configuration;
 
 public class HardwareSettings {

photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.annotation.JsonCreator;

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.configuration;
 
 import java.util.Collection;
@@ -28,10 +27,10 @@ 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 {
-
     private HardwareConfig hardwareConfig;
     private HardwareSettings hardwareSettings;
     private NetworkConfig networkConfig;
@@ -75,9 +74,9 @@ public class PhotonConfiguration {
         return cameraConfigurations;
     }
 
-    public void addCameraConfigs(Collection<CameraConfiguration> config) {
+    public void addCameraConfigs(Collection<VisionSource> sources) {
-        for (var c : config) {
+        for (var s : sources) {
-            addCameraConfig(c);
+            addCameraConfig(s.getCameraConfiguration());
         }
     }
 

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

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow;
 
 import java.util.function.Consumer;

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

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow;
 
 import java.util.ArrayList;

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

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow;
 
 import java.util.concurrent.BlockingQueue;
@@ -27,7 +26,6 @@ import org.photonvision.common.logging.Logger;
 
 @SuppressWarnings("rawtypes")
 public class DataChangeService {
-
     private static final Logger logger = new Logger(DataChangeService.class, LogGroup.WebServer);
 
     private static class ThreadSafeSingleton {

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

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow;
 
 import java.util.ArrayList;

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

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow;
 
 import java.util.List;

photon-core/src/main/java/org/photonvision/common/dataflow/events/DataChangeEvent.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow.events;
 
 import org.photonvision.common.dataflow.DataChangeDestination;

photon-core/src/main/java/org/photonvision/common/dataflow/events/HTTPRequestEvent.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow.events;
 
 import org.photonvision.common.dataflow.DataChangeDestination;

photon-core/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow.events;
 
 import io.javalin.websocket.WsContext;
@@ -23,7 +22,6 @@ import org.photonvision.common.dataflow.DataChangeDestination;
 import org.photonvision.common.dataflow.DataChangeSource;
 
 public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
-
     public final Integer cameraIndex;
     public final WsContext originContext;
 

photon-core/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow.events;
 
 import io.javalin.websocket.WsContext;
@@ -34,6 +33,13 @@ 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/NTDataChangeListener.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.dataflow.networktables;
 
 import edu.wpi.first.networktables.EntryListenerFlags;
@@ -23,7 +22,6 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import java.util.function.Consumer;
 
 public class NTDataChangeListener {
-
     private final NetworkTableEntry watchedEntry;
     private final int listenerID;
 

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

@@ -14,22 +14,26 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 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.opencv.core.Point;
 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.targeting.TargetCorner;
 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 {
-
     private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
     private NetworkTable subTable;
     private NetworkTableEntry rawBytesEntry;
@@ -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 +207,25 @@ 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) {
+            var points = new Point[4];
+            t.getMinAreaRect().points(points);
+            var cornerList = new ArrayList<TargetCorner>();
+
+            for (int i = 0; i < 4; i++) cornerList.add(new TargetCorner(points[i].x, points[i].y));
+
+            ret.add(
+                    new PhotonTrackedTarget(
+                            t.getYaw(),
+                            t.getPitch(),
+                            t.getArea(),
+                            t.getSkew(),
+                            t.getCameraToTarget(),
+                            cornerList));
+        }
+        return ret;
+    }
 }

