Add libpicam with gain slider bugfix (#278)

* Add libpicam with gain slider bugfix

* Patches to get zero-copy working with Pi3.

-- Success/Failure mistmatch assumptions - lots of functions in the JNI return true on failure (not true on success)
-- isVSCMSupported() is currently implemented to be "isVSCMNotSupported()"

Likely, we'll want at least some .so changes

Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>

.github/workflows/main.yml

@@ -74,8 +74,12 @@ jobs:
           chmod +x gradlew
           ./gradlew build -x check
 
-      # Run Tests Generate Coverage Report.
-      - name: Gradle Test and Coverage
+      # Run Gradle Tests.
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i
+
+      # Generate Coverage Report.
+      - name: Gradle Coverage
         run: ./gradlew jacocoTestReport
       
       # Publish Coverage Report.
@@ -125,58 +129,6 @@ jobs:
           name: built-docs
           path: build/html
 
-  photon-build-package:
-    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs]
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    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
-
-      # 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'
-
   photonserver-check-lint:
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
@@ -225,10 +177,13 @@ jobs:
     runs-on: ${{ matrix.os }}
     name: "Photonlib - Build - ${{ matrix.artifact-name }}"
     steps:
-      - uses: actions/checkout@v2
+      - 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
@@ -243,7 +198,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2020-18.04
+          - container: wpilib/roborio-cross-ubuntu:2021-18.04
             artifact-name: Athena
           - container: wpilib/raspbian-cross-ubuntu:10-18.04
             artifact-name: Raspbian
@@ -254,10 +209,14 @@ jobs:
     container: ${{ matrix.container }}
     name: "Photonlib - Build - ${{ matrix.artifact-name }}"
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v2.3.4
+        with:
+          fetch-depth: 0
       - uses: actions/setup-java@v1
         with:
           java-version: 11
+      - run: |
+          git describe --tags --exclude="Dev"
       - run: |
           chmod +x gradlew
           ./gradlew photon-lib:build
@@ -287,8 +246,67 @@ jobs:
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run
-        run: |
-            ls -la
-            wpiformat -clang 10 -f photon-lib
+        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
+
+      # 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'
+

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" : "src/test"), "resources").toAbsolutePath();
     }
 
     public static Path getTestMode2019ImagePath() {

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

@@ -85,7 +85,7 @@ public class PicamJNI {
     }
 
     public static boolean isSupported() {
-        return libraryLoaded && isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
+        return libraryLoaded && !isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
     }
 
     public static SensorModel getSensorModel() {

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

@@ -136,22 +136,22 @@ public class ZeroCopyPicamSource extends VisionSource {
         @Override
         public void setExposure(double exposure) {
             lastExposure = exposure;
-            var success = PicamJNI.setExposure((int) Math.round(exposure));
-            if (!success) logger.warn("Couldn't set Pi camera 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;
-            var success = PicamJNI.setBrightness(brightness);
-            if (!success) logger.warn("Couldn't set Pi camera brightness");
+            var failure = PicamJNI.setBrightness(brightness);
+            if (failure) logger.warn("Couldn't set Pi camera brightness");
         }
 
         @Override
         public void setGain(int gain) {
             lastGain = gain;
-            var success = PicamJNI.setGain(gain);
-            if (!success) logger.warn("Couldn't set Pi camera gain");
+            var failure = PicamJNI.setGain(gain);
+            if (failure) logger.warn("Couldn't set Pi camera gain");
         }
 
         @Override
@@ -162,12 +162,12 @@ public class ZeroCopyPicamSource extends VisionSource {
         @Override
         protected void setVideoModeInternal(VideoMode videoMode) {
             var mode = (FPSRatedVideoMode) videoMode;
-            var success = PicamJNI.destroyCamera();
-            if (!success)
+            var failure = PicamJNI.destroyCamera();
+            if (failure)
                 throw new RuntimeException(
                         "Couldn't destroy a zero copy Pi camera while switching video modes");
-            success = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
-            if (!success)
+            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");
 

