Update WPILib to 2022.1.1-beta-3-1-g4ba80a3 (#337 )

This fixes raspberry pi crashes
Explicitly specify JDK11 for photon-targeting (#334 )
2026-06-23 01:21:40 +00:00 · 2021-11-28 07:34:13 -06:00 · 2021-11-27 00:22:51 -05:00 · 2021-11-26 09:44:05 -05:00 · 2021-11-25 15:43:29 -05:00 · 2021-11-25 15:42:58 -05:00
649 changed files with 3331 additions and 2155 deletions
--- a/photon-lib/.clang-format
+++ b/photon-lib/.clang-format
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,3 +1,2 @@
 # These owners will be the default owners for everything in the repo.
 *	@PhotonVision/program-devs
-
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -31,7 +31,7 @@ jobs:
    steps:
    # Checkout code.
    - uses: actions/checkout@v1
-    
+
    # Setup Node.js
    - name: Setup Node.js
      uses: actions/setup-node@v1
@@ -61,7 +61,7 @@ jobs:
      # Fetch tags.
      - name: Fetch tags
        run: git fetch --tags --force
-        
+
      # Install Java 11.
      - name: Install Java 11
        uses: actions/setup-java@v1
@@ -72,12 +72,16 @@ jobs:
      - name: Gradle Build
        run: |
          chmod +x gradlew
-          ./gradlew build -x check
+          ./gradlew build -x check --max-workers 1
+
+      # Run Gradle Tests.
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --max-workers 1
+
+      # Generate Coverage Report.
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport --max-workers 1

-      # Run Tests Generate Coverage Report.
-      - name: Gradle Test and Coverage
-        run: ./gradlew jacocoTestReport
-      
      # Publish Coverage Report.
      - name: Publish Server Coverage Report
        uses: codecov/codecov-action@v1
@@ -103,18 +107,18 @@ jobs:
      - uses: actions/setup-python@v2
        with:
          python-version: '3.6'
-        
+
      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
          pip install -r requirements.txt
-          
+
      - name: Check the docs
        run: |
          make linkcheck
          make lint
-          
+
      - name: Build the docs
        run: |
          make html
@@ -125,62 +129,10 @@ 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
-    
+
    steps:
      # Checkout code.
      - uses: actions/checkout@v1
@@ -189,12 +141,13 @@ jobs:
      - uses: actions/setup-java@v1
        with:
          java-version: 11
-      
+
      # Check server code with Spotless.
      - run: |
          chmod +x gradlew
          ./gradlew spotlessCheck

+
  photon-release:
    if: startsWith(github.ref, 'refs/tags/v')
    needs: [photon-build-package]
@@ -203,6 +156,30 @@ jobs:
      - uses: actions/download-artifact@v2
        with:
          name: jar
+
+      - run: |
+          NEW_JAR=$(realpath $(find . -name photonvision\*.jar))
+          sudo apt install unzip zip
+          curl -sk https://api.github.com/repos/photonvision/photon-pi-gen/releases/latest | grep "browser_download_url.*zip" | cut -d : -f 2,3 | tr -d '"' | wget -qi -
+          FILE_NAME=$(ls | grep image_*.zip)
+          unzip $FILE_NAME
+          IMAGE_FILE=$(ls | grep *.img)
+          TMP=$(mktemp -d)
+          LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
+          sudo mount ${LOOP}p2 $TMP
+          pushd .
+          cd $TMP/opt/photonvision
+          ls
+          sudo cp $NEW_JAR photonvision.jar
+          popd
+          sudo umount ${TMP}
+          sudo rmdir ${TMP}
+          rm $FILE_NAME
+          NEW_IMAGE=$(basename "${NEW_JAR/jar/img}")
+          mv $IMAGE_FILE $NEW_IMAGE
+          zip -r $(basename "${NEW_JAR/jar/zip}") $NEW_IMAGE
+          rm $NEW_IMAGE
+
      - uses: softprops/action-gh-release@v1
        with:
          files: '**/*'
@@ -225,14 +202,17 @@ 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
-      - run: ./gradlew photon-lib:publish
+          ./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 }}
@@ -243,7 +223,7 @@ jobs:
      fail-fast: false
      matrix:
        include:
-          - container: wpilib/roborio-cross-ubuntu:2020-18.04
+          - container: wpilib/roborio-cross-ubuntu:2022-18.04
            artifact-name: Athena
          - container: wpilib/raspbian-cross-ubuntu:10-18.04
            artifact-name: Raspbian
@@ -254,13 +234,15 @@ 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: |
          chmod +x gradlew
-          ./gradlew photon-lib:build
+          ./gradlew photon-lib:build --max-workers 1
      - run: |
          chmod +x gradlew
          ./gradlew photon-lib:publish
@@ -283,12 +265,102 @@ jobs:
        with:
          python-version: 3.8
      - name: Install clang-format
-        run: sudo apt-get update -q && sudo apt-get install clang-format-10
+        run: |
+          sudo sh -c "echo 'deb http://archive.ubuntu.com/ubuntu/ $(lsb_release -cs)-proposed restricted main multiverse universe' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo apt-get update -q
+          sudo apt-get install -y clang-format-12
      - name: Install wpiformat
        run: pip3 install wpiformat
      - name: Run
-        run: |
-            ls -la
-            wpiformat -clang 10 -f photon-lib
+        run: wpiformat -clang 12
      - name: Check Output
        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
+
+  photon-build-package:
+    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs, photonlib-build-host, photonlib-build-docker]
+
+    # The type of runner that the job will run on.
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checkout code.
+      - uses: actions/checkout@v1
+
+      # Install Java 11.
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+
+      # Clear any existing web resources.
+      - run: |
+          rm -rf photon-server/src/main/resources/web/*
+          mkdir -p photon-server/src/main/resources/web/docs
+
+      # Download client artifact to resources folder.
+      - uses: actions/download-artifact@v2
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+
+      # Download docs artifact to resources folder.
+      - uses: actions/download-artifact@v2
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+
+      # Build fat jar.
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 1
+
+      - name: Generate image
+        run: |
+          NEW_JAR=$(realpath $(find . -name photonvision\*.jar))
+          sudo apt install unzip zip
+          curl -sk https://api.github.com/repos/photonvision/photon-pi-gen/releases/latest | grep "browser_download_url.*zip" | cut -d : -f 2,3 | tr -d '"' | wget -qi -
+          FILE_NAME=$(ls | grep image_*.zip)
+          unzip $FILE_NAME
+          IMAGE_FILE=$(ls | grep *.img)
+          TMP=$(mktemp -d)
+          LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
+          sudo mount ${LOOP}p2 $TMP
+          pushd .
+          cd $TMP/opt/photonvision
+          ls
+          sudo cp $NEW_JAR photonvision.jar
+          popd
+          sudo umount ${TMP}
+          sudo rmdir ${TMP}
+          rm $FILE_NAME
+          NEW_IMAGE=$(basename "${NEW_JAR/jar/img}")
+          mv $IMAGE_FILE $NEW_IMAGE
+          zip -r $(basename "${NEW_JAR/jar/zip}") $NEW_IMAGE
+          rm $NEW_IMAGE
+
+      # Upload final fat jar as artifact.
+      - uses: actions/upload-artifact@master
+        with:
+          name: jar
+          path: photon-server/build/libs
+      - uses: actions/upload-artifact@master
+        with:
+          name: image
+          path: image*.zip
+
+      - uses: eine/tip@master
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            photon-server/build/libs/*.jar
+            image*.zip
+        if: github.event_name == 'push'
--- a/.gitignore
+++ b/.gitignore
@@ -115,6 +115,14 @@ fabric.properties
 **/dependency-reduced-pom.xml
 # photon-server/photon-vision.iml