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

@@ -0,0 +1,205 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+package org.photonvision.common.dataflow.networktables;
+
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.networktables.LogMessage;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.List;
+import java.util.function.Consumer;
+import org.photonvision.PhotonVersion;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.configuration.NetworkConfig;
+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.common.scripting.ScriptEventType;
+import org.photonvision.common.scripting.ScriptManager;
+import org.photonvision.common.util.TimedTaskManager;
+
+public class NetworkTablesManager {
+    private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
+    private final String kRootTableName = "/photonvision";
+    public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
+
+    private NetworkTablesManager() {
+        ntInstance.addLogger(new NTLogger(), 0, 255); // to hide error messages
+    }
+
+    private static NetworkTablesManager INSTANCE;
+
+    public static NetworkTablesManager getInstance() {
+        if (INSTANCE == null) INSTANCE = new NetworkTablesManager();
+        return INSTANCE;
+    }
+
+    private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);
+
+    private static class NTLogger implements Consumer<LogMessage> {
+        private boolean hasReportedConnectionFailure = false;
+        private long lastConnectMessageMillis = 0;
+
+        @Override
+        public void accept(LogMessage logMessage) {
+            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
+                logger.error("NT Connection has failed! Will retry in background.");
+                hasReportedConnectionFailure = true;
+                getInstance().broadcastConnectedStatus();
+            } else if (logMessage.message.contains("connected")
+                    && System.currentTimeMillis() - lastConnectMessageMillis > 125) {
+                logger.info("NT Connected!");
+                hasReportedConnectionFailure = false;
+                lastConnectMessageMillis = System.currentTimeMillis();
+                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
+                getInstance().broadcastVersion();
+                getInstance().broadcastConnectedStatus();
+            }
+        }
+    }
+
+    public void broadcastConnectedStatus() {
+        TimedTaskManager.getInstance().addOneShotTask(this::broadcastConnectedStatusImpl, 1000L);
+    }
+
+    private void broadcastConnectedStatusImpl() {
+        HashMap<String, Object> map = new HashMap<>();
+        var subMap = new HashMap<String, Object>();
+        subMap.put("connected", ntInstance.isConnected());
+        if (ntInstance.isConnected()) {
+            var connections = getInstance().ntInstance.getConnections();
+            if (connections.length > 0) {
+                subMap.put("address", connections[0].remote_ip + ":" + connections[0].remote_port);
+            }
+            subMap.put("clients", connections.length);
+        }
+
+        map.put("ntConnectionInfo", subMap);
+        DataChangeService.getInstance()
+                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
+
+        // Seperate from the above so we don't hold stuff up
+        System.setProperty("java.net.preferIPv4Stack", "true");
+        subMap.put(
+                "deviceips",
+                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
+                        .filter(it -> !it.equals("0.0.0.0"))
+                        .toArray());
+        logger.info("Searching for rios");
+        List<String> possibleRioList = new ArrayList<>();
+        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
+            logger.info("Trying " + ip);
+            var possibleRioAddr = getPossibleRioAddress(ip);
+            if (possibleRioAddr != null) {
+                logger.info("Maybe found " + ip);
+                searchForHost(possibleRioList, possibleRioAddr);
+            } else {
+                logger.info("Didn't match RIO IP");
+            }
+        }
+        String name =
+                "roboRIO-"
+                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+                        + "-FRC.local";
+        searchForHost(possibleRioList, name);
+        name =
+                "roboRIO-"
+                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+                        + "-FRC.lan";
+        searchForHost(possibleRioList, name);
+        name =
+                "roboRIO-"
+                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+                        + "-FRC.frc-field.local";
+        searchForHost(possibleRioList, name);
+        subMap.put("possibleRios", possibleRioList.toArray());
+        DataChangeService.getInstance()
+                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
+    }
+
+    String getPossibleRioAddress(String ip) {
+        try {
+            InetAddress addr = InetAddress.getByName(ip);
+            var address = addr.getAddress();
+            if (address[0] != (byte) (10 & 0xff)) return null;
+            address[3] = (byte) (2 & 0xff);
+            return InetAddress.getByAddress(address).getHostAddress();
+        } catch (UnknownHostException e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    void searchForHost(List<String> list, String hostname) {
+        try {
+            logger.info("Looking up " + hostname);
+            InetAddress testAddr = InetAddress.getByName(hostname);
+            logger.info("Pinging " + hostname);
+            var canContact = testAddr.isReachable(500);
+            if (canContact) {
+                logger.info("Was able to connect to " + hostname);
+                if (!list.contains(hostname)) list.add(hostname);
+            } else {
+                logger.info("Unable to reach " + hostname);
+            }
+        } catch (IOException ignored) {
+        }
+    }
+
+    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) {
+        logger.info("Starting NT Client");
+        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();
+    }
+}

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java

@@ -14,17 +14,15 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 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 +37,17 @@ 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 +56,10 @@ 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/GPIO/CustomGPIO.java

@@ -14,14 +14,12 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO;
 
 import org.photonvision.common.configuration.HardwareConfig;
 import org.photonvision.common.hardware.Platform;
 
 public class CustomGPIO extends GPIOBase {
-
     private boolean currentState;
     private final int port;
 

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO;
 
 import java.util.Arrays;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioCommand.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO.pi;
 
 @SuppressWarnings("SpellCheckingInspection")

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java

@@ -14,20 +14,18 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO.pi;
 
 import java.util.HashMap;
 
 /**
-* A class that defines the exceptions that can be thrown by Pigpio.
+ * A class that defines the exceptions that can be thrown by Pigpio.
-*
+ *
-* <p>Credit to nkolban
+ * <p>Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
-*/
+ */
 @SuppressWarnings({"SpellCheckingInspection", "unused", "RedundantSuppression"})
 public class PigpioException extends Exception {
-
     private int rc = -99999999;
     private static final long serialVersionUID = 443595760654129068L;
 