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

@@ -35,10 +35,10 @@ public class AcceleratedPicamFrameProvider implements FrameProvider {
         this.settables = visionSettables;
 
         var vidMode = settables.getCurrentVideoMode();
-        var success = PicamJNI.createCamera(vidMode.width, vidMode.height, vidMode.fps);
-        if (!success) {
-            success = PicamJNI.destroyCamera();
-            if (!success) throw new RuntimeException("Couldn't destroy Pi camera after init failure!");
+        var failure = PicamJNI.createCamera(vidMode.width, vidMode.height, vidMode.fps);
+        if (failure) {
+            failure = PicamJNI.destroyCamera();
+            if (failure) throw new RuntimeException("Couldn't destroy Pi camera after init failure!");
             throw new RuntimeException(
                     "Couldn't initialize zero copy Pi camera; check stdout for native code logs");
         }

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -302,6 +302,7 @@ public class VisionSourceManager {
         var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
             if (configuration.baseName.startsWith("mmal service") && PicamJNI.isSupported()) {
+                configuration.cameraType = CameraType.ZeroCopyPicam;
                 var piCamSrc = new ZeroCopyPicamSource(configuration);
 
                 configuration.cameraType = CameraType.ZeroCopyPicam;

photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java

@@ -79,6 +79,10 @@ public class Calibrate3dPipeTest {
         assertTrue(calibrate3dPipeOutput.output.perViewErrors.length > 0);
         System.out.println(
                 "Per View Errors: " + Arrays.toString(calibrate3dPipeOutput.output.perViewErrors));
+
+        for (var f : frames) {
+            f.release();
+        }
     }
 
     @Test
@@ -98,14 +102,14 @@ public class Calibrate3dPipeTest {
 
         for (var file : directoryListing) {
             calibration3dPipeline.takeSnapshot();
-            var output =
-                    calibration3dPipeline.run(
-                            new Frame(
-                                    new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
-                                    new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
-                            QuirkyCamera.DefaultCamera);
+            var frame =
+                    new Frame(
+                            new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
+                            new FrameStaticProperties(640, 480, 60, new Rotation2d(), null));
+            var output = calibration3dPipeline.run(frame, QuirkyCamera.DefaultCamera);
             // TestUtils.showImage(output.outputFrame.image.getMat());
             output.release();
+            frame.release();
         }
 
         assertTrue(
@@ -114,13 +118,12 @@ public class Calibrate3dPipeTest {
                         .allMatch(it -> it.width() > 0 && it.height() > 0));
 
         calibration3dPipeline.removeSnapshot(0);
-        calibration3dPipeline
-                .run(
-                        new Frame(
-                                new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
-                                new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
-                        QuirkyCamera.DefaultCamera)
-                .release();
+        var frame =
+                new Frame(
+                        new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
+                        new FrameStaticProperties(640, 480, 60, new Rotation2d(), null));
+        calibration3dPipeline.run(frame, QuirkyCamera.DefaultCamera).release();
+        frame.release();
 
         assertTrue(
                 calibration3dPipeline.foundCornersList.stream()
@@ -263,16 +266,16 @@ public class Calibrate3dPipeTest {
         for (var file : directoryListing) {
             if (file.isFile()) {
                 calibration3dPipeline.takeSnapshot();
-                var output =
-                        calibration3dPipeline.run(
-                                new Frame(
-                                        new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
-                                        new FrameStaticProperties(
-                                                (int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)),
-                                QuirkyCamera.DefaultCamera);
+                var frame =
+                        new Frame(
+                                new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
+                                new FrameStaticProperties(
+                                        (int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null));
+                var output = calibration3dPipeline.run(frame, QuirkyCamera.DefaultCamera);
 
                 // TestUtils.showImage(output.outputFrame.image.getMat(), file.getName(), 1);
-                output.outputFrame.release();
+                output.release();
+                frame.release();
             }
         }
 

photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java

@@ -19,7 +19,6 @@ package org.photonvision.vision.pipeline;
 
 import static org.junit.jupiter.api.Assertions.*;
 
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import java.util.stream.Collectors;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@@ -31,9 +30,7 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
-import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
-import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
 
 public class CirclePNPTest {
@@ -58,7 +55,7 @@ public class CirclePNPTest {
     }
 
     private CameraCalibrationCoefficients getCoeffs(String filename) {
-        var cameraCalibration = TestUtils.getCoeffs(filename, true);
+        var cameraCalibration = TestUtils.getCoeffs(filename, false);
         checkCameraCoefficients(cameraCalibration);
         return cameraCalibration;
     }
@@ -83,43 +80,46 @@ public class CirclePNPTest {
         assertEquals(5, cameraCalibration.getCameraExtrinsicsMat().cols());
     }
 