+# compile_commands
+compile_commands.json
+
+# clang configuration and clangd cache
+.clang
+.clangd/
+.cache/
+
 New client/photon-client/*

 *.prefs
--- a/photon-lib/.styleguide
+++ b/photon-lib/.styleguide
@@ -9,12 +9,23 @@ cppSrcFileInclude {
  \.cpp$
 }

+modifiableFileExclude {
+  \.jpg$
+  \.png$
+  \.so$
+}
+
 includeProject {
  ^photonLib/
 }

 includeOtherLibs {
  ^frc/
+  ^networktables/
  ^units/
  ^wpi/
 }
+
+licenseUpdateExclude {
+  \.java$
+}
--- a/photon-lib/.styleguide-license
+++ b/photon-lib/.styleguide-license
--- a/LicenseHeader.txt
+++ b/LicenseHeader.txt
@@ -14,4 +14,3 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ A list of contributors is available in our documentation on ReadTheDocs.
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.


-* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv). 
+* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).

 * [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)

@@ -27,5 +27,5 @@ PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vis

 * [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)

-## License  
+## License
 PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)
--- a/build.gradle
+++ b/build.gradle
@@ -2,9 +2,9 @@ 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.GradleJni" version "1.0.0"
+    id "edu.wpi.first.GradleVsCode" version "1.0.0"
+    id "edu.wpi.first.NativeUtils" version "2022.4.4" apply false
    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
    id "org.hidetake.ssh" version "2.10.1"
 }
@@ -22,8 +22,8 @@ allprojects {
 apply from: "versioningHelper.gradle"

 ext {
-    wpilibVersion = "2021.2.1"
-    opencvVersion = "3.4.7-5"
+    wpilibVersion = "2022.1.1-beta-3-1-g4ba80a3"
+    opencvVersion = "4.5.2-1"
    joglVersion = "2.4.0-rc-20200307"
    pubVersion = versionString
    isDev = pubVersion.startsWith("dev")
@@ -41,5 +41,6 @@ spotless {
        target "**/*.java"
        licenseHeaderFile "$rootDir/LicenseHeader.txt"
        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
+        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
    }
 }
--- a/codecov.yml
+++ b/codecov.yml
@@ -2,4 +2,4 @@ coverage:
  # Turning off commit status to prevent failed checks if coverage decreases
  status:
    project: no
-    patch: no 
+    patch: no
--- a/gradle/wrapper/gradle-wrapper.jar
+++ b/gradle/wrapper/gradle-wrapper.jar
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-bin.zip
-distributionSha256Sum=3239b5ed86c3838a37d983ac100573f64c1f3fd8e1eb6c89fa5f9529b5ec091d
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
--- a/2
+++ b/2
@@ -82,6 +82,7 @@ esac