@@ -67,10 +65,10 @@ public class PigpioException extends Exception {
     }
 
     /**
-    * Retrieve the error code that was returned by the underlying Pigpio call.
+     * Retrieve the error code that was returned by the underlying Pigpio call.
-    *
+     *
-    * @return The error code that was returned by the underlying Pigpio call.
+     * @return The error code that was returned by the underlying Pigpio call.
-    */
+     */
     public int getErrorCode() {
         return rc;
     } // End of getErrorCode

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO.pi;
 
 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
@@ -24,7 +23,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public class PigpioPin extends GPIOBase {
-
     public static final Logger logger = new Logger(PigpioPin.class, LogGroup.General);
     private static final PigpioSocket piSocket = new PigpioSocket();
 

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO.pi;
 
 public class PigpioPulse {
@@ -23,14 +22,14 @@ public class PigpioPulse {
     int delayMicros;
 
     /**
-    * Initialises a pulse.
+     * Initialises a pulse.
-    *
+     *
-    * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
+     * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
-    *     switched on.
+     *     switched on.
-    * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
+     * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
-    *     be switched off.
+     *     be switched off.
-    * @param delayMicros the delay in microseconds before the next pulse.
+     * @param delayMicros the delay in microseconds before the next pulse.
-    */
+     */
     public PigpioPulse(int gpioOn, int gpioOff, int delayMicros) {
         this.gpioOn = gpioOn != 0 ? 1 << gpioOn : 0;
         this.gpioOff = gpioOff != 0 ? 1 << gpioOff : 0;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO.pi;
 
 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
@@ -41,12 +40,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
+     * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
-    * address and port
+     * address and port
-    *
+     *
-    * @param addr Address of remote pigpio daemon
+     * @param addr Address of remote pigpio daemon
-    * @param port Port of remote pigpio daemon
+     * @param port Port of remote pigpio daemon
-    */
+     */
     public PigpioSocket(String addr, int port) {
         try {
             commandSocket = new PigpioSocketLock(addr, port);
@@ -56,10 +55,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Reconnects to the pigpio daemon
+     * Reconnects to the pigpio daemon
-    *
+     *
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void reconnect() throws PigpioException {
         try {
             commandSocket.reconnect();
@@ -70,10 +69,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Terminates the connection to the pigpio daemon
+     * Terminates the connection to the pigpio daemon
-    *
+     *
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void gpioTerminate() throws PigpioException {
         try {
             commandSocket.terminate();
@@ -84,12 +83,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Read the GPIO level
+     * Read the GPIO level
-    *
+     *
-    * @param pin Pin to read from
+     * @param pin Pin to read from
-    * @return Value of the pin
+     * @return Value of the pin
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public boolean gpioRead(int pin) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_READ.value, pin);
@@ -102,12 +101,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Write the GPIO level
+     * Write the GPIO level
-    *
+     *
-    * @param pin Pin to write to
+     * @param pin Pin to write to
-    * @param value Value to write
+     * @param value Value to write
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void gpioWrite(int pin, boolean value) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WRITE.value, pin, value ? 1 : 0);
@@ -119,10 +118,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
+     * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
-    *
+     *
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void waveClear() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCLR.value);
@@ -134,12 +133,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Adds a number of pulses to the current waveform
+     * Adds a number of pulses to the current waveform
-    *
+     *
-    * @param pulses ArrayList of pulses to add
+     * @param pulses ArrayList of pulses to add
-    * @return the new total number of pulses in the current waveform
+     * @return the new total number of pulses in the current waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     private int waveAddGeneric(ArrayList<PigpioPulse> pulses) throws PigpioException {
         // pigpio wave message format
 
@@ -175,12 +174,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates pulses and adds them to the current waveform
+     * Creates pulses and adds them to the current waveform
-    *
+     *
-    * @param pulseTimeMillis Pulse length in milliseconds
+     * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
+     * @param blinks Number of times to pulse. -1 for repeat
-    * @param pinNo Pin to pulse
+     * @param pinNo Pin to pulse
-    */
+     */
     private void addBlinkPulsesToWaveform(int pulseTimeMillis, int blinks, int pinNo) {
         boolean repeat = blinks == -1;
 