-    @Test
-    public void testCircle() {
-        var pipeline = new ColoredShapePipeline();
-
-        pipeline.getSettings().hsvHue.set(0, 100);
-        pipeline.getSettings().hsvSaturation.set(100, 255);
-        pipeline.getSettings().hsvValue.set(100, 255);
-        pipeline.getSettings().outputShouldDraw = true;
-        pipeline.getSettings().maxCannyThresh = 50;
-        pipeline.getSettings().accuracy = 15;
-        pipeline.getSettings().allowableThreshold = 5;
-        pipeline.getSettings().solvePNPEnabled = true;
-        pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
-        pipeline.getSettings().cornerDetectionUseConvexHulls = true;
-        pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_480P_CAL_FILE);
-        pipeline.getSettings().targetModel = TargetModel.kCircularPowerCell7in;
-        pipeline.getSettings().outputShouldDraw = true;
-        pipeline.getSettings().outputShowMultipleTargets = false;
-        pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Single;
-        pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
-        pipeline.getSettings().desiredShape = ContourShape.Circle;
-        pipeline.getSettings().allowableThreshold = 10;
-        pipeline.getSettings().minRadius = 30;
-        pipeline.getSettings().accuracyPercentage = 30.0;
-
-        var frameProvider =
-                new FileFrameProvider(
-                        TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
-                        TestUtils.WPI2020Image.FOV,
-                        new Rotation2d(),
-                        TestUtils.get2020LifeCamCoeffs(true));
-
-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
-
-        TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output", 999999);
-    }
+    //    @Test
+    //    public void testCircle() {
+    //        var pipeline = new ColoredShapePipeline();
+    //
+    //        pipeline.getSettings().hsvHue.set(0, 100);
+    //        pipeline.getSettings().hsvSaturation.set(100, 255);
+    //        pipeline.getSettings().hsvValue.set(100, 255);
+    //        pipeline.getSettings().outputShouldDraw = true;
+    //        pipeline.getSettings().maxCannyThresh = 50;
+    //        pipeline.getSettings().accuracy = 15;
+    //        pipeline.getSettings().allowableThreshold = 5;
+    //        pipeline.getSettings().solvePNPEnabled = true;
+    //        pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
+    //        pipeline.getSettings().cornerDetectionUseConvexHulls = true;
+    //        pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_480P_CAL_FILE);
+    //        pipeline.getSettings().targetModel = TargetModel.kCircularPowerCell7in;
+    //        pipeline.getSettings().outputShouldDraw = true;
+    //        pipeline.getSettings().outputShowMultipleTargets = false;
+    //        pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Single;
+    //        pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
+    //        pipeline.getSettings().desiredShape = ContourShape.Circle;
+    //        pipeline.getSettings().allowableThreshold = 10;
+    //        pipeline.getSettings().minRadius = 30;
+    //        pipeline.getSettings().accuracyPercentage = 30.0;
+    //
+    //        var frameProvider =
+    //                new FileFrameProvider(
+    //
+    // TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
+    //                        TestUtils.WPI2020Image.FOV,
+    //                        new Rotation2d(),
+    //                        TestUtils.get2020LifeCamCoeffs(false));
+    //
+    //        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(),
+    // QuirkyCamera.DefaultCamera);
+    //        printTestResults(pipelineResult);
+    //
+    //        TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output",
+    // 999999);
+    //    }
 
     private static void continuouslyRunPipeline(Frame frame, ReflectivePipelineSettings settings) {
         var pipeline = new ReflectivePipeline();

photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java

@@ -17,7 +17,6 @@
 
 package org.photonvision.vision.pipeline;
 
-import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
@@ -58,33 +57,36 @@ public class ColoredShapePipelineTest {
         printTestResults(colouredShapePipelineResult);
     }
 