 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar

+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
@@ -129,6 +130,7 @@ fi
 if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
    JAVACMD=`cygpath --unix "$JAVACMD"`

    # We build the pattern for arguments to be converted via cygpath
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -1,100 +1,89 @@
-@rem
-@rem Copyright 2015 the original author or authors.
-@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
-@rem you may not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
-@rem
-@rem      https://www.apache.org/licenses/LICENSE-2.0
-@rem
-@rem Unless required by applicable law or agreed to in writing, software
-@rem distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
-@rem
-
-@if "%DEBUG%" == "" @echo off
-@rem ##########################################################################
-@rem
-@rem  Gradle startup script for Windows
-@rem
-@rem ##########################################################################
-
-@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal
-
-set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
-set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
-
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
-
-@rem Find java.exe
-if defined JAVA_HOME goto findJavaFromJavaHome
-
-set JAVA_EXE=java.exe
-%JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
-
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:findJavaFromJavaHome
-set JAVA_HOME=%JAVA_HOME:"=%
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-
-if exist "%JAVA_EXE%" goto init
-
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
-:execute
-@rem Setup the command line
-
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-
-@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
-
-:end
-@rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
-
-:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
--- a/photon-client/package-lock.json
+++ b/photon-client/package-lock.json
@@ -2118,16 +2118,6 @@
      "integrity": "sha512-Jus9s4CDbqwocc5pOAnh8ShfrnMcPHuJYzVcSUU7lrh8Ni5HuIqX3oilL86p3dlTrk0LzHRCgA/GQ7uNCw6l2Q==",
      "dev": true
    },
-    "@types/mini-css-extract-plugin": {
-      "version": "0.9.1",
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+      "dev": true,
+      "optional": true,
+      "requires": {
+        "chalk": "^4.1.0",
+        "hash-sum": "^2.0.0",
+        "loader-utils": "^2.0.0"
+      },
+      "dependencies": {
+        "ansi-styles": {
+          "version": "4.3.0",
+          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz",
+          "integrity": "sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==",
+          "dev": true,
+          "optional": true,
+          "requires": {
+            "color-convert": "^2.0.1"
+          }
+        },
+        "chalk": {
+          "version": "4.1.2",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-4.1.2.tgz",
+          "integrity": "sha512-oKnbhFyRIXpUuez8iBMmyEa4nbj4IOQyuhc/wy9kY7/WVPcwIO9VA668Pu8RkO7+0G76SLROeyw9CpQ061i4mA==",
+          "dev": true,
+          "optional": true,
+          "requires": {
+            "ansi-styles": "^4.1.0",
+            "supports-color": "^7.1.0"
+          }
+        },
+        "color-convert": {
+          "version": "2.0.1",
+          "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz",
+          "integrity": "sha512-RRECPsj7iu/xb5oKYcsFHSppFNnsj/52OVTRKb4zP5onXwVF3zVmmToNcOfGC+CRDpfK/U584fMg38ZHCaElKQ==",
+          "dev": true,
+          "optional": true,
+          "requires": {
+            "color-name": "~1.1.4"
+          }
+        },
+        "color-name": {
+          "version": "1.1.4",
+          "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.4.tgz",
+          "integrity": "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA==",
+          "dev": true,
+          "optional": true
+        },
+        "emojis-list": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/emojis-list/-/emojis-list-3.0.0.tgz",
+          "integrity": "sha512-/kyM18EfinwXZbno9FyUGeFh87KC8HRQBQGildHZbEuRyWFOmv1U10o9BBp8XVZDVNNuQKyIGIu5ZYAAXJ0V2Q==",
+          "dev": true,
+          "optional": true
+        },
+        "has-flag": {
+          "version": "4.0.0",
+          "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
+          "integrity": "sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==",
+          "dev": true,
+          "optional": true
+        },
+        "json5": {
+          "version": "2.2.0",
+          "resolved": "https://registry.npmjs.org/json5/-/json5-2.2.0.tgz",
+          "integrity": "sha512-f+8cldu7X/y7RAJurMEJmdoKXGB/X550w2Nr3tTbezL6RwEE/iMcm+tZnXeoZtKuOq6ft8+CqzEkrIgx1fPoQA==",
+          "dev": true,
+          "optional": true,
+          "requires": {
+            "minimist": "^1.2.5"
+          }
+        },
+        "loader-utils": {
+          "version": "2.0.1",
+          "resolved": "https://registry.npmjs.org/loader-utils/-/loader-utils-2.0.1.tgz",
+          "integrity": "sha512-g4miPa9uUrZz4iElkaVJgDFwKJGh8aQGM7pUL4ejXl6cu7kSb30seQOVGNMP6sW8j7DW77X68hJZ+GM7UGhXeQ==",
+          "dev": true,
+          "optional": true,
+          "requires": {
+            "big.js": "^5.2.2",
+            "emojis-list": "^3.0.0",
+            "json5": "^2.1.2"
+          }
+        },
+        "supports-color": {
+          "version": "7.2.0",
+          "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz",
+          "integrity": "sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==",
+          "dev": true,
+          "optional": true,
+          "requires": {
+            "has-flag": "^4.0.0"
+          }
+        }
+      }
+    },
    "vue-native-websocket": {
      "version": "git+https://github.com/PhotonVision/vue-native-websocket.git#7a327918e03b215b6899b0d648c5130ece1fa912",
      "from": "git+https://github.com/PhotonVision/vue-native-websocket.git#7a32791",
--- a/photon-client/package.json
+++ b/photon-client/package.json
@@ -13,6 +13,7 @@
    "axios": "^0.19.2",
    "core-js": "^2.6.11",
    "downloadjs": "^1.4.7",
+    "jspdf": "^2.4.0",
    "material-design-icons-iconfont": "^5.0.1",
    "msgpack5": "^4.2.1",
    "vue": "^2.6.12",
--- a/photon-client/public/index.html
+++ b/photon-client/public/index.html
@@ -17,4 +17,4 @@
    <!-- built files will be auto injected -->
 </body>

