Make photon targeting respect snapshot repo (#309)

Fixes picam streaming/hangs

.github/workflows/main.yml

@@ -14,7 +14,7 @@ on:
 
 jobs:
   # This job builds the client (web view).
-  build-client:
+  photonclient-build:
 
     # Let all steps run within the photon-client dir.
     defaults:
@@ -49,12 +49,7 @@ jobs:
         name: built-client
         path: photon-client/dist/
 
-  build-server:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
+  photon-build-all:
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
 
@@ -62,6 +57,10 @@ jobs:
       # Checkout code.
       - name: Checkout code
         uses: actions/checkout@v1
+
+      # Fetch tags.
+      - name: Fetch tags
+        run: git fetch --tags --force
         
       # Install Java 11.
       - name: Install Java 11
@@ -73,19 +72,28 @@ jobs:
       - name: Gradle Build
         run: |
           chmod +x gradlew
-          ./gradlew build -x check
+          ./gradlew build -x check --max-workers 1
 
-      # Run Tests Generate Coverage Report.
-      - name: Gradle Test and Coverage
-        run: ./gradlew jacocoTestReport
+      # Run Gradle Tests.
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --max-workers 1
+
+      # Generate Coverage Report.
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport --max-workers 1
       
       # Publish Coverage Report.
-      - name: Publish Coverage Report
+      - name: Publish Server Coverage Report
         uses: codecov/codecov-action@v1
         with:
           file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
 
-  build-offline-docs:
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v1
+        with:
+          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+
+  photonserver-build-offline-docs:
     runs-on: ubuntu-latest
 
     steps:
@@ -121,75 +129,7 @@ jobs:
           name: built-docs
           path: build/html
 
-  build-package:
-    needs: [build-client, build-server, build-offline-docs]
-
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout code.
-      - uses: actions/checkout@v1
-      
-      # Install Java 11.
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-
-      # Clear any existing web resources.
-      - run: |
-          rm -rf src/main/resources/web/*
-          mkdir -p src/main/resources/web/docs
-
-      # Download client artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-
-      # Download docs artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs     
-
-
-      # Print folder contents.
-      - run: ls
-        working-directory: photon-server/src/main/resources/web/
-
-      # Build fat jar.
-      - run: |
-          chmod +x gradlew
-          ./gradlew shadowJar
-        working-directory: photon-server
-
-      # Upload final fat jar as artifact.
-      - uses: actions/upload-artifact@master
-        with:
-          name: jar
-          path: photon-server/build/libs
-    
-      - uses: eine/tip@master
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            photon-server/build/libs/*.jar
-        if: github.event_name == 'push'
-
-  check-lint:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
+  photonserver-check-lint:
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
     
@@ -207,9 +147,10 @@ jobs:
           chmod +x gradlew
           ./gradlew spotlessCheck
 
-  release:
+
+  photon-release:
     if: startsWith(github.ref, 'refs/tags/v')
-    needs: [build-package]
+    needs: [photon-build-package]
     runs-on: ubuntu-latest
     steps:
       - uses: actions/download-artifact@v2
@@ -220,3 +161,151 @@ jobs:
           files: '**/*'
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+  #  Building photonlib
+  photonlib-build-host:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+          - os: macos-latest
+            artifact-name: macOS
+          - os: ubuntu-latest
+            artifact-name: Linux
+
+    runs-on: ${{ matrix.os }}
+    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v2.3.4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - run: git fetch --tags --force
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+
+  photonlib-build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2021-18.04
+            artifact-name: Athena
+          - container: wpilib/raspbian-cross-ubuntu:10-18.04
+            artifact-name: Raspbian
+          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
+            artifact-name: Aarch64
+
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v2.3.4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+
+  photonlib-wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format
+        run: sudo apt-get update -q && sudo apt-get install clang-format-10
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat -clang 10 -f photon-lib
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
+
+  photon-build-package:
+    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs, photonlib-build-host, photonlib-build-docker]
+
+    # The type of runner that the job will run on.
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checkout code.
+      - uses: actions/checkout@v1
+
+      # Install Java 11.
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+
+      # Clear any existing web resources.
+      - run: |
+          rm -rf photon-server/src/main/resources/web/*
+          mkdir -p photon-server/src/main/resources/web/docs
+
+      # Download client artifact to resources folder.
+      - uses: actions/download-artifact@v2
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+
+      # Download docs artifact to resources folder.
+      - uses: actions/download-artifact@v2
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+
+      # Build fat jar.
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 1
+
+      # Upload final fat jar as artifact.
+      - uses: actions/upload-artifact@master
+        with:
+          name: jar
+          path: photon-server/build/libs
+
+      - uses: eine/tip@master
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            photon-server/build/libs/*.jar
+        if: github.event_name == 'push'
+

.gitignore

@@ -104,15 +104,15 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser
 
-
-photon-server/.gradle
-photon-server/target
-photon-server/src/main/java/META-INF
-photon-server/.settings
-photon-server/.classpath
-photon-server/.project
-photon-server/settings
-photon-server/dependency-reduced-pom.xml
+# Temporary build files
+**/.gradle
+**/target
+**/src/main/java/META-INF
+**/.settings
+**/.classpath
+**/.project
+**/settings
+**/dependency-reduced-pom.xml
 # photon-server/photon-vision.iml
 
 New client/photon-client/*
@@ -126,3 +126,12 @@ photon-server/photon-vision
 photon-server/src/main/resources/web
 photon-server/src/main/java/org/photonvision/PhotonVersion.java
 photon-server/src/main/generated/native/include/org_photonvision_raspi_PicamJNI.h
+*.bin
+.gradle
+.gradle/*
+photonvision_config
+build/spotlessJava
+build/*
+build
+photon-lib/src/main/java/org/photonvision/PhotonVersion.java
+/photonlib-java-examples/bin/

build.gradle

@@ -0,0 +1,46 @@
+plugins {
+    id "com.diffplug.gradle.spotless" version "3.28.0"
+    id "com.github.johnrengelman.shadow" version "5.2.0"
+    id "com.github.node-gradle.node" version "2.2.4" apply false
+    id "edu.wpi.first.GradleJni" version "0.10.1"
+    id "edu.wpi.first.GradleVsCode" version "0.12.0"
+    id "edu.wpi.first.NativeUtils" version "2021.1.1" apply false
+    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
+    id "org.hidetake.ssh" version "2.10.1"
+}
+
+allprojects {
+    repositories {
+        jcenter()
+        maven { url = "https://maven.photonvision.org/repository/internal/" }
+    }
+    wpilibRepositories.addAllReleaseRepositories(it)
+    wpilibRepositories.addAllDevelopmentRepositories(it)
+}
+
+// Configure the version number.
+apply from: "versioningHelper.gradle"
+
+ext {
+    wpilibVersion = "2021.3.1"
+    opencvVersion = "3.4.7-5"
+    joglVersion = "2.4.0-rc-20200307"
+    pubVersion = versionString
+    isDev = pubVersion.startsWith("dev")
+}
+
+spotless {
+    java {
+        googleJavaFormat()
+        paddedCell()
+        indentWithTabs(2)
+        indentWithSpaces(4)
+        removeUnusedImports()
+    }
+    java {
+        target "**/*.java"
+        licenseHeaderFile "$rootDir/LicenseHeader.txt"
+        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
+        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
+    }
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0-bin.zip
-distributionSha256Sum=5a3578b9f0bb162f5e08cf119f447dfb8fa950cedebb4d2a977e912a11a74b91
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-bin.zip
+distributionSha256Sum=3239b5ed86c3838a37d983ac100573f64c1f3fd8e1eb6c89fa5f9529b5ec091d
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

photon-client/src/App.vue

@@ -213,6 +213,8 @@ import Logs from "./views/LogsView"
             handleMessage(key, value) {
                 if (key === "logMessage") {
                     this.logMessage(value["logMessage"], value["logLevel"]);
+                } else if(key === "log"){
+                    this.logMessage(value["logMessage"]["logMessage"], value["logMessage"]["logLevel"]); 
                 } else if (key === "updatePipelineResult") {
                     this.$store.commit('mutatePipelineResults', value)
                 } else if (this.$store.state.hasOwnProperty(key)) {