-    @Test
-    public static void testCircleShapeDetection(
-            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
-        settings.desiredShape = ContourShape.Circle;
-        pipeline.settings = settings;
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-        TestUtils.showImage(
-                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Circle.");
-        printTestResults(colouredShapePipelineResult);
-    }
-
-    @Test
-    public static void testPowercellDetection(
-            ColoredShapePipelineSettings settings, ColoredShapePipeline pipeline) {
-
-        settings.hsvHue.set(10, 40);
-        settings.hsvSaturation.set(100, 255);
-        settings.hsvValue.set(100, 255);
-        settings.maxCannyThresh = 50;
-        settings.accuracy = 15;
-        settings.allowableThreshold = 5;
-        var frameProvider =
-                new FileFrameProvider(
-                        TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
-                        TestUtils.WPI2019Image.FOV);
-        testCircleShapeDetection(pipeline, settings, frameProvider.get());
-    }
+    //    @Test
+    //    public static void testCircleShapeDetection(
+    //            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
+    //        settings.desiredShape = ContourShape.Circle;
+    //        pipeline.settings = settings;
+    //        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame,
+    // QuirkyCamera.DefaultCamera);
+    //        TestUtils.showImage(
+    //                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output:
+    // Circle.");
+    //        printTestResults(colouredShapePipelineResult);
+    //    }
+    //
+    //    @Test
+    //    public static void testPowercellDetection(
+    //            ColoredShapePipelineSettings settings, ColoredShapePipeline pipeline) {
+    //
+    //        settings.hsvHue.set(10, 40);
+    //        settings.hsvSaturation.set(100, 255);
+    //        settings.hsvValue.set(100, 255);
+    //        settings.maxCannyThresh = 50;
+    //        settings.accuracy = 15;
+    //        settings.allowableThreshold = 5;
+    //        var frameProvider =
+    //                new FileFrameProvider(
+    //
+    // TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
+    //                        TestUtils.WPI2019Image.FOV);
+    //        testCircleShapeDetection(pipeline, settings, frameProvider.get());
+    //    }
 
     public static void main(String[] args) {
         TestUtils.loadLibraries();
@@ -110,8 +112,8 @@ public class ColoredShapePipelineTest {
         testTriangleDetection(pipeline, settings, frameProvider.get());
         testQuadrilateralDetection(pipeline, settings, frameProvider.get());
         testCustomShapeDetection(pipeline, settings, frameProvider.get());
-        testCircleShapeDetection(pipeline, settings, frameProvider.get());
-        testPowercellDetection(settings, pipeline);
+        //        testCircleShapeDetection(pipeline, settings, frameProvider.get());
+        //        testPowercellDetection(settings, pipeline);
     }
 
     private static void printTestResults(CVPipelineResult pipelineResult) {

photon-core/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java

@@ -61,7 +61,7 @@ public class SolvePNPTest {
     }
 
     private CameraCalibrationCoefficients getCoeffs(String filename) {
-        var cameraCalibration = TestUtils.getCoeffs(filename, true);
+        var cameraCalibration = TestUtils.getCoeffs(filename, false);
         checkCameraCoefficients(cameraCalibration);
         return cameraCalibration;
     }
@@ -106,7 +106,7 @@ public class SolvePNPTest {
                         TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark48in, false),
                         TestUtils.WPI2019Image.FOV,
                         new Rotation2d(),
-                        TestUtils.get2019LifeCamCoeffs(true));
+                        TestUtils.get2019LifeCamCoeffs(false));
 
         CVPipelineResult pipelineResult;
 
@@ -141,7 +141,7 @@ public class SolvePNPTest {
                         TestUtils.getWPIImagePath(TestUtils.WPI2020Image.kBlueGoal_224in_Left, false),
                         TestUtils.WPI2020Image.FOV,
                         new Rotation2d(),
-                        TestUtils.get2020LifeCamCoeffs(true));
+                        TestUtils.get2020LifeCamCoeffs(false));
 
         CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
         printTestResults(pipelineResult);

photon-lib/src/generate/photonlib.json.in

@@ -4,13 +4,14 @@
   "version": "${photon_version}",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
   "mavenUrls": [
-    "https://maven.photonvision.org/repository/internal"
+    "https://maven.photonvision.org/repository/internal",
+    "https://maven.photonvision.org/repository/snapshots"
   ],
   "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/lib/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
   "jniDependencies": [],
   "cppDependencies": [
     {
-      "groupId": "org.photonvision.lib",
+      "groupId": "org.photonvision",
       "artifactId": "PhotonLib-cpp",
       "version": "${photon_version}",
       "libName": "Photon",