-</html>
+</html>
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -91,25 +91,51 @@
          </v-list-item-content>
        </v-list-item>

-        <v-list-item style="position: absolute; bottom: 0; left: 0;">
-          <v-list-item-icon>
-            <v-icon v-if="$store.state.backendConnected">
-              mdi-wifi
-            </v-icon>
-            <v-icon
-              v-else
-              class="pulse"
-              style="border-radius: 100%;"
-            >
-              mdi-wifi-off
-            </v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>
-              {{ $store.state.backendConnected ? "Connected" : "Trying to connect..." }}
-            </v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
+        <div style="position: absolute; bottom: 0; left: 0;">
+          <v-list-item>
+            <v-list-item-icon>
+              <v-icon v-if="$store.state.settings.networkSettings.runNTServer">mdi-server</v-icon>
+              <img v-else-if="$store.state.ntConnectionInfo.connected" src="@/assets/robot.svg" alt="">
+              <img v-else class="pulse" style="border-radius: 100%" src="@/assets/robot-off.svg" alt="">
+            </v-list-item-icon>
+            <v-list-item-content>
+              <v-list-item-title class="text-wrap" v-if="$store.state.settings.networkSettings.runNTServer">
+                NetworkTables server running for {{$store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero'}} clients!
+              </v-list-item-title>
+              <v-list-item-title class="text-wrap" v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected">
+                Robot connected! {{$store.state.ntConnectionInfo.address}}
+              </v-list-item-title>
+              <v-list-item-title class="text-wrap" v-else>
+                Not connected to robot!
+              </v-list-item-title>
+              <a
+                  href="/#/settings"
+                  style="color:#FFD843"
+              >{{"Team: " + $store.state.settings.networkSettings.teamNumber}}</a>
+            </v-list-item-content>
+          </v-list-item>
+
+          <v-list-item>
+            <v-list-item-icon>
+              <v-icon v-if="$store.state.backendConnected">
+                mdi-wifi
+              </v-icon>
+              <v-icon
+                  v-else
+                  class="pulse"
+                  style="border-radius: 100%;"
+              >
+                mdi-wifi-off
+              </v-icon>
+            </v-list-item-icon>
+            <v-list-item-content>
+              <v-list-item-title class="text-wrap">
+                {{ $store.state.backendConnected ? "Backend Connected" : "Trying to connect..." }}
+              </v-list-item-title>
+            </v-list-item-content>
+          </v-list-item>
+        </div>
+
      </v-list>
    </v-navigation-drawer>
    <v-main>
@@ -132,13 +158,35 @@
    >
      <logs />
    </v-dialog>
+    <v-dialog
+        v-model="needsTeamNumberSet"
+        width="500"
+        dark
+        persistent
+    >
+      <v-card
+          dark
+          color="primary"
+          flat
+      >
+        <v-card-title>No team number set!</v-card-title>
+        <v-card-text>
+          PhotonVision cannot connect to your robot! Please
+          <a
+              href="/#/settings"
+              style="color:#FFD843"
+          >head to the settings page</a> and set your team number.
+        </v-card-text>
+      </v-card>
+    </v-dialog>
  </v-app>
 </template>

 <script>
 import Logs from "./views/LogsView"
+// import {mapState} from "vuex";

-    export default {
+export default {
        name: 'App',
        components: {
            Logs
@@ -147,8 +195,16 @@ import Logs from "./views/LogsView"
            // Used so that we can switch back to the previously selected pipeline after camera calibration
            previouslySelectedIndices: [],
            timer: undefined,
+            teamNumberDialog: true
        }),
        computed: {
+            needsTeamNumberSet: {
+              get() {
+                return this.$store.state.settings.networkSettings.teamNumber < 1
+                    && this.teamNumberDialog && this.$store.state.backendConnected
+                    && !this.$route.name.toLowerCase().includes("settings");
+              }
+            },
            compact: {
                get() {
                    if (this.$store.state.compactMode === undefined) {
@@ -163,6 +219,12 @@ import Logs from "./views/LogsView"
                    localStorage.setItem("compactMode", value);
                },
            },
+            // ...mapState({
+              // ntServerMode: state => state.settings.networkSettings.runNTServer,
+              // ntClients: state => state.ntConnectionInfo.clients,
+              // ntConnected: state => state.ntConnectionInfo.connected,
+              // backendConnected: state => state.backendConnected
+            // })
        },
        created() {
            document.addEventListener("keydown", e => {
@@ -197,12 +259,12 @@ import Logs from "./views/LogsView"
                }
            };
            this.$options.sockets.onopen = () => {
-                this.$store.state.backendConnected = true;
+                this.$store.commit("backendConnected", true)
                this.$store.state.connectedCallbacks.forEach(it => it())
            };