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,

photon-client/src/components/pipeline/CameraAndPipelineSelect.vue

@@ -88,7 +88,11 @@
               menu
             </v-icon>
           </template>
-          <v-list dense>
+          <v-list
+            dark
+            dense
+            color="primary"
+          >
             <v-list-item @click="toPipelineNameChange">
               <v-list-item-title>
                 <CVicon
@@ -119,7 +123,7 @@
                 />
               </v-list-item-title>
             </v-list-item>
-            <v-list-item @click="openDuplicateDialog">
+            <v-list-item @click="duplicatePipeline">
               <v-list-item-title>
                 <CVicon
                   color="#c5c5c5"
@@ -132,66 +136,51 @@
           </v-list>
         </v-menu>
       </v-col>
+      <v-col
+        v-if="currentPipelineType >= 0"
+        cols="10"
+        md="5"
+        lg="10"
+        class="pt-0 pb-0 pl-6 ml-16"
+      >
+        <CVselect
+          v-model="currentPipelineType"
+          name="Type"
+          :list="['Reflective', 'Shape']"
+          @input="e => showTypeDialog(e)"
+        />
+      </v-col>
     </v-row>
-    <!--pipeline duplicate dialog-->
-    <v-dialog
-      v-model="duplicateDialog"
-      dark
-      width="500"
-      height="357"
-    >
-      <v-card dark>
-        <v-card-title
-          class="headline"
-          primary-title
-        >
-          Duplicate Pipeline
-        </v-card-title>
-        <v-card-text>
-          <CVselect
-            v-model="pipeIndexToDuplicate"
-            name="Pipeline"
-            :list="$store.getters.pipelineList"
-          />
-        </v-card-text>
-        <v-divider />
-        <v-card-actions>
-          <v-spacer />
-          <v-btn
-            color="#ffd843"
-            @click="duplicatePipeline"
-          >
-            Duplicate
-          </v-btn>
-          <v-btn
-            color="error"
-            @click="closeDuplicateDialog"
-          >
-            Cancel
-          </v-btn>
-        </v-card-actions>
-      </v-card>
-    </v-dialog>
+
     <!--pipeline naming dialog-->
     <v-dialog
       v-model="namingDialog"
       dark
+      persistent
       width="500"
       height="357"
     >
-      <v-card dark>
+      <v-card
+        dark
+        color="primary"
+      >
         <v-card-title
           class="headline"
           primary-title
         >
-          Pipeline Name
+          {{ isPipelineNameEdit ? "Edit Pipeline Name" : "Create Pipeline" }}
         </v-card-title>
         <v-card-text>
           <CVinput
             v-model="newPipelineName"
             name="Pipeline"
             :error-message="checkPipelineName"
-            @Enter="savePipelineNameChange"
+          />
+          <CVselect
+            v-model="newPipelineType"
+            name="Pipeline Type"
+            :list="['Reflective', 'Shape']"
+            :disabled="isPipelineNameEdit"
           />
         </v-card-text>
         <v-divider />
@@ -213,161 +202,205 @@
         </v-card-actions>
       </v-card>
     </v-dialog>
+    <v-dialog
+      v-model="showPipeTypeDialog"
+      width="600"
+    >
+      <v-card
+        color="primary"
+        dark
+      >
+        <v-card-title>Change Pipeline Type</v-card-title>
+        <v-card-text>
+          Changing the type of this pipeline will erase the current pipeline's settings and replace it with a new {{ ['Reflective', 'Shape'][proposedPipelineType] }} pipeline. <b class="red--text format_bold">You will lose all settings for the pipeline
+            "{{ ($store.getters.isDriverMode ? ['Driver Mode'] : []).concat($store.getters.pipelineList)[currentPipelineIndex] }}."</b> Are you sure you want to do this?
+          <v-row
+            class="mt-6"
+            style="display: flex; align-items: center; justify-content: center"
+            align="center"
+          >
+            <v-btn
+              class="mr-3"
+              color="red"
+              width="250"
+              @click="e => changePipeType(true)"
+            >
+              Yes, replace this pipeline
+            </v-btn>
+            <v-btn
+              class="ml-10"
+              color="secondary"
+              width="250"
+              @click="e => changePipeType(false)"
+            >
+              No, take me back
+            </v-btn>
+          </v-row>
+        </v-card-text>
+      </v-card>
+    </v-dialog>
   </div>
 </template>
 
 <script>
-    import CVicon from '../common/cv-icon'
-    import CVselect from '../common/cv-select'
-    import CVinput from '../common/cv-input'
-
-    export default {
-        name: "CameraAndPipelineSelect",
-        components: {
-            CVicon,
-            CVselect,
-            CVinput
-        },
-        data: () => {
-            return {
-                re: RegExp("^[A-Za-z0-9 \\-)(]*[A-Za-z0-9][A-Za-z0-9 \\-)(.]*$"),
-                isCameraNameEdit: false,
-                newCameraName: "",
-                cameraNameError: "",
-                isPipelineNameEdit: false,
-                namingDialog: false,
-                newPipelineName: "",
-                duplicateDialog: false,
-                pipeIndexToDuplicate: undefined
-            }
-        },
-        computed: {
-            checkCameraName() {
-                if (this.newCameraName !== this.$store.getters.cameraList[this.currentCameraIndex]) {
-                    if (this.re.test(this.newCameraName)) {
-                        for (let cam in this.cameraList) {
-                            if (this.cameraList.hasOwnProperty(cam)) {
-                                if (this.newCameraName === this.cameraList[cam]) {
-                                    return "A camera by that name already Exists"
-                                }
-                            }
-                        }
-                    } else {
-                        return "A camera name can only contain letters, numbers and spaces"
-                    }
-                }
-                return "";
-            },
-            checkPipelineName() {
-                if (this.newPipelineName !== this.$store.getters.pipelineList[this.currentPipelineIndex - 1] || this.isPipelineNameEdit === false) {
-                    if (this.re.test(this.newPipelineName)) {
-                        for (let pipe in this.$store.getters.pipelineList) {
-                            if (this.$store.getters.pipelineList.hasOwnProperty(pipe)) {
-                                if (this.newPipelineName === this.$store.getters.pipelineList[pipe]) {
-                                    return "A pipeline with this name already exists"
-                                }
-                            }
-                        }
-                    } else {
-                        return "A pipeline name can only contain letters, numbers, and spaces"
-                    }
-                }
-                return ""
-            },
-            currentCameraIndex: {
-                get() {
-                    return this.$store.getters.currentCameraIndex;
-                },
-                set(value) {
-                    this.$store.commit('currentCameraIndex', value);
-                }
-            },
-            currentPipelineIndex: {
-                get() {
-                    return this.$store.getters.currentPipelineIndex + (this.$store.getters.isDriverMode ? 1 : 0);
-                },
-                set(value) {
-                    this.$store.commit('currentPipelineIndex', value - (this.$store.getters.isDriverMode ? 1 : 0));
-                }
-            }
-        },
-        methods: {
-            changeCameraName() {
-                this.newCameraName = this.$store.getters.cameraList[this.currentCameraIndex];
-                this.isCameraNameEdit = true;
-            },
-            saveCameraNameChange() {
-                if (this.checkCameraName === "") {
-                    // this.handleInputWithIndex("changeCameraName", this.newCameraName);
-                    this.axios.post('http://' + this.$address + '/api/setCameraNickname',
-                        {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
-                        // eslint-disable-next-line
-                        .then(r => {
-                            this.$emit('camera-name-changed')
-                        })
-                        .catch(e => {
-                            console.log("HTTP error while changing camera name " + e);
-                            this.$emit('camera-name-changed')
-                        })
-                    this.discardCameraNameChange();
-                }
-            },
-            discardCameraNameChange() {
-                this.isCameraNameEdit = false;
-                this.newCameraName = "";
-            },
-            toPipelineNameChange() {
-                this.newPipelineName = this.$store.getters.pipelineList[this.currentPipelineIndex - 1];
-                this.isPipelineNameEdit = true;
-                this.namingDialog = true;
-            },
-            toCreatePipeline() {
-                this.newPipelineName = "New Pipeline";
-                this.isPipelineNameEdit = false;
-                this.namingDialog = true;
-            },
-            openDuplicateDialog() {
-                this.pipeIndexToDuplicate = this.currentPipelineIndex - 1;
-                this.duplicateDialog = true;
-            },
-            deleteCurrentPipeline() {
-                if (this.$store.getters.pipelineList.length > 1) {
-                    this.handleInputWithIndex('deleteCurrentPipeline', {});
-                } else {
-                    this.snackbar = true;
-                }
-            },
-            savePipelineNameChange() {
-                if (this.checkPipelineName === "") {
-                    if (this.isPipelineNameEdit) {
-                        this.handleInputWithIndex("changePipelineName", this.newPipelineName);
-                    } else {
-                        this.handleInputWithIndex("addNewPipeline", this.newPipelineName);
-                    }
-                    this.discardPipelineNameChange();
-                }
-            },
-            duplicatePipeline() {
-                // if (!this.anotherCamera) {
-                //     this.pipelineDuplicate.camera = -1
-                // }
-                this.handleInputWithIndex("duplicatePipeline", this.pipeIndexToDuplicate);
-                // this.axios.post("http://" + this.$address + "/api/vision/duplicate", this.pipeIndexToDuplicate);
-
-                this.closeDuplicateDialog();
-            },
-            closeDuplicateDialog() {
-                this.duplicateDialog = false;
-                this.pipeIndexToDuplicate = undefined;
-            },
-            discardPipelineNameChange() {
-                this.namingDialog = false;
-                this.isPipelineNameEdit = false;
-                this.newPipelineName = "";
-            },
-        }
+import CVicon from '../common/cv-icon'
+import CVselect from '../common/cv-select'
+import CVinput from '../common/cv-input'
 