photon-lib/src/main/java/org/photonvision/PhotonTargetSortMode.java

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision;
+
+import java.util.Comparator;
+import org.photonvision.targeting.PhotonTrackedTarget;
+
+public enum PhotonTargetSortMode {
+    Smallest(Comparator.comparingDouble(PhotonTrackedTarget::getArea)),
+    Largest(Smallest.m_comparator.reversed()),
+    Highest(Comparator.comparingDouble(PhotonTrackedTarget::getPitch)),
+    Lowest(Highest.m_comparator.reversed()),
+    Rightmost(Comparator.comparingDouble(PhotonTrackedTarget::getYaw)),
+    Leftmost(Rightmost.m_comparator.reversed()),
+    Centermost(
+            Comparator.comparingDouble(
+                    target -> (Math.pow(target.getPitch(), 2) + Math.pow(target.getYaw(), 2))));
+
+    private final Comparator<PhotonTrackedTarget> m_comparator;
+
+    PhotonTargetSortMode(Comparator<PhotonTrackedTarget> comparator) {
+        m_comparator = comparator;
+    }
+
+    public Comparator<PhotonTrackedTarget> getComparator() {
+        return m_comparator;
+    }
+}

photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java

@@ -18,13 +18,24 @@
 package org.photonvision;
 
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.Arrays;
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
+@SuppressWarnings("unused")
 public class SimPhotonCamera extends PhotonCamera {
+    private final NetworkTableEntry latencyMillisEntry;
+    private final NetworkTableEntry hasTargetEntry;
+    private final NetworkTableEntry targetPitchEntry;
+    private final NetworkTableEntry targetYawEntry;
+    private final NetworkTableEntry targetAreaEntry;
+    private final NetworkTableEntry targetSkewEntry;
+    private final NetworkTableEntry targetPoseEntry;
+
     /**
     * Constructs a Simulated PhotonCamera from a root table.
     *
@@ -32,6 +43,14 @@ public class SimPhotonCamera extends PhotonCamera {
     */
     public SimPhotonCamera(NetworkTable rootTable) {
         super(rootTable);
+
+        latencyMillisEntry = rootTable.getEntry("latencyMillis");
+        hasTargetEntry = rootTable.getEntry("hasTargetEntry");
+        targetPitchEntry = rootTable.getEntry("targetPitchEntry");
+        targetYawEntry = rootTable.getEntry("targetYawEntry");
+        targetAreaEntry = rootTable.getEntry("targetAreaEntry");
+        targetSkewEntry = rootTable.getEntry("targetSkewEntry");
+        targetPoseEntry = rootTable.getEntry("targetPoseEntry");
     }
 
     /**
@@ -40,13 +59,13 @@ public class SimPhotonCamera extends PhotonCamera {
     * @param cameraName The nickname of the camera (found in the PhotonVision UI).
     */
     public SimPhotonCamera(String cameraName) {
-        super(cameraName);
+        this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
     }
 
     /**
     * Simulate one processed frame of vision data, putting one result to NT.
     *
-    * @param latencyMillis
+    * @param latencyMillis Latency of the provided frame
     * @param targets Each target detected
     */
     public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) {
@@ -56,15 +75,66 @@ public class SimPhotonCamera extends PhotonCamera {
     /**
     * Simulate one processed frame of vision data, putting one result to NT.
     *
-    * @param latencyMillis
-    * @param tgtList List of targets detected
+    * @param latencyMillis Latency of the provided frame
+    * @param sortMode Order in which to sort targets
+    * @param targets Each target detected
     */
-    public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> tgtList) {
-        if (!getDriverMode()) {
-            PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, tgtList);
-            var newPacket = new Packet(newResult.getPacketSize());
-            newResult.populatePacket(newPacket);
-            rawBytesEntry.setRaw(newPacket.getData());
+    public void submitProcessedFrame(
+            double latencyMillis, PhotonTargetSortMode sortMode, PhotonTrackedTarget... targets) {
+        submitProcessedFrame(latencyMillis, sortMode, Arrays.asList(targets));
+    }
+
+    /**
+    * Simulate one processed frame of vision data, putting one result to NT.
+    *
+    * @param latencyMillis Latency of the provided frame
+    * @param targetList List of targets detected
+    */
+    public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> targetList) {
+        submitProcessedFrame(latencyMillis, null, targetList);
+    }
+
+    /**
+    * Simulate one processed frame of vision data, putting one result to NT.
+    *
+    * @param latencyMillis Latency of the provided frame
+    * @param sortMode Order in which to sort targets
+    * @param targetList List of targets detected
+    */
+    public void submitProcessedFrame(
+            double latencyMillis, PhotonTargetSortMode sortMode, List<PhotonTrackedTarget> targetList) {
+        latencyMillisEntry.setDouble(latencyMillis);
+
+        if (sortMode != null) {
+            targetList.sort(sortMode.getComparator());
+        }
+
+        PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList);
+        var newPacket = new Packet(newResult.getPacketSize());
+        newResult.populatePacket(newPacket);
+        rawBytesEntry.setRaw(newPacket.getData());
+
+        boolean hasTargets = newResult.hasTargets();
+        hasTargetEntry.setBoolean(hasTargets);
+        if (!hasTargets) {
+            targetPitchEntry.setDouble(0.0);
+            targetYawEntry.setDouble(0.0);
+            targetAreaEntry.setDouble(0.0);
+            targetPoseEntry.setDoubleArray(new double[] {0.0, 0.0, 0.0});
+            targetSkewEntry.setDouble(0.0);
+        } else {
+            var bestTarget = newResult.getBestTarget();
+
+            targetPitchEntry.setDouble(bestTarget.getPitch());
+            targetYawEntry.setDouble(bestTarget.getYaw());
+            targetAreaEntry.setDouble(bestTarget.getArea());
+            targetSkewEntry.setDouble(bestTarget.getSkew());
+
+            var transform = bestTarget.getCameraToTarget();
+            double[] poseData = {
+                transform.getX(), transform.getY(), transform.getRotation().getDegrees()
+            };
+            targetPoseEntry.setDoubleArray(poseData);
         }
     }
 }