            let closed = () => {
-                this.$store.state.backendConnected = false;
+              this.$store.commit("backendConnected", false)
            };
            this.$options.sockets.onclose = closed;
            this.$options.sockets.onerror = closed;
@@ -214,7 +276,7 @@ import Logs from "./views/LogsView"
                if (key === "logMessage") {
                    this.logMessage(value["logMessage"], value["logLevel"]);
                } else if(key === "log"){
-                    this.logMessage(value["logMessage"]["logMessage"], value["logMessage"]["logLevel"]); 
+                    this.logMessage(value["logMessage"]["logMessage"], value["logMessage"]["logLevel"]);
                } else if (key === "updatePipelineResult") {
                    this.$store.commit('mutatePipelineResults', value)
                } else if (this.$store.state.hasOwnProperty(key)) {
@@ -343,4 +405,4 @@ import Logs from "./views/LogsView"
            font-size: 14px !important;
        }
    }
-</style>
+</style>
--- a/photon-client/src/assets/logoMono.png
+++ b/photon-client/src/assets/logoMono.png
--- a/photon-client/src/assets/robot-off.svg
+++ b/photon-client/src/assets/robot-off.svg
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="24" height="24" viewBox="0 0 24 24"><path fill="white" d="M23 15V18C23 18.5 22.64 18.88 22.17 18.97L18.97 15.77C19 15.68 19 15.59 19 15.5C19 14.12 17.88 13 16.5 13C16.41 13 16.32 13 16.23 13.03L10.2 7H11V5.73C10.4 5.39 10 4.74 10 4C10 2.9 10.9 2 12 2S14 2.9 14 4C14 4.74 13.6 5.39 13 5.73V7H14C17.87 7 21 10.13 21 14H22C22.55 14 23 14.45 23 15M22.11 21.46L20.84 22.73L19.89 21.78C19.62 21.92 19.32 22 19 22H5C3.9 22 3 21.11 3 20V19H2C1.45 19 1 18.55 1 18V15C1 14.45 1.45 14 2 14H3C3 11.53 4.29 9.36 6.22 8.11L1.11 3L2.39 1.73L22.11 21.46M10 15.5C10 14.12 8.88 13 7.5 13S5 14.12 5 15.5 6.12 18 7.5 18 10 16.88 10 15.5M16.07 17.96L14.04 15.93C14.23 16.97 15.04 17.77 16.07 17.96Z" /></svg>
--- a/photon-client/src/assets/robot.svg
+++ b/photon-client/src/assets/robot.svg
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="24" height="24" viewBox="0 0 24 24"><path fill="white" d="M12,2C13.1,2 14,2.9 14,4C14,4.74 13.6,5.39 13,5.73V7H14C17.87,7 21,10.13 21,14H22C22.55,14 23,14.45 23,15V18C23,18.55 22.55,19 22,19H21V20C21,21.1 20.1,22 19,22H5C3.9,22 3,21.1 3,20V19H2C1.45,19 1,18.55 1,18V15C1,14.45 1.45,14 2,14H3C3,10.13 6.13,7 10,7H11V5.73C10.4,5.39 10,4.74 10,4C10,2.9 10.9,2 12,2M7.5,13C6.12,13 5,14.12 5,15.5C5,16.88 6.12,18 7.5,18C8.88,18 10,16.88 10,15.5C10,14.12 8.88,13 7.5,13M16.5,13C15.12,13 14,14.12 14,15.5C14,16.88 15.12,18 16.5,18C17.88,18 19,16.88 19,15.5C19,14.12 17.88,13 16.5,13Z" /></svg>
--- a/photon-client/src/components/common/cv-icon.vue
+++ b/photon-client/src/components/common/cv-icon.vue
@@ -51,4 +51,4 @@
    .hover:hover {
        color: white !important;
    }
-</style>
+</style>
--- a/photon-client/src/components/common/cv-image.vue
+++ b/photon-client/src/components/common/cv-image.vue
@@ -59,4 +59,4 @@
            }
        },
    }
-</script>
+</script>
--- a/photon-client/src/components/common/cv-input.vue
+++ b/photon-client/src/components/common/cv-input.vue
@@ -61,4 +61,4 @@ s
 </script>

 <style lang="css" scoped>
-</style>
+</style>
--- a/photon-client/src/components/common/cv-number-input.vue
+++ b/photon-client/src/components/common/cv-number-input.vue
@@ -54,4 +54,4 @@

 <style lang="" scoped>

-</style>
+</style>
--- a/photon-client/src/components/common/cv-radio.vue
+++ b/photon-client/src/components/common/cv-radio.vue
@@ -41,4 +41,4 @@