+export default {
+  name: "CameraAndPipelineSelect",
+  components: {
+    CVicon,
+    CVselect,
+    CVinput
+  },
+  data: () => {
+    return {
+      re: RegExp("^[A-Za-z0-9 \\-)(]*[A-Za-z0-9][A-Za-z0-9 \\-)(.]*$"),
+      isCameraNameEdit: false,
+      newCameraName: "",
+      cameraNameError: "",
+      isPipelineNameEdit: false,
+      namingDialog: false,
+      newPipelineName: "",
+      newPipelineType: 0,
+      duplicateDialog: false,
+      showPipeTypeDialog: false,
+      proposedPipelineType : 0,
+      pipeIndexToDuplicate: undefined
     }
+  },
+  computed: {
+    checkCameraName() {
+      if (this.newCameraName !== this.$store.getters.cameraList[this.currentCameraIndex]) {
+        if (this.re.test(this.newCameraName)) {
+          for (let cam in this.cameraList) {
+            if (this.cameraList.hasOwnProperty(cam)) {
+              if (this.newCameraName === this.cameraList[cam]) {
+                return "A camera by that name already Exists"
+              }
+            }
+          }
+        } else {
+          return "A camera name can only contain letters, numbers and spaces"
+        }
+      }
+      return "";
+    },
+    checkPipelineName() {
+      if (this.newPipelineName !== this.$store.getters.pipelineList[this.currentPipelineIndex - 1] || this.isPipelineNameEdit === false) {
+        if (this.re.test(this.newPipelineName)) {
+          for (let pipe in this.$store.getters.pipelineList) {
+            if (this.$store.getters.pipelineList.hasOwnProperty(pipe)) {
+              if (this.newPipelineName === this.$store.getters.pipelineList[pipe]) {
+                return "A pipeline with this name already exists"
+              }
+            }
+          }
+        } else {
+          return "A pipeline name can only contain letters, numbers, and spaces"
+        }
+      }
+      return ""
+    },
+    currentCameraIndex: {
+      get() {
+        return this.$store.getters.currentCameraIndex;
+      },
+      set(value) {
+        this.$store.commit('currentCameraIndex', value);
+      }
+    },
+    currentPipelineIndex: {
+      get() {
+        return this.$store.getters.currentPipelineIndex + (this.$store.getters.isDriverMode ? 1 : 0);
+      },
+      set(value) {
+        this.$store.commit('currentPipelineIndex', value - (this.$store.getters.isDriverMode ? 1 : 0));
+      }
+    },
+    currentPipelineType: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.pipelineType - 2;
+      },
+      set(value) {
+        value; // nop, since we have the dialog for this
+      }
+    }
+  },
+  methods: {
+    showTypeDialog(idx) {
+      // Only show the dialog if it's a new type
+      this.showPipeTypeDialog = idx !== this.currentPipelineType;
+      this.proposedPipelineType = idx;
+    },
+    changePipeType(actuallyChange) {
+      const newIdx = actuallyChange ? this.proposedPipelineType : this.currentPipelineType
+      this.handleInputWithIndex('pipelineType', newIdx);
+      this.showPipeTypeDialog = false;
+    },
+    changeCameraName() {
+      this.newCameraName = this.$store.getters.cameraList[this.currentCameraIndex];
+      this.isCameraNameEdit = true;
+    },
+    saveCameraNameChange() {
+      if (this.checkCameraName === "") {
+        // this.handleInputWithIndex("changeCameraName", this.newCameraName);
+        this.axios.post('http://' + this.$address + '/api/setCameraNickname',
+            {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
+            // eslint-disable-next-line
+            .then(r => {
+              this.$emit('camera-name-changed')
+            })
+            .catch(e => {
+              console.log("HTTP error while changing camera name " + e);
+              this.$emit('camera-name-changed')
+            })
+        this.discardCameraNameChange();
+      }
+    },
+    discardCameraNameChange() {
+      this.isCameraNameEdit = false;
+      this.newCameraName = "";
+    },
+    toPipelineNameChange() {
+      this.newPipelineName = this.$store.getters.pipelineList[this.currentPipelineIndex - 1];
+      this.isPipelineNameEdit = true;
+      this.namingDialog = true;
+    },
+    toCreatePipeline() {
+      this.newPipelineName = "New Pipeline";
+      this.isPipelineNameEdit = false;
+      this.namingDialog = true;
+    },
+    deleteCurrentPipeline() {
+      if (this.$store.getters.pipelineList.length > 1) {
+        this.handleInputWithIndex('deleteCurrentPipeline', {});
+      } else {
+        this.snackbar = true;
+      }
+    },
+    savePipelineNameChange() {
+      if (this.checkPipelineName === "") {
+        if (this.isPipelineNameEdit) {
+          this.handleInputWithIndex("changePipelineName", this.newPipelineName);
+        } else {
+          this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.newPipelineType]); // 0 for reflective, 1 for colored shpae
+        }
+        this.discardPipelineNameChange();
+      }
+    },
+    duplicatePipeline() {
+      this.handleInputWithIndex("duplicatePipeline", this.currentPipelineIndex);
+    },
+    discardPipelineNameChange() {
+      this.namingDialog = false;
+      this.isPipelineNameEdit = false;
+      this.newPipelineName = "";
+    },
+  }
+
+}
 </script>
 
 <style scoped>

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/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/store/index.js

@@ -42,7 +42,7 @@ export default new Vuex.Store({
                 isFovConfigurable: true,
                 calibrated: false,
                 currentPipelineSettings: {
-                    pipelineType: 2, // One of "driver", "reflective", "shape"
+                    pipelineType: 2, // One of "calib", "driver", "reflective", "shape"
                     // 2 is reflective
 
                     // Settings that apply to all pipeline types
@@ -245,5 +245,6 @@ export default new Vuex.Store({
         },
         pipelineList: state => state.cameraSettings[state.currentCameraIndex].pipelineNicknames,
         calibrationList: state => state.cameraSettings[state.currentCameraIndex].calibrations,
+        pipelineType: state => state.cameraSettings[state.currentCameraIndex].currentPipelineSettings.pipelineType
     }
 })

photon-client/src/views/PipelineView.vue

@@ -34,7 +34,7 @@
                 :text-color="fpsTooLow ? 'white' : 'grey'"
               >
                 <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
-                <span v-if="!fpsTooLow">{{ Math.round($store.state.pipelineResults.latency) }} ms latency</span>
+                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 100) }} ms latency</span>
                 <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
                 <span v-else>stop viewing the color stream for better performance</span>
               </v-chip>