@@ -208,13 +207,13 @@ public class PigpioSocket {
     }
 
     /**
-    * Generates and sends a waveform to the given pins with the specified parameters.
+     * Generates and sends a waveform to the given pins with the specified parameters.
-    *
+     *
-    * @param pulseTimeMillis Pulse length in milliseconds
+     * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
+     * @param blinks Number of times to pulse. -1 for repeat
-    * @param pins Pins to pulse
+     * @param pins Pins to pulse
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void generateAndSendWaveform(int pulseTimeMillis, int blinks, int... pins)
             throws PigpioException {
         if (pins.length == 0) return;
@@ -263,11 +262,11 @@ public class PigpioSocket {
     }
 
     /**
-    * Stops the transmission of the current waveform
+     * Stops the transmission of the current waveform
-    *
+     *
-    * @return success
+     * @return success
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public boolean waveTxStop() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVHLT.value);
@@ -280,12 +279,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates a waveform from the data provided by the prior calls to {@link
+     * Creates a waveform from the data provided by the prior calls to {@link
-    * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
+     * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
-    *
+     *
-    * @return ID of the created waveform
+     * @return ID of the created waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public int waveCreate() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCRE.value);
@@ -298,11 +297,11 @@ public class PigpioSocket {
     }
 
     /**
-    * Deletes the waveform with specified wave ID
+     * Deletes the waveform with specified wave ID
-    *
+     *
-    * @param waveId ID of the waveform to delete
+     * @param waveId ID of the waveform to delete
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void waveDelete(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVDEL.value, waveId);
@@ -314,12 +313,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Transmits the waveform with specified wave ID. The waveform is sent once
+     * Transmits the waveform with specified wave ID. The waveform is sent once
-    *
+     *
-    * @param waveId ID of the waveform to transmit
+     * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
+     * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public int waveSendOnce(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTX.value, waveId);
@@ -331,13 +330,13 @@ public class PigpioSocket {
     }
 
     /**
-    * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
+     * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
-    * the sending of a new waveform or {@link #waveTxStop()}
+     * the sending of a new waveform or {@link #waveTxStop()}
-    *
+     *
-    * @param waveId ID of the waveform to transmit
+     * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
+     * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public int waveSendRepeat(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTXR.value, waveId);
@@ -349,14 +348,14 @@ public class PigpioSocket {
     }
 
     /**
-    * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
+     * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
-    *
+     *
-    * @param pin GPIO pin to start PWM on
+     * @param pin GPIO pin to start PWM on
-    * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
+     * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
-    *     work
+     *     work
-    * @param pwmDuty Duty cycle to run at (0-1,000,000)
+     * @param pwmDuty Duty cycle to run at (0-1,000,000)
-    * @throws PigpioException on failure
+     * @throws PigpioException on failure
-    */
+     */
     public void hardwarePWM(int pin, int pwmFrequency, int pwmDuty) throws PigpioException {
         try {
             ByteBuffer bb = ByteBuffer.allocate(4);

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.GPIO.pi;
 
 import java.io.DataInputStream;
@@ -24,9 +23,9 @@ import java.net.Socket;
 import java.nio.ByteBuffer;
 
 /**
-* Credit to nkolban
+ * Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
-*/
+ */
 final class PigpioSocketLock {
     private static final int replyTimeoutMillis = 1000;
 
@@ -82,16 +81,16 @@ final class PigpioSocketLock {
     }
 
     /**
-    * Send extended command to pigpiod and return result code
+     * Send extended command to pigpiod and return result code
-    *
+     *
-    * @param cmd Command to send
+     * @param cmd Command to send
-    * @param p1 Command parameter 1
+     * @param p1 Command parameter 1
-    * @param p2 Command parameter 2
+     * @param p2 Command parameter 2
-    * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
+     * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
-    * @param ext Array of bytes containing extended data
+     * @param ext Array of bytes containing extended data
-    * @return Command result code
+     * @return Command result code
-    * @throws IOException in case of network connection error
+     * @throws IOException in case of network connection error
-    */
+     */
     @SuppressWarnings("UnusedAssignment")
     public synchronized int sendCmd(int cmd, int p1, int p2, int p3, byte[] ext) throws IOException {
         ByteBuffer bb = ByteBuffer.allocate(16 + ext.length);
@@ -136,11 +135,11 @@ final class PigpioSocketLock {
     }
 
     /**
-    * Read all remaining bytes coming from pigpiod
+     * Read all remaining bytes coming from pigpiod
-    *
+     *
-    * @param data Array to store read bytes.
+     * @param data Array to store read bytes.
-    * @throws IOException if unable to read from network
+     * @throws IOException if unable to read from network
-    */
+     */
     public void readBytes(byte[] data) throws IOException {
         in.readFully(data);
     }

photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware;
 
 import edu.wpi.first.networktables.NetworkTableEntry;
@@ -27,7 +26,6 @@ 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 +89,7 @@ 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/PiVersion.java