 <style lang="" scoped>

-</style>
+</style>
--- a/photon-client/src/components/common/cv-range-slider.vue
+++ b/photon-client/src/components/common/cv-range-slider.vue
@@ -15,6 +15,7 @@
          :value="localValue"
          :max="max"
          :min="min"
+          :disabled="disabled"
          hide-details
          class="align-center"
          dark
@@ -34,7 +35,7 @@
              hide-details
              single-line
              type="number"
-              style="width: 50px"
+              style="width: 60px"
              :step="step"
              @input="handleChange"
              @focus="prependFocused = true"
@@ -53,7 +54,7 @@
              hide-details
              single-line
              type="number"
-              style="width: 50px"
+              style="width: 60px"
              :step="step"
              @input="handleChange"
              @focus="appendFocused = true"
@@ -75,7 +76,7 @@ export default {
    TooltippedLabel,
  },
  // eslint-disable-next-line vue/require-prop-types
-  props: ["name", "min", "max", "value", "step", "tooltip"],
+  props: ["name", "min", "max", "value", "step", "tooltip", "disabled"],
  data() {
    return {
      prependFocused: false,
@@ -128,4 +129,4 @@ export default {
 </script>

 <style lang="" scoped>
-</style>
+</style>
--- a/photon-client/src/components/common/cv-select.vue
+++ b/photon-client/src/components/common/cv-select.vue
@@ -62,4 +62,4 @@ import TooltippedLabel from "./cv-tooltipped-label";
 </script>

 <style>
-</style>
+</style>
--- a/photon-client/src/components/common/cv-slider.vue
+++ b/photon-client/src/components/common/cv-slider.vue
@@ -105,4 +105,4 @@ export default {
 </script>

 <style lang="" scoped>
-</style>
+</style>
--- a/photon-client/src/components/common/cv-switch.vue
+++ b/photon-client/src/components/common/cv-switch.vue
@@ -48,4 +48,4 @@ export default {

 <style lang="" scoped>

-</style>
+</style>
--- a/photon-client/src/components/common/cv-tooltipped-label.vue
+++ b/photon-client/src/components/common/cv-tooltipped-label.vue
@@ -24,4 +24,4 @@
        // eslint-disable-next-line vue/require-prop-types
        props: ['text', 'tooltip'],
    }
-</script>
+</script>
--- a/photon-client/src/components/pipeline/3D/MiniMap.vue
+++ b/photon-client/src/components/pipeline/3D/MiniMap.vue
@@ -151,4 +151,4 @@
        width: 80px;
        text-align: center;
    }
-</style>
+</style>
--- a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
+++ b/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
@@ -88,7 +88,11 @@
              menu
            </v-icon>
          </template>
-          <v-list dense>
+          <v-list
+            dark
+            dense
+            color="primary"
+          >
            <v-list-item @click="toPipelineNameChange">
              <v-list-item-title>
                <CVicon
@@ -119,7 +123,7 @@
                />
              </v-list-item-title>
            </v-list-item>
-            <v-list-item @click="openDuplicateDialog">
+            <v-list-item @click="duplicatePipeline">
              <v-list-item-title>
                <CVicon
                  color="#c5c5c5"
@@ -132,66 +136,51 @@
          </v-list>
        </v-menu>
      </v-col>
+      <v-col
+        v-if="currentPipelineType >= 0"
+        cols="10"
+        md="5"
+        lg="10"
+        class="pt-0 pb-0 pl-6 ml-16"
+      >
+        <CVselect
+          v-model="currentPipelineType"
+          name="Type"
+          :list="['Reflective', 'Shape']"
+          @input="e => showTypeDialog(e)"
+        />
+      </v-col>
    </v-row>
-    <!--pipeline duplicate dialog-->
-    <v-dialog
-      v-model="duplicateDialog"
-      dark
-      width="500"
-      height="357"
-    >
-      <v-card dark>
-        <v-card-title
-          class="headline"
-          primary-title
-        >
-          Duplicate Pipeline
-        </v-card-title>
-        <v-card-text>
-          <CVselect
-            v-model="pipeIndexToDuplicate"
-            name="Pipeline"
-            :list="$store.getters.pipelineList"
-          />
-        </v-card-text>
-        <v-divider />
-        <v-card-actions>
-          <v-spacer />
-          <v-btn
-            color="#ffd843"
-            @click="duplicatePipeline"
-          >
-            Duplicate
-          </v-btn>
-          <v-btn
-            color="error"
-            @click="closeDuplicateDialog"
-          >
-            Cancel
-          </v-btn>
-        </v-card-actions>
-      </v-card>
-    </v-dialog>
+
    <!--pipeline naming dialog-->
    <v-dialog
      v-model="namingDialog"
      dark
+      persistent
      width="500"
      height="357"
    >
-      <v-card dark>
+      <v-card
+        dark
+        color="primary"
+      >
        <v-card-title
          class="headline"
          primary-title
        >
-          Pipeline Name
+          {{ isPipelineNameEdit ? "Edit Pipeline Name" : "Create Pipeline" }}
        </v-card-title>
        <v-card-text>
          <CVinput
            v-model="newPipelineName"
            name="Pipeline"
            :error-message="checkPipelineName"
-            @Enter="savePipelineNameChange"
+          />
+          <CVselect
+            v-model="newPipelineType"
+            name="Pipeline Type"
+            :list="['Reflective', 'Shape']"
+            :disabled="isPipelineNameEdit"
          />
        </v-card-text>
        <v-divider />
@@ -213,163 +202,207 @@
        </v-card-actions>
      </v-card>
    </v-dialog>
+    <v-dialog
+      v-model="showPipeTypeDialog"
+      width="600"
+    >
+      <v-card
+        color="primary"
+        dark
+      >
+        <v-card-title>Change Pipeline Type</v-card-title>
+        <v-card-text>
+          Changing the type of this pipeline will erase the current pipeline's settings and replace it with a new {{ ['Reflective', 'Shape'][proposedPipelineType] }} pipeline. <b class="red--text format_bold">You will lose all settings for the pipeline
+            "{{ ($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>