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

@@ -1,160 +1,286 @@
 <template>
   <div>
     <CVrangeSlider
-      v-model="contourArea"
-      name="Area"
-      min="0"
-      max="100"
-      step="0.1"
-      @input="handlePipelineData('contourArea')"
-      @rollback="e=> rollback('contourArea',e)"
+        v-model="contourArea"
+        name="Area"
+        min="0"
+        max="100"
+        step="0.1"
+        @input="handlePipelineData('contourArea')"
     />
     <CVrangeSlider
-      v-model="contourRatio"
-      name="Ratio (W/H)"
-      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
-      min="0"
-      max="100"
-      step="0.1"
-      @input="handlePipelineData('contourRatio')"
-      @rollback="e=> rollback('contourRatio',e)"
+        v-model="contourRatio"
+        v-if="currentPipelineType() !== 3"
+        name="Ratio (W/H)"
+        tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
+        min="0"
+        max="100"
+        step="0.1"
+        @input="handlePipelineData('contourRatio')"
     />
     <CVrangeSlider
-      v-model="contourFullness"
-      name="Fullness"
-      tooltip="Min and max ratio between a contour's area and its bounding rectangle"
-      min="0"
-      max="100"
-      @input="handlePipelineData('contourFullness')"
-      @rollback="e=> rollback('contourFullness',e)"
+        v-model="contourFullness"
+        v-if="currentPipelineType() !== 3"
+        name="Fullness"
+        tooltip="Min and max ratio between a contour's area and its bounding rectangle"
+        min="0"
+        max="100"
+        @input="handlePipelineData('contourFullness')"
+    />
+    <CVrangeSlider
+        v-model="contourPerimeter"
+        v-if="currentPipelineType() === 3"
+        name="Perimeter"
+        tooltip="Min and max perimeter of the shape, in pixels"
+        min="0"
+        max="4000"
+        @input="handlePipelineData('contourPerimeter')"
     />
     <CVslider
-      v-model="contourSpecklePercentage"
-      name="Speckle Rejection"
-      tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
-      min="0"
-      max="100"
-      :slider-cols="largeBox"
-      @input="handlePipelineData('contourSpecklePercentage')"
-      @rollback="e=> rollback('contourSpecklePercentage',e)"
+        v-model="contourSpecklePercentage"
+        name="Speckle Rejection"
+        tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
+        min="0"
+        max="100"
+        :slider-cols="largeBox"
+        @input="handlePipelineData('contourSpecklePercentage')"
     />
+    <template v-if="currentPipelineType() !== 3">
+      <CVselect
+          v-model="contourGroupingMode"
+          name="Target Grouping"
+          tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
+          :select-cols="largeBox"
+          :list="['Single','Dual']"
+          @input="handlePipelineData('contourGroupingMode')"
+      />
+      <CVselect
+          v-model="contourIntersection"
+          name="Target Intersection"
+          tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
+          :select-cols="largeBox"
+          :list="['None','Up','Down','Left','Right']"
+          :disabled="contourGroupingMode === 0"
+          @input="handlePipelineData('contourIntersection')"
+      />
+    </template>
+    <!-- If we arent not a shape, we are a shape-->
+    <template v-else>
+      <v-divider class="mt-3"/>
+      <CVselect
+          v-model="contourShape"
+          name="Target Shape"
+          tooltip="The shape of targets to look for"
+          :select-cols="largeBox"
+          :list="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
+          @input="handlePipelineData('contourShape')"
+      />
+
+      <!-- Accuracy % is only for polygons-->
+      <CVslider
+          v-model="accuracyPercentage"
+          :disabled="currentPipelineSettings().contourShape < 1"
+          name="Shape Simplification"
+          tooltip="How much we should simply the input contour before checking how many sides it has"
+          min="0"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('accuracyPercentage')"
+      />
+      <!-- Similarly, the threshold is only for circles -->
+      <CVslider
+          v-model="circleDetectThreshold"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Circle match distance"
+          tooltip="How close the centroid of a contour must be to the center of a circle in order for them to be matched"
+          min="1"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('circleDetectThreshold')"
+      />
+      <CVrangeSlider
+          v-model="contourRadius"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Radius"
+          min="0"
+          max="100"
+          step="1"
+          @input="handlePipelineData('contourRadius')"
+      />
+      <CVslider
+          v-model="maxCannyThresh"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Max Canny Threshold"
+          min="1"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('maxCannyThresh')"
+      />
+      <CVslider
+          v-model="circleAccuracy"
+          :disabled="currentPipelineSettings().contourShape !== 0"
+          name="Circle Accuracy"
+          min="0"
+          max="100"
+          :slider-cols="largeBox"
+          @input="handlePipelineData('circleAccuracy')"
+      />
+      <v-divider class="mt-3"/>
+    </template>
     <CVselect
-      v-model="contourGroupingMode"
-      name="Target Grouping"
-      tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
-      :select-cols="largeBox"
-      :list="['Single','Dual']"
-      @input="handlePipelineData('contourGroupingMode')"
-      @rollback="e=> rollback('contourGroupingMode',e)"
-    />
-    <CVselect
-      v-model="contourIntersection"
-      name="Target Intersection"
-      tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
-      :select-cols="largeBox"
-      :list="['None','Up','Down','Left','Right']"
-      :disabled="contourGroupingMode === 0"
-      @input="handlePipelineData('contourIntersection')"
-      @rollback="e=> rollback('contourIntersection',e)"
-    />
-    <CVselect
-      v-model="contourSortMode"
-      name="Target Sort"
-      tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
-      :select-cols="largeBox"
-      :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
-      @input="handlePipelineData('contourSortMode')"
-      @rollback="e => rollback('contourSortMode', e)"
+        v-model="contourSortMode"
+        name="Target Sort"
+        tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
+        :select-cols="largeBox"
+        :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
+        @input="handlePipelineData('contourSortMode')"
+        @rollback="e => rollback('contourSortMode', e)"
     />
   </div>
 </template>
 
 <script>
-    import CVrangeSlider from '../../components/common/cv-range-slider'
-    import CVselect from '../../components/common/cv-select'
-    import CVslider from '../../components/common/cv-slider'
+import CVrangeSlider from '../../components/common/cv-range-slider'
+import CVselect from '../../components/common/cv-select'
+import CVslider from '../../components/common/cv-slider'
 
-    export default {
-        name: 'Contours',
-        components: {
-            CVrangeSlider,
-            CVselect,
-            CVslider
-        },
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['value'],
+export default {
+  name: 'Contours',
+  components: {
+    CVrangeSlider,
+    CVselect,
+    CVslider
+  },
+  // eslint-disable-next-line vue/require-prop-types
+  props: ['value'],
 
-        data() {
-            return {}
-        },
-        computed: {
-          largeBox: {
-            get() {
-              // Sliders and selectors should be fuller width if we're on screen size medium and
-              // up and either not in compact mode (because the tab will be 100% screen width),
-              // or in driver mode (where the card will also be 100% screen width).
-              return this.$vuetify.breakpoint.mdAndUp && (!this.$store.state.compactMode || this.$store.getters.isDriverMode) ? 10 : 8;
-            }
-          },
-            contourArea: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourArea
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourArea": val});
-                }
-            },
-            contourRatio: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourRatio
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourRatio": val});
-                }
-            },
-            contourFullness: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourFullness
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourFullness": val});
-                }
-            },
-            contourSpecklePercentage: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourSpecklePercentage
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
-                }
-            },
-            contourGroupingMode: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourGroupingMode
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourGroupingMode": val});
-                }
-            },
-            contourSortMode: {
-              get() {
-                return this.$store.getters.currentPipelineSettings.contourSortMode
-              },
-              set(val) {
-                this.$store.commit("mutatePipeline", {"contourSortMode": val});
-              }
-            },
-            contourIntersection: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.contourIntersection
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"contourIntersection": val});
-                }
-            }
-        },
-        methods: {},
-    }
+  data() {
+    return {}
+  },
+  computed: {
+    largeBox: {
+      get() {
+        // Sliders and selectors should be fuller width if we're on screen size medium and
+        // up and either not in compact mode (because the tab will be 100% screen width),
+        // or in driver mode (where the card will also be 100% screen width).
+        return this.$vuetify.breakpoint.mdAndUp && (!this.$store.state.compactMode || this.$store.getters.isDriverMode) ? 10 : 8;
+      }
+    },
+    contourArea: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourArea
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourArea": val});
+      }
+    },
+    contourRatio: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourRatio
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourRatio": val});
+      }
+    },
+    contourFullness: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourFullness
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourFullness": val});
+      }
+    },
+    contourPerimeter: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourPerimeter
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourPerimeter": val});
+      }
+    },
+    contourSpecklePercentage: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourSpecklePercentage
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
+      }
+    },
+    contourGroupingMode: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourGroupingMode
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourGroupingMode": val});
+      }
+    },
+    contourSortMode: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourSortMode
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourSortMode": val});
+      }
+    },
+    contourShape: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourShape
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourShape": val});
+      }
+    },
+    contourIntersection: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourIntersection
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourIntersection": val});
+      }
+    },
+    accuracyPercentage: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.accuracyPercentage
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"accuracyPercentage": val});
+      }
+    },
+    contourRadius: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourRadius
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourRadius": val});
+      }
+    },
+    circleDetectThreshold: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.circleDetectThreshold
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"circleDetectThreshold": val});
+      }
+    },
+    maxCannyThresh: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.maxCannyThresh
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"maxCannyThresh": val});
+      }
+    },
+    circleAccuracy: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.circleAccuracy
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"circleAccuracy": val});
+      }
+    },
+  },
+  methods: {},
+}
 </script>
 