photon-lib/src/main/java/org/photonvision/SimVisionSystem.java

@@ -41,10 +41,10 @@ public class SimVisionSystem {
 
     /**
     * Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
-    * running Photonvision, detecting one or more targets scattered around the field. This assumes a
-    * fairly simple and distortionless pinhole camera model.
+    * running PhotonVision, detecting one or more targets scattered around the field. This assumes a
+    * fairly simple and distortion-less pinhole camera model.
     *
-    * @param camName Name of the photonvision camera to create. Align it with the settings you use in
+    * @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
     *     the PhotonVision GUI.
     * @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
     *     manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
@@ -87,25 +87,25 @@ public class SimVisionSystem {
         this.camVertFOVDegrees = camDiagFOVDegrees * cameraResHeight / hypotPixels;
 
         cam = new SimPhotonCamera(camName);
-        tgtList = new ArrayList<SimVisionTarget>();
+        tgtList = new ArrayList<>();
     }
 
     /**
-    * Add a target on the field which your vision system is designed to detect. The photoncamera from
-    * this system will report the location of the robot relative to the subste of these targets which
+    * Add a target on the field which your vision system is designed to detect. The PhotonCamera from
+    * this system will report the location of the robot relative to the subset of these targets which
     * are visible from the given robot position.
     *
-    * @param tgt
+    * @param target Target to add to the simulated field
     */
-    public void addSimVisionTarget(SimVisionTarget tgt) {
-        tgtList.add(tgt);
+    public void addSimVisionTarget(SimVisionTarget target) {
+        tgtList.add(target);
     }
 
     /**
     * Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
     * turret or some other mobile platform.
     *
-    * @param newCameraToRobot New Tranform from the robot to the camera
+    * @param newCameraToRobot New Transform from the robot to the camera
     * @param newCamHeightMeters New height of the camera off the floor
     * @param newCamPitchDegrees New pitch of the camera axis back from horizontal
     */
@@ -120,12 +120,11 @@ public class SimVisionSystem {
     * Periodic update. Call this once per frame of image data you wish to process and send to
     * NetworkTables
     *
-    * @param robotPoseMeters current pose of the robot on the field. Will be used to calcualte which
+    * @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
     *     targets are actually in view, where they are at relative to the robot, and relevant
     *     PhotonVision parameters.
     */
     public void processFrame(Pose2d robotPoseMeters) {
-
         Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse());
 
         ArrayList<PhotonTrackedTarget> visibleTgtList = new ArrayList<>(tgtList.size());

photon-lib/src/main/java/org/photonvision/SimVisionTarget.java

@@ -34,8 +34,8 @@ public class SimVisionTarget {
     *     the middle of the field facing the target, the Y axis points to your left, and the X axis
     *     points away from you.
     * @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
-    * @param targetWidthMeters Width of the outter bounding box of the target in meters.
-    * @param targetHeightMeters Pair Height of the outter bounding box of the target in meters.
+    * @param targetWidthMeters Width of the outer bounding box of the target in meters.
+    * @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
     */
     public SimVisionTarget(
             Pose2d targetPos,

photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp

@@ -45,7 +45,10 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() const {
   PhotonPipelineResult result;
 