-</style>
+</style>
--- a/photon-client/src/components/pipeline/OutputTab/DualCalibration.vue
+++ b/photon-client/src/components/pipeline/OutputTab/DualCalibration.vue
@@ -60,4 +60,4 @@

 <style scoped>

-</style>
+</style>
--- a/photon-client/src/components/pipeline/OutputTab/SingleCalibration.vue
+++ b/photon-client/src/components/pipeline/OutputTab/SingleCalibration.vue
@@ -45,4 +45,4 @@

 <style scoped>

-</style>
+</style>
--- a/photon-client/src/jsPDFFonts/Prompt-Regular-normal.js
+++ b/photon-client/src/jsPDFFonts/Prompt-Regular-normal.js
--- a/photon-client/src/jsPDFFonts/readme.md
+++ b/photon-client/src/jsPDFFonts/readme.md
@@ -0,0 +1,7 @@
+# JSPDF Fonts
+
+These are .js interpretations of the .tff files in the branding folder. They are used by jspdf to apply branding-approprate fonts to any .pdf file generation (ex: calibration targets)
+
+https://peckconsulting.s3.amazonaws.com/fontconverter/fontconverter.html is the converter used to generate them.
+
+https://www.devlinpeck.com/tutorials/jspdf-custom-font has more info creating/using them.
--- a/photon-client/src/main.js
+++ b/photon-client/src/main.js
@@ -29,9 +29,11 @@ Vue.use(VueAxios, axios);
 Vue.prototype.$msgPack = msgPack(true);

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

+import {stateMixin} from './mixins/global/stateMixin'
+Vue.mixin(stateMixin);
+
 new Vue({
    router,
    store,
--- a/photon-client/src/mixins/global/stateMixin.js
+++ b/photon-client/src/mixins/global/stateMixin.js
@@ -0,0 +1,10 @@
+export const stateMixin = {
+    methods: {
+        currentPipelineType() {
+            return this.$store.getters.pipelineType
+        },
+        currentPipelineSettings() {
+            return this.$store.getters.currentPipelineSettings
+        },
+    }
+};
--- a/photon-client/src/plugins/ColorPicker.js
+++ b/photon-client/src/plugins/ColorPicker.js
@@ -122,4 +122,4 @@ function shrinkRange(range, color) {
 }


-export default {initColorPicker, colorPickerClick, eyeDrop, expand, shrink}
+export default {initColorPicker, colorPickerClick, eyeDrop, expand, shrink}
--- a/photon-client/src/scss/variables.scss
+++ b/photon-client/src/scss/variables.scss
@@ -5,4 +5,4 @@ $body-font-family: $default-font;
 $heading-font-family: $default-font;
 .v-application {
    font-family: $default-font !important;
-}
+}
--- a/photon-client/src/store/index.js
+++ b/photon-client/src/store/index.js
@@ -15,6 +15,13 @@ export default new Vuex.Store({
    },
    state: {
        backendConnected: false,
+        ntConnectionInfo: {
+            connected: false,
+            address: "",
+            clients: 0,
+            possibleRios: ["Loading..."],
+            deviceips: ["Loading..."],
+        },
        connectedCallbacks: [],
        colorPicking: false,
        logsOverlay: false,
@@ -42,7 +49,7 @@ export default new Vuex.Store({
                isFovConfigurable: true,
                calibrated: false,
                currentPipelineSettings: {
-                    pipelineType: 2, // One of "driver", "reflective", "shape"
+                    pipelineType: 2, // One of "calib", "driver", "reflective", "shape"
                    // 2 is reflective

                    // Settings that apply to all pipeline types
@@ -143,6 +150,8 @@ export default new Vuex.Store({
        settings: set('settings'),
        calibrationData: set('calibrationData'),
        metrics: set('metrics'),
+        ntConnectionInfo: set('ntConnectionInfo'),
+        backendConnected: set('backendConnected'),
        logString: (state, newStr) => {
            const str = state.logMessages;
            str.push(newStr);
@@ -245,5 +254,6 @@ export default new Vuex.Store({
        },
        pipelineList: state => state.cameraSettings[state.currentCameraIndex].pipelineNicknames,
        calibrationList: state => state.cameraSettings[state.currentCameraIndex].calibrations,
+        pipelineType: state => state.cameraSettings[state.currentCameraIndex].currentPipelineSettings.pipelineType
    }
-})
+})
--- a/photon-client/src/store/modules/undoRedo.js
+++ b/photon-client/src/store/modules/undoRedo.js
@@ -69,4 +69,4 @@ export default {
        }
    }