 <style lang="" scoped>

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

@@ -1,48 +1,66 @@
 <template>
   <div>
     <CVrangeSlider
-      v-model="hsvHue"
-      name="Hue"
-      tooltip="Describes color"
-      :min="0"
-      :max="180"
-      @input="handlePipelineData('hsvHue')"
-      @rollback="e => rollback('hue',e)"
+        v-model="hsvHue"
+        name="Hue"
+        tooltip="Describes color"
+        :min="0"
+        :max="180"
+        @input="handlePipelineData('hsvHue')"
+        @rollback="e => rollback('hue',e)"
     />
     <CVrangeSlider
-      v-model="hsvSaturation"
-      name="Saturation"
-      tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
-      :min="0"
-      :max="255"
-      @input="handlePipelineData('hsvSaturation')"
-      @rollback="e => rollback('saturation',e)"
+        v-model="hsvSaturation"
+        name="Saturation"
+        tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
+        :min="0"
+        :max="255"
+        @input="handlePipelineData('hsvSaturation')"
+        @rollback="e => rollback('saturation',e)"
     />
     <CVrangeSlider
-      v-model="hsvValue"
-      name="Value"
-      tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
-      :min="0"
-      :max="255"
-      @input="handlePipelineData('hsvValue')"
-      @rollback="e => rollback('value',e)"
+        v-model="hsvValue"
+        name="Value"
+        tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
+        :min="0"
+        :max="255"
+        @input="handlePipelineData('hsvValue')"
+        @rollback="e => rollback('value',e)"
     />
+    <template v-if="this.currentPipelineType() === 3">
+      <CVSwitch
+          v-model="erode"
+          name="Erode"
+          tooltip="Removes pixels around the edges of white areas in the thresholded image"
+          @input="handlePipelineData('erode')"
+          @rollback="e => rollback('erode',e)"
+      />
+      <CVSwitch
+          v-model="dilate"
+          class="mb-0"
+          name="Dilate"
+          tooltip="Adds pixels around the edges of white areas in the thresholded image"
+          @input="handlePipelineData('dilate')"
+          @rollback="e => rollback('dilate',e)"
+      />
+    </template>
+    <v-divider class="mb-3 mt-3"/>
     <div class="pt-3 white--text">
       Color Picker
     </div>
     <v-divider
-      class="mt-3"
+        class="mt-3"
     />
     <v-row
-      justify="center"
-      class="mt-3 mb-3"
+        justify="center"
+        class="mt-3 mb-3"
     >
       <template v-if="!$store.state.colorPicking">
         <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(3)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(3)"
         >
           <v-icon left>
             mdi-minus
@@ -50,10 +68,10 @@
           Shrink Range
         </v-btn>
         <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(1)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(1)"
         >
           <v-icon left>
             mdi-plus-minus
@@ -61,10 +79,10 @@
           Set To Average
         </v-btn>
         <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(2)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(2)"
         >
           <v-icon left>
             mdi-plus
@@ -74,11 +92,11 @@
       </template>
       <template v-else>
         <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          style="width: 30%;"
-          small
-          @click="setFunction(0)"
+            color="accent"
+            class="ma-2 black--text"
+            style="width: 30%;"
+            small
+            @click="setFunction(0)"
         >
           Cancel
         </v-btn>
@@ -88,112 +106,130 @@
 </template>
 
 <script>
-    import CVrangeSlider from '../../components/common/cv-range-slider'
-    
-    export default {
-        name: 'Threshold',
-        components: {
-            CVrangeSlider
-        },
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['value'],
-        data() {
-            return {
-                currentFunction: undefined,
-                colorPicker: undefined,
-                showThresholdState: 0
-            }
-        },
-        computed: {
-            hsvHue: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.hsvHue
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"hsvHue": val})
-                }
-            },
-            hsvSaturation: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.hsvSaturation
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"hsvSaturation": val})
-                }
-            },
-            hsvValue: {
-                get() {
-                    return this.$store.getters.currentPipelineSettings.hsvValue
-                },
-                set(val) {
-                    this.$store.commit("mutatePipeline", {"hsvValue": val})
-                }
-            }
-        },
-        mounted: function () {
-            const self = this;
-            this.colorPicker = require('../../plugins/ColorPicker').default;
-            this.$nextTick(() => {
-                self.colorPicker.initColorPicker();
-            });
-        },
-        methods: {
-            onClick(event) {
-                if (this.currentFunction !== undefined) {
-                    this.colorPicker.initColorPicker();
+import CVrangeSlider from '../../components/common/cv-range-slider'
+import CVSwitch from "@/components/common/cv-switch";
 
-                    let s = this.$store.getters.currentPipelineSettings;
-                    let hsvArray = this.colorPicker.colorPickerClick(event, this.currentFunction,
-                        [
-                                [s.hsvHue[0], s.hsvSaturation[0], s.hsvValue[0]],
-                                [s.hsvHue[1], s.hsvSaturation[1], s.hsvValue[1]]
-                        ].map(hsv => hsv.map(it => it || 0)));
-                    // That `map` calls are to make sure that we don't let any undefined/null values slip in
-                    this.currentFunction = undefined;
-                    this.$store.state.colorPicking = false;
-                    this.handlePipelineUpdate("outputShouldDraw", true);
-
-                    s.hsvHue = [hsvArray[0][0], hsvArray[1][0]];
-                    s.hsvSaturation = [hsvArray[0][1], hsvArray[1][1]];
-                    s.hsvValue = [hsvArray[0][2], hsvArray[1][2]];
-
-                    let msg = this.$msgPack.encode({
-                        "changePipelineSetting": {
-                            'hsvHue': s.hsvHue,
-                            'hsvSaturation': s.hsvSaturation,
-                            'hsvValue': s.hsvValue,
-                            'cameraIndex': this.$store.state.currentCameraIndex
-                        }
-                    });
-                    this.$socket.send(msg);
-                    this.$emit('update');
-                }
-            },
-            setFunction(index) {
-                switch (index) {
-                    case 0:
-                        this.currentFunction = undefined;
-                        this.$store.state.colorPicking = false;
-
-                        this.handlePipelineUpdate("outputShouldDraw", true);
-                        return;
-                    case 1:
-                        this.currentFunction = this.colorPicker.eyeDrop;
-                        break;
-                    case 2:
-                        this.currentFunction = this.colorPicker.expand;
-                        break;
-                    case 3:
-                        this.currentFunction = this.colorPicker.shrink;
-                        break;
-                }
-                this.$store.state.colorPicking = true;
-
-                this.handlePipelineUpdate("outputShouldDraw", false);
-                this.$store.commit("mutatePipeline", {"inputShouldShow": true});
-                this.handlePipelineUpdate("inputShouldShow", true);
-            }
-        }
+export default {
+  name: 'Threshold',
+  components: {
+    CVSwitch,
+    CVrangeSlider
+  },
+  // eslint-disable-next-line vue/require-prop-types
+  props: ['value'],
+  data() {
+    return {
+      currentFunction: undefined,
+      colorPicker: undefined,
+      showThresholdState: 0
     }
+  },
+  computed: {
+    hsvHue: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hsvHue
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hsvHue": val})
+      }
+    },
+    hsvSaturation: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hsvSaturation
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hsvSaturation": val})
+      }
+    },
+    hsvValue: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hsvValue
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hsvValue": val})
+      }
+    },
+    erode: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.erode
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"erode": val});
+      }
+    },
+    dilate: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.dilate
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"dilate": val});
+      }
+    },
+  },
+  mounted: function () {
+    const self = this;
+    this.colorPicker = require('../../plugins/ColorPicker').default;
+    this.$nextTick(() => {
+      self.colorPicker.initColorPicker();
+    });
+  },
+  methods: {
+    onClick(event) {
+      if (this.currentFunction !== undefined) {
+        this.colorPicker.initColorPicker();
+
+        let s = this.$store.getters.currentPipelineSettings;
+        let hsvArray = this.colorPicker.colorPickerClick(event, this.currentFunction,
+            [
+              [s.hsvHue[0], s.hsvSaturation[0], s.hsvValue[0]],
+              [s.hsvHue[1], s.hsvSaturation[1], s.hsvValue[1]]
+            ].map(hsv => hsv.map(it => it || 0)));
+        // That `map` calls are to make sure that we don't let any undefined/null values slip in
+        this.currentFunction = undefined;
+        this.$store.state.colorPicking = false;
+        this.handlePipelineUpdate("outputShouldDraw", true);
+
+        s.hsvHue = [hsvArray[0][0], hsvArray[1][0]];
+        s.hsvSaturation = [hsvArray[0][1], hsvArray[1][1]];
+        s.hsvValue = [hsvArray[0][2], hsvArray[1][2]];
+
+        let msg = this.$msgPack.encode({
+          "changePipelineSetting": {
+            'hsvHue': s.hsvHue,
+            'hsvSaturation': s.hsvSaturation,
+            'hsvValue': s.hsvValue,
+            'cameraIndex': this.$store.state.currentCameraIndex
+          }
+        });
+        this.$socket.send(msg);
+        this.$emit('update');
+      }
+    },
+    setFunction(index) {
+      switch (index) {
+        case 0:
+          this.currentFunction = undefined;
+          this.$store.state.colorPicking = false;
+
+          this.handlePipelineUpdate("outputShouldDraw", true);
+          return;
+        case 1:
+          this.currentFunction = this.colorPicker.eyeDrop;
+          break;
+        case 2:
+          this.currentFunction = this.colorPicker.expand;
+          break;
+        case 3:
+          this.currentFunction = this.colorPicker.shrink;
+          break;
+      }
+      this.$store.state.colorPicking = true;
+
+      this.handlePipelineUpdate("outputShouldDraw", false);
+      this.$store.commit("mutatePipeline", {"inputShouldShow": true});
+      this.handlePipelineUpdate("inputShouldShow", true);
+    }
+  }
+}
 