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+package org.photonvision.common.hardware;
+
+public enum PiVersion {
+    PI_B("Pi Model B"),
+    COMPUTE_MODULE("Compute Module Rev"),
+    ZERO_W("Pi Zero W Rev 1.1"),
+    ZERO_2_W("Raspberry Pi Zero 2 W"),
+    PI_3("Pi 3"),
+    PI_4("Pi 4"),
+    COMPUTE_MODULE_3("Compute Module 3"),
+    UNKNOWN("UNKNOWN");
+
+    private final String identifier;
+
+    PiVersion(String s) {
+        this.identifier = s.toLowerCase();
+    }
+
+    public static PiVersion getPiVersion() {
+        if (!Platform.isRaspberryPi()) return PiVersion.UNKNOWN;
+        String piString = Platform.currentPiVersionStr;
+        for (PiVersion p : PiVersion.values()) {
+            if (piString.toLowerCase().contains(p.identifier)) return p;
+        }
+        return UNKNOWN;
+    }
+}

photon-core/src/main/java/org/photonvision/common/hardware/Platform.java

@@ -14,10 +14,9 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware;
 
-import edu.wpi.first.wpiutil.RuntimeDetector;
+import edu.wpi.first.util.RuntimeDetector;
 import java.io.IOException;
 import org.photonvision.common.util.ShellExec;
 
@@ -46,7 +45,11 @@ public enum Platform {
 
     private static final String OS_NAME = System.getProperty("os.name");
     private static final String OS_ARCH = System.getProperty("os.arch");
-    public static final Platform CurrentPlatform = getCurrentPlatform();
+
+    // These are queried on init and should never change after
+    public static final Platform currentPlatform = getCurrentPlatform();
+    protected static final String currentPiVersionStr = getPiVersionString();
+    public static final PiVersion currentPiVersion = PiVersion.getPiVersion();
 
     private static String UnknownPlatformString =
             String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
@@ -62,7 +65,7 @@ public enum Platform {
     }
 
     public static boolean isRaspberryPi() {
-        return CurrentPlatform.equals(LINUX_RASPBIAN);
+        return currentPlatform.equals(LINUX_RASPBIAN);
     }
 
     @SuppressWarnings("StatementWithEmptyBody")
@@ -115,4 +118,22 @@ public enum Platform {
             return this.value;
         }
     }
+
+    // Querry /proc/device-tree/model. This should return the model of the pi
+    // Versions here:
+    // https://github.com/raspberrypi/linux/blob/rpi-5.10.y/arch/arm/boot/dts/bcm2710-rpi-cm3.dts
+    private static String getPiVersionString() {
+        if (!isRaspberryPi()) return "";
+        try {
+            shell.executeBashCommand("cat /proc/device-tree/model");
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+        if (shell.getExitCode() == 0) {
+            // We expect it to be in the format "raspberry pi X model X"
+            return shell.getOutput();
+        }
+
+        return "";
+    }
 }

photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware;
 
 import java.util.List;

photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware;
 
 import edu.wpi.first.networktables.EntryNotification;
@@ -40,7 +39,7 @@ 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 +110,7 @@ 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 +119,20 @@ 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 +144,16 @@ 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 +165,15 @@ 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 +181,4 @@ 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/CPUMetrics.java

@@ -14,11 +14,9 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.metrics;
 
 public class CPUMetrics extends MetricsBase {
-
     private String cpuMemSplit = null;
 
     public String getMemory() {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.metrics;
 
 public class DiskMetrics extends MetricsBase {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.metrics;
 
 public class GPUMetrics extends MetricsBase {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.metrics;
 
 import java.io.PrintWriter;

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java

@@ -14,16 +14,15 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 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 +64,7 @@ public class MetricsPublisher {
         metrics.put("gpuMemUtil", gpuMetrics.getMallocedMemory());
         metrics.put("diskUtilPct", diskMetrics.getUsedDiskPct());
 
-        var retMap = new HashMap<String, Object>();
+        DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
-        retMap.put("metrics", metrics);
-
-        try {
-            SocketHandler.getInstance().broadcastMessage(retMap, null);
-        } catch (JsonProcessingException e) {
-            logger.error("Exception while sending metrics!", e);
-        }
     }
 
     private static class Singleton {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-
 package org.photonvision.common.hardware.metrics;
 
 public class RAMMetrics extends MetricsBase {