   // Fill the packet with latest data and populate result.
-  std::string value = rawBytesEntry.GetValue()->GetRaw();
+  std::shared_ptr<nt::Value> ntvalue = rawBytesEntry.GetValue();
+  if (!ntvalue) return result;
+
+  std::string value = ntvalue->GetRaw();
   std::vector<char> bytes{value.begin(), value.end()};
 
   photonlib::Packet packet{bytes};

photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java

@@ -49,7 +49,6 @@ class PhotonUtilTest {
 
     @Test
     public void testTransform() {
-
         var camHeight = 1;
         var tgtHeight = 3;
         var camPitch = 0;

photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java

@@ -53,7 +53,6 @@ class SimVisionSystemTest {
     @ParameterizedTest
     @ValueSource(doubles = {5, 10, 15, 20, 25, 30})
     public void testDistanceAligned(double dist) {
-
         final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
         var sysUnderTest =
                 new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);

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

@@ -57,13 +57,11 @@ public class Main {
         final var options = new Options();
         options.addOption("d", "debug", false, "Enable debug logging prints");
         options.addOption("h", "help", false, "Show this help text and exit");
-        if (!isRelease) {
-            options.addOption(
-                    "t",
-                    "test-mode",
-                    false,
-                    "Run in test mode with 2019 and 2020 WPI field images in place of cameras");
-        }
+        options.addOption(
+                "t",
+                "test-mode",
+                false,
+                "Run in test mode with 2019 and 2020 WPI field images in place of cameras");
 
         CommandLineParser parser = new DefaultParser();
         CommandLine cmd = parser.parse(options, args);

photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java

@@ -54,6 +54,10 @@ public class PhotonTrackedTarget {
         return area;
     }
 
+    public double getSkew() {
+        return skew;
+    }
+
     public Transform2d getCameraToTarget() {
         return cameraToTarget;
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java

@@ -79,7 +79,7 @@ public class Robot extends TimedRobot {
                                 CAMERA_HEIGHT_METERS,
                                 TARGET_HEIGHT_METERS,
                                 CAMERA_PITCH_RADIANS,
-                                result.getBestTarget().getPitch());
+                                Units.degreesToRadians(result.getBestTarget().getPitch()));
 
                 // Use this range as the measurement we give to the PID controller.
                 // -1.0 required to ensure positive PID controller effort _increases_ range

photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java

@@ -81,7 +81,7 @@ public class Robot extends TimedRobot {
                                 CAMERA_HEIGHT_METERS,
                                 TARGET_HEIGHT_METERS,
                                 CAMERA_PITCH_RADIANS,
-                                result.getBestTarget().getPitch());
+                                Units.degreesToRadians(result.getBestTarget().getPitch()));
 
                 // Use this range as the measurement we give to the PID controller.
                 // -1.0 required to ensure positive PID controller effort _increases_ range

shared/common.gradle

@@ -53,12 +53,14 @@ test {
     testLogging {
         events "passed", "skipped", "failed", "standardOut", "standardError"
     }
+    workingDir = new File("${rootDir}")
 }
 
 task testHeadless(type: Test) {
     group = "verification"
     systemProperty("java.awt.headless", "true")
     useJUnitPlatform()
+    exclude '**/*BenchmarkTest*'
 }
 
 task generateJavaDocs(type: Javadoc) {
@@ -68,7 +70,7 @@ task generateJavaDocs(type: Javadoc) {
 }
 
 jacocoTestReport {
-    dependsOn test // Tests are required to run before generating the report
+//    dependsOn testHeadless // Tests are required to run before generating the report
 
     reports {
         xml.enabled true

versioningHelper.gradle

@@ -8,15 +8,15 @@ gradle.allprojects {
         String tagIsh
         try {
             exec {
-                commandLine 'git', 'describe', '--tags', '--exclude="Dev"'
+                commandLine 'git', 'describe', '--tags', '--exclude="Dev"', '--exclude="dev"'
                 standardOutput = stdout
             }
             tagIsh = stdout.toString().trim().toLowerCase()
         } catch(Exception e) {
             tagIsh = "dev-Unknown"
         }
-        boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
-        if(isDev) tagIsh = "dev-" + tagIsh
+//        boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
+//        if(isDev) tagIsh = "dev-" + tagIsh
         println("Picked up version: " + tagIsh)
         return tagIsh
     }