 </script>

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

@@ -4,11 +4,6 @@
       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"
@@ -16,6 +11,7 @@
         :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"
       />
+      <span v-if="parseInt(teamNumber) < 1 && !runNTServer" class="red font-weight-bold">Team number not set! NetworkTables cannot connect.</span>
       <CVradio
         v-model="connectionType"
         :list="['DHCP','Static']"
@@ -35,9 +31,18 @@
         :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."
+      />
+      <span v-if="runNTServer" class="red font-weight-bold">Disable this switch if you're on a robot! Photonlib will NOT work.</span>
     </v-form>
     <v-btn
       color="accent"
+      :class="runNTServer ? 'mt-3' : ''"
       style="color: black; width: 100%;"
       :disabled="!valid && !runNTServer"
       @click="sendGeneralSettings()"

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 +1,36 @@
+import java.nio.file.Path
+
+apply from: "${rootDir}/shared/common.gradle"
+
+dependencies {
+    implementation project(':photon-targeting')
+
+    implementation 'io.javalin:javalin:3.7.0'
+
+    implementation 'org.msgpack:msgpack-core:0.8.20'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.8.20'
+
+    // wpiutil
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxaarch64bionic"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxraspbian"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxx86-64"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:osxx86-64"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:windowsx86-64"
+
+    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion"
+
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
+
+    // Zip
+    compile 'org.zeroturnaround:zt-zip:1.14'
+}
+
+task writeCurrentVersionJava {
+    writePhotonVersionFile(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
+            versionString)
+}
+
+build.dependsOn writeCurrentVersionJava

photon-core/settings.gradle

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

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

@@ -332,8 +332,8 @@ public class ConfigManager {
         return loadedConfigurations;
     }
 
-    public void addCameraConfigurations(HashMap<VisionSource, CameraConfiguration> sources) {
-        getConfig().addCameraConfigs(sources.values());
+    public void addCameraConfigurations(List<VisionSource> sources) {
+        getConfig().addCameraConfigs(sources);
         requestSave();
     }
 

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

@@ -28,6 +28,7 @@ import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.raspi.PicamJNI;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.processes.VisionSource;
 
 // TODO rename this class
 public class PhotonConfiguration {
@@ -75,9 +76,9 @@ public class PhotonConfiguration {
         return cameraConfigurations;
     }
 
-    public void addCameraConfigs(Collection<CameraConfiguration> config) {
-        for (var c : config) {
-            addCameraConfig(c);
+    public void addCameraConfigs(Collection<VisionSource> sources) {
+        for (var s : sources) {
+            addCameraConfig(s.getCameraConfiguration());
         }
     }
 

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

@@ -34,6 +34,13 @@ public class OutgoingUIEvent<T> extends DataChangeEvent<T> {
         this.originContext = originContext;
     }
 
+    public static OutgoingUIEvent<HashMap<String, Object>> wrappedOf(
+            String commandName, Object value) {
+        HashMap<String, Object> data = new HashMap<>();
+        data.put(commandName, value);
+        return new OutgoingUIEvent<>(commandName, data);
+    }
+
     public static OutgoingUIEvent<HashMap<String, Object>> wrappedOf(
             String commandName, String propertyName, Object value, WsContext originContext) {
         HashMap<String, Object> data = new HashMap<>();

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

@@ -20,13 +20,17 @@ package org.photonvision.common.dataflow.networktables;
 import edu.wpi.first.networktables.EntryNotification;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import java.util.ArrayList;
+import java.util.List;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
-import org.photonvision.vision.pipeline.result.SimplePipelineResult;
+import org.photonvision.vision.target.TrackedTarget;
 
 public class NTDataPublisher implements CVPipelineResultConsumer {
 
@@ -163,7 +167,9 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
     @Override
     public void accept(CVPipelineResult result) {
-        var simplified = new SimplePipelineResult(result);
+        var simplified =
+                new PhotonPipelineResult(
+                        result.getLatencyMillis(), simpleFromTrackedTargets(result.targets));
         Packet packet = new Packet(simplified.getPacketSize());
         simplified.populatePacket(packet);
 
@@ -201,4 +207,14 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
         }
         rootTable.getInstance().flush();
     }
+
+    public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
+        var ret = new ArrayList<PhotonTrackedTarget>();
+        for (var t : targets) {
+            ret.add(
+                    new PhotonTrackedTarget(
+                            t.getYaw(), t.getPitch(), t.getArea(), t.getSkew(), t.getCameraToTarget()));
+        }
+        return ret;
+    }
 }

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

@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.function.Consumer;
+import org.photonvision.PhotonVersion;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -62,16 +63,23 @@ public class NetworkTablesManager {
                 hasReportedConnectionFailure = false;
                 lastConnectMessageMillis = System.currentTimeMillis();
                 ScriptManager.queueEvent(ScriptEventType.kNTConnected);
+                getInstance().broadcastVersion();
             }
         }
     }
 
+    private void broadcastVersion() {
+        kRootTable.getEntry("version").setString(PhotonVersion.versionString);
+        kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);
+    }
+
     public void setConfig(NetworkConfig config) {
         if (config.runNTServer) {
             setServerMode();
         } else {
             setClientMode(config.teamNumber);
         }
+        broadcastVersion();
     }
 
     private void setClientMode(int teamNumber) {
@@ -79,17 +87,20 @@ public class NetworkTablesManager {
         ntInstance.stopServer();
 
         ntInstance.startClientTeam(teamNumber);
+        ntInstance.startDSClient();
         if (ntInstance.isConnected()) {
             logger.info("[NetworkTablesManager] Connected to the robot!");
         } else {
             logger.error(
                     "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
         }
+        broadcastVersion();
     }
 
     private void setServerMode() {
         logger.info("Starting NT Server");
         ntInstance.stopClient();
         ntInstance.startServer();
+        broadcastVersion();
     }
 }

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

@@ -17,14 +17,13 @@
 
 package org.photonvision.common.dataflow.websocket;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.server.SocketHandler;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 public class UIDataPublisher implements CVPipelineResultConsumer {
@@ -39,16 +38,17 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
 
     @Override
     public void accept(CVPipelineResult result) {
-        var now = System.currentTimeMillis();
+        long now = System.currentTimeMillis();
+
+        var dataMap = new HashMap<String, Object>();
+        dataMap.put("latency", result.getLatencyMillis());
 
         // only update the UI at 15hz
         if (lastUIResultUpdateTime + 1000.0 / 10.0 > now) return;
 
         var uiMap = new HashMap<Integer, HashMap<String, Object>>();
-        var dataMap = new HashMap<String, Object>();
 
         dataMap.put("fps", result.fps);
-        dataMap.put("latency", result.getLatencyMillis());
 
         var targets = result.targets;
 
@@ -57,18 +57,10 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
             uiTargets.add(t.toHashMap());
         }
         dataMap.put("targets", uiTargets);
-
         uiMap.put(index, dataMap);
-        var retMap = new HashMap<String, Object>();
-        retMap.put("updatePipelineResult", uiMap);
-
-        try {
-            SocketHandler.getInstance().broadcastMessage(retMap, null);
-        } catch (JsonProcessingException e) {
-            logger.error(e.getMessage());
-            logger.error(Arrays.toString(e.getStackTrace()));
-        }
 
+        DataChangeService.getInstance()
+                .publishEvent(OutgoingUIEvent.wrappedOf("updatePipelineResult", uiMap));
         lastUIResultUpdateTime = now;
     }
 }

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

@@ -27,7 +27,6 @@ import org.photonvision.common.dataflow.networktables.NTDataChangeListener;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.GPIO.CustomGPIO;
 import org.photonvision.common.hardware.GPIO.pi.PigpioSocket;
-import org.photonvision.common.hardware.VisionLED.VisionLEDMode;
 import org.photonvision.common.hardware.metrics.MetricsBase;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -91,7 +90,7 @@ public class HardwareManager {
                                 pigpioSocket);
 
         ledModeEntry = NetworkTablesManager.getInstance().kRootTable.getEntry("ledMode");
-        ledModeEntry.setNumber(VisionLEDMode.VLM_DEFAULT.value);
+        ledModeEntry.setNumber(VisionLEDMode.kDefault.value);
         ledModeListener =
                 visionLED == null
                         ? null

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

@@ -40,7 +40,7 @@ public class VisionLED {
     private final int brightnessMax;
     private final PigpioSocket pigpioSocket;
 
-    private VisionLEDMode currentLedMode = VisionLEDMode.VLM_DEFAULT;
+    private VisionLEDMode currentLedMode = VisionLEDMode.kDefault;
     private BooleanSupplier pipelineModeSupplier;
 
     private int mappedBrightnessPercentage;
@@ -111,7 +111,7 @@ public class VisionLED {
     }
 
     public void setState(boolean on) {
-        setInternal(on ? VisionLEDMode.VLM_ON : VisionLEDMode.VLM_OFF, false);
+        setInternal(on ? VisionLEDMode.kOn : VisionLEDMode.kOff, false);
     }
 
     void onLedModeChange(EntryNotification entryNotification) {
@@ -120,20 +120,20 @@ public class VisionLED {
             VisionLEDMode newLedMode;
             switch (newLedModeRaw) {
                 case -1:
-                    newLedMode = VisionLEDMode.VLM_DEFAULT;
+                    newLedMode = VisionLEDMode.kDefault;
                     break;
                 case 0:
-                    newLedMode = VisionLEDMode.VLM_OFF;
+                    newLedMode = VisionLEDMode.kOff;
                     break;
                 case 1:
-                    newLedMode = VisionLEDMode.VLM_ON;
+                    newLedMode = VisionLEDMode.kOn;
                     break;
                 case 2:
-                    newLedMode = VisionLEDMode.VLM_BLINK;
+                    newLedMode = VisionLEDMode.kBlink;
                     break;
                 default:
                     logger.warn("User supplied invalid LED mode, falling back to Default");
-                    newLedMode = VisionLEDMode.VLM_DEFAULT;
+                    newLedMode = VisionLEDMode.kDefault;
                     break;
             }
             setInternal(newLedMode, true);
@@ -145,16 +145,16 @@ public class VisionLED {
 
         if (fromNT) {
             switch (newLedMode) {
-                case VLM_DEFAULT:
+                case kDefault:
                     setStateImpl(pipelineModeSupplier.getAsBoolean());
                     break;
-                case VLM_OFF:
+                case kOff:
                     setStateImpl(false);
                     break;
-                case VLM_ON:
+                case kOn:
                     setStateImpl(true);
                     break;
-                case VLM_BLINK:
+                case kBlink:
                     blinkImpl(85, -1);
                     break;
             }
@@ -166,15 +166,15 @@ public class VisionLED {
                             + newLedMode.toString()
                             + "\"");
         } else {
-            if (currentLedMode == VisionLEDMode.VLM_DEFAULT) {
+            if (currentLedMode == VisionLEDMode.kDefault) {
                 switch (newLedMode) {
-                    case VLM_DEFAULT:
+                    case kDefault:
                         setStateImpl(pipelineModeSupplier.getAsBoolean());
                         break;
-                    case VLM_OFF:
+                    case kOff:
                         setStateImpl(false);
                         break;
-                    case VLM_ON:
+                    case kOn:
                         setStateImpl(true);
                         break;
                 }
@@ -182,32 +182,4 @@ public class VisionLED {
             logger.info("Changing LED internal state to " + newLedMode.toString());
         }
     }
-
-    public enum VisionLEDMode {
-        VLM_DEFAULT(-1),
-        VLM_OFF(0),
-        VLM_ON(1),
-        VLM_BLINK(2);
-
-        public final int value;
-
-        VisionLEDMode(int value) {
-            this.value = value;
-        }
-
-        @Override
-        public String toString() {
-            switch (this) {
-                case VLM_DEFAULT:
-                    return "Default";
-                case VLM_OFF:
-                    return "Off";
-                case VLM_ON:
-                    return "On";
-                case VLM_BLINK:
-                    return "Blink";
-            }
-            return "";
-        }
-    }
 }

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

@@ -17,13 +17,13 @@
 
 package org.photonvision.common.hardware.metrics;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
 import java.util.HashMap;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.server.SocketHandler;
 
 public class MetricsPublisher {
     private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
@@ -65,14 +65,7 @@ public class MetricsPublisher {
         metrics.put("gpuMemUtil", gpuMetrics.getMallocedMemory());
         metrics.put("diskUtilPct", diskMetrics.getUsedDiskPct());
 
-        var retMap = new HashMap<String, Object>();
-        retMap.put("metrics", metrics);
-
-        try {
-            SocketHandler.getInstance().broadcastMessage(retMap, null);
-        } catch (JsonProcessingException e) {
-            logger.error("Exception while sending metrics!", e);
-        }
+        DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
     }
 
     private static class Singleton {

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -33,7 +33,6 @@ import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.server.SocketHandler;
 
 @SuppressWarnings("unused")
 public class Logger {
@@ -302,12 +301,12 @@ public class Logger {
     private static class UILogAppender implements LogAppender {
         @Override
         public void log(String message, LogLevel level) {
-            var messageMap = new SocketHandler.UIMap();
+            var messageMap = new HashMap<String, Object>();
             messageMap.put("logMessage", message);
             messageMap.put("logLevel", level.code);
-            var superMap = new SocketHandler.UIMap();
+            var superMap = new HashMap<String, Object>();
             superMap.put("logMessage", messageMap);
-            DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("log", superMap));
+            DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("log", superMap));
         }
     }
 
@@ -345,6 +344,8 @@ public class Logger {
                 wantsFlush = true;
             } catch (IOException e) {
                 e.printStackTrace();
+            } catch (NullPointerException e) {
+                // Nothing to do - no stream available for writing
             }
         }
     }

photon-core/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -135,7 +135,7 @@ public class TestUtils {
     }
 
     private static Path getResourcesFolderPath(boolean testMode) {
-        return Path.of("src", (testMode ? "main" : "test"), "resources").toAbsolutePath();
+        return Path.of(testMode ? "src/main/resources" : "../test-resources").toAbsolutePath();
     }
 
     public static Path getTestMode2019ImagePath() {

photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java

@@ -18,6 +18,7 @@
 package org.photonvision.common.util.file;
 
 import java.io.File;
+import java.io.FileNotFoundException;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
@@ -35,7 +36,7 @@ public class FileUtils {
 
     private FileUtils() {}
 
-    private static Logger logger = new Logger(FileUtils.class, LogGroup.General);
+    private static final Logger logger = new Logger(FileUtils.class, LogGroup.General);
     private static final Set<PosixFilePermission> allReadWriteExecutePerms =
             new HashSet<>(Arrays.asList(PosixFilePermission.values()));
 
@@ -49,7 +50,7 @@ public class FileUtils {
                     .sorted(Comparator.reverseOrder())
                     .map(Path::toFile)
                     .filter(File::isFile)
-                    .forEach(File::delete);
+                    .forEach((var file) -> deleteFile(file.toPath()));
 
             // close the stream
             files.close();
@@ -61,8 +62,10 @@ public class FileUtils {
     public static void deleteFile(Path path) {
         try {
             Files.delete(path);
+        } catch (FileNotFoundException fe) {
+            logger.warn("Tried to delete file \"" + path + "\" but it did not exist");
         } catch (IOException e) {
-            logger.error("Exception deleting file " + path + "!", e);
+            logger.error("Exception deleting file \"" + path + "\"!", e);
         }
     }
 
@@ -80,10 +83,11 @@ public class FileUtils {
             Set<PosixFilePermission> perms =
                     Files.readAttributes(path, PosixFileAttributes.class).permissions();
             if (!perms.equals(allReadWriteExecutePerms)) {
-                logger.info("Setting perms on" + path.toString());
+                logger.info("Setting perms on" + path);
                 Files.setPosixFilePermissions(path, perms);
-                if (thisFile.isDirectory()) {
-                    for (File subfile : thisFile.listFiles()) {
+                var theseFiles = thisFile.listFiles();
+                if (thisFile.isDirectory() && theseFiles != null) {
+                    for (File subfile : theseFiles) {
                         setFilePerms(subfile.toPath());
                     }
                 }

photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java

@@ -17,13 +17,13 @@
 
 package org.photonvision.common.util.math;
 
-import org.apache.commons.math3.util.FastMath;
+import edu.wpi.first.wpiutil.WPIUtilJNI;
 
 public class MathUtils {
     MathUtils() {}
 
     public static double toSlope(Number angle) {
-        return FastMath.atan(FastMath.toRadians(angle.doubleValue() - 90));
+        return Math.atan(Math.toRadians(angle.doubleValue() - 90));
     }
 
     public static int safeDivide(int quotient, int divisor) {
@@ -43,6 +43,10 @@ public class MathUtils {
         return nanos / 1000000.0;
     }
 
+    public static double nanosToMillis(double nanos) {
+        return nanos / 1000000.0;
+    }
+
     public static long millisToNanos(long millis) {
         return millis * 1000000;
     }
@@ -59,4 +63,21 @@ public class MathUtils {
     public static int map(int value, int inMin, int inMax, int outMin, int outMax) {
         return (int) Math.floor(map((double) value, inMin, inMax, outMin, outMax) + 0.5);
     }
+
+    /**
+    * Linearly interpolates between two values.
+    *
+    * @param startValue The start value.
+    * @param endValue The end value.
+    * @param t The fraction for interpolation.
+    * @return The interpolated value.
+    */
+    @SuppressWarnings("ParameterName")
+    public static double lerp(double startValue, double endValue, double t) {
+        return startValue + (endValue - startValue) * t;
+    }
+
+    public static long wpiNanoTime() {
+        return microsToNanos(WPIUtilJNI.now());
+    }
 }

photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java

@@ -85,7 +85,7 @@ public class PicamJNI {
     }
 
     public static boolean isSupported() {
-        return libraryLoaded && getSensorModel() != SensorModel.Disconnected;
+        return libraryLoaded && !isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
     }
 
     public static SensorModel getSensorModel() {
@@ -105,6 +105,9 @@ public class PicamJNI {
 
     private static native String getSensorModelRaw();
 
+    // This is the main thing we need that isn't supported on Pi 4s, which makes it a good check
+    private static native boolean isVCSMSupported();
+
     // Everything here is static because multiple picams are unsupported at the hardware level
 
     /**

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

@@ -28,27 +28,30 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-public class FileVisionSource implements VisionSource {
+public class FileVisionSource extends VisionSource {
 
-    private final CameraConfiguration cameraConfiguration;
     private final FileFrameProvider frameProvider;
     private final FileSourceSettables settables;
 
     public FileVisionSource(CameraConfiguration cameraConfiguration) {
-        this.cameraConfiguration = cameraConfiguration;
+        super(cameraConfiguration);
+        var calibration =
+                cameraConfiguration.calibrations.size() > 0
+                        ? cameraConfiguration.calibrations.get(0)
+                        : null;
         frameProvider =
                 new FileFrameProvider(
                         Path.of(cameraConfiguration.path),
                         cameraConfiguration.FOV,
                         FileFrameProvider.MAX_FPS,
                         cameraConfiguration.camPitch,
-                        cameraConfiguration.calibrations.get(0));
+                        calibration);
         settables =
                 new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);
     }
 
     public FileVisionSource(String name, String imagePath, double fov) {
-        cameraConfiguration = new CameraConfiguration(name, imagePath);
+        super(new CameraConfiguration(name, imagePath));
         frameProvider = new FileFrameProvider(imagePath, fov);
         settables =
                 new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);

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

@@ -33,19 +33,18 @@ import org.photonvision.vision.frame.provider.USBFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-public class USBCameraSource implements VisionSource {
+public class USBCameraSource extends VisionSource {
     private final Logger logger;
     private final UsbCamera camera;
     private final USBCameraSettables usbCameraSettables;
     private final USBFrameProvider usbFrameProvider;
-    public final CameraConfiguration configuration;
     private final CvSink cvSink;
 
     public final QuirkyCamera cameraQuirks;
 
     public USBCameraSource(CameraConfiguration config) {
+        super(config);
         logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        configuration = config;
         camera = new UsbCamera(config.nickname, config.path);
         cvSink = CameraServer.getInstance().getVideo(this.camera);
 
@@ -88,7 +87,6 @@ public class USBCameraSource implements VisionSource {
             super(configuration);
             getAllVideoModes();
             setVideoMode(videoModes.get(0));
-            calculateFrameStaticProps();
         }
 
         private int timeToPiCamV2RawExposure(double time_us) {
@@ -281,6 +279,6 @@ public class USBCameraSource implements VisionSource {
     @Override
     public int hashCode() {
         return Objects.hash(
-                camera, usbCameraSettables, usbFrameProvider, configuration, cvSink, cameraQuirks);
+                camera, usbCameraSettables, usbFrameProvider, cameraConfiguration, cvSink, cameraQuirks);
     }
 }

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

@@ -29,13 +29,14 @@ import org.photonvision.vision.frame.provider.AcceleratedPicamFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-public class ZeroCopyPicamSource implements VisionSource {
+public class ZeroCopyPicamSource extends VisionSource {
     private static final Logger logger = new Logger(ZeroCopyPicamSource.class, LogGroup.Camera);
 
     private final VisionSourceSettables settables;
     private final AcceleratedPicamFrameProvider frameProvider;
 
     public ZeroCopyPicamSource(CameraConfiguration configuration) {
+        super(configuration);
         if (configuration.cameraType != CameraType.ZeroCopyPicam) {
             throw new IllegalArgumentException(
                     "GPUAcceleratedPicamSource only accepts CameraConfigurations with type Picam");
@@ -99,8 +100,7 @@ public class ZeroCopyPicamSource implements VisionSource {
                         0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
                 videoModes.put(
                         1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-                videoModes.put(
-                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 40, 90, .72));
+                // TODO: fix 1280x720 in the native code and re-add it
                 videoModes.put(
                         3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
             } else {
@@ -136,19 +136,22 @@ public class ZeroCopyPicamSource implements VisionSource {
         @Override
         public void setExposure(double exposure) {
             lastExposure = exposure;
-            PicamJNI.setExposure((int) Math.round(exposure));
+            var failure = PicamJNI.setExposure((int) Math.round(exposure));
+            if (failure) logger.warn("Couldn't set Pi camera exposure");
         }
 
         @Override
         public void setBrightness(int brightness) {
             lastBrightness = brightness;
-            PicamJNI.setBrightness(brightness);
+            var failure = PicamJNI.setBrightness(brightness);
+            if (failure) logger.warn("Couldn't set Pi camera brightness");
         }
 
         @Override
         public void setGain(int gain) {
             lastGain = gain;
-            PicamJNI.setGain(gain);
+            var failure = PicamJNI.setGain(gain);
+            if (failure) logger.warn("Couldn't set Pi camera gain");
         }
 
         @Override
@@ -159,8 +162,14 @@ public class ZeroCopyPicamSource implements VisionSource {
         @Override
         protected void setVideoModeInternal(VideoMode videoMode) {
             var mode = (FPSRatedVideoMode) videoMode;
-            PicamJNI.destroyCamera();
-            PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
+            var failure = PicamJNI.destroyCamera();
+            if (failure)
+                throw new RuntimeException(
+                        "Couldn't destroy a zero copy Pi camera while switching video modes");
+            failure = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
+            if (failure)
+                throw new RuntimeException(
+                        "Couldn't create a zero copy Pi camera while switching video modes");
 
             // We don't store last settings on the native side, and when you change video mode these get
             // reset on MMAL's end

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

@@ -18,6 +18,7 @@
 package org.photonvision.vision.frame;
 
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
 
@@ -33,13 +34,14 @@ public class Frame implements Releasable {
     }
 
     public Frame(CVMat image, FrameStaticProperties frameStaticProperties) {
-        this(image, System.nanoTime(), frameStaticProperties);
+        this(image, MathUtils.wpiNanoTime(), frameStaticProperties);
     }
 
     public Frame() {
-        timestampNanos = 0;
-        image = new CVMat();
-        frameStaticProperties = new FrameStaticProperties(0, 0, 0, new Rotation2d(), null);
+        this(
+                new CVMat(),
+                MathUtils.wpiNanoTime(),
+                new FrameStaticProperties(0, 0, 0, new Rotation2d(), null));
     }
 
     public void copyTo(Frame destFrame) {

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

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