-};
+};
--- a/photon-client/src/theme.js
+++ b/photon-client/src/theme.js
@@ -5,4 +5,4 @@ const theme = Object.freeze({
    background: "#232C37",
 });

-export default theme;
+export default theme;
--- a/photon-client/src/views/CamerasView.vue
+++ b/photon-client/src/views/CamerasView.vue
@@ -66,43 +66,51 @@
                cols="12"
                md="6"
              >
-                <CVselect
-                  v-model="selectedFilteredResIndex"
-                  name="Resolution"
-                  select-cols="7"
-                  :list="stringResolutionList"
-                  :disabled="isCalibrating"
-                  tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
-                />
-                <CVselect
-                  v-model="boardType"
-                  name="Board Type"
-                  select-cols="7"
-                  :list="['Chessboard', 'Dot Grid']"
-                  :disabled="isCalibrating"
-                  tooltip="Calibration board pattern to use"
-                />
-                <CVnumberinput
-                  v-model="squareSizeIn"
-                  name="Pattern Spacing (in)"
-                  label-cols="5"
-                  tooltip="Spacing between pattern features in inches"
-                  :disabled="isCalibrating"
-                />
-                <CVnumberinput
-                  v-model="boardWidth"
-                  name="Board width"
-                  label-cols="5"
-                  tooltip="Width of the board in dots or chessboard squares; with the standard chessboard, this is usually 8"
-                  :disabled="isCalibrating"
-                />
-                <CVnumberinput
-                  v-model="boardHeight"
-                  name="Board height"
-                  label-cols="5"
-                  tooltip="Height of the board in dots or chessboard squares; with the standard chessboard, this is usually 8"
-                  :disabled="isCalibrating"
-                />
+                <v-form
+                  ref="form"
+                  v-model="settingsValid"
+                >
+                  <CVselect
+                    v-model="selectedFilteredResIndex"
+                    name="Resolution"
+                    select-cols="7"
+                    :list="stringResolutionList"
+                    :disabled="isCalibrating"
+                    tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
+                  />
+                  <CVselect
+                    v-model="boardType"
+                    name="Board Type"
+                    select-cols="7"
+                    :list="['Chessboard', 'Dot Grid']"
+                    :disabled="isCalibrating"
+                    tooltip="Calibration board pattern to use"
+                  />
+                  <CVnumberinput
+                    v-model="squareSizeIn"
+                    name="Pattern Spacing (in)"
+                    label-cols="5"
+                    tooltip="Spacing between pattern features in inches"
+                    :disabled="isCalibrating"
+                    :rules="[v => (v > 0) || 'Size must be positive']"
+                  />
+                  <CVnumberinput
+                    v-model="boardWidth"
+                    name="Board width"
+                    label-cols="5"
+                    tooltip="Width of the board in dots or chessboard squares"
+                    :disabled="isCalibrating"
+                    :rules="[v => (v >= 4) || 'Width must be at least 4']"
+                  />
+                  <CVnumberinput
+                    v-model="boardHeight"
+                    name="Board height"
+                    label-cols="5"
+                    tooltip="Height of the board in dots or chessboard squares"
+                    :disabled="isCalibrating"
+                    :rules="[v => (v >= 4) || 'Height must be at least 4']"
+                  />
+                </v-form>
              </v-col>

              <!-- Calibrated table -->
@@ -227,19 +235,14 @@
                  small
                  outlined
                  style="width: 100%;"
+                  :disabled="!settingsValid"
                  @click="downloadBoard"
                >
                  <v-icon left>
                    mdi-download
                  </v-icon>
-                  Download Chessboard
+                  Download Target
                </v-btn>
-                <a
-                  ref="calibrationFile"
-                  style="color: black; text-decoration: none; display: none"
-                  :href="require('../assets/chessboard.png')"
-                  download="chessboard.png"
-                />
              </v-col>
            </v-row>
          </div>
@@ -325,6 +328,8 @@ import CVnumberinput from '../components/common/cv-number-input';
 import CVslider from '../components/common/cv-slider';
 import CVimage from "../components/common/cv-image";
 import TooltippedLabel from "../components/common/cv-tooltipped-label";
+import jsPDF from "jspdf";
+import "../jsPDFFonts/Prompt-Regular-normal.js";

 export default {
    name: 'Cameras',
@@ -341,11 +346,12 @@ export default {
            calibrationInProgress: false,
            calibrationFailed: false,
            filteredVideomodeIndex: 0,
+            settingsValid: true,
        }
    },
    computed: {
        disallowCalibration() {
-            return !(this.calibrationData.boardType === 0 || this.calibrationData.boardType === 1);
+            return !(this.calibrationData.boardType === 0 || this.calibrationData.boardType === 1) || !this.settingsValid;
        },
        checkCancellation() {
            if (this.isCalibrating) {
@@ -486,9 +492,97 @@ export default {
            return ret;
        },
        downloadBoard() {
-            this.axios.get("http://" + this.$address + require('../assets/chessboard.png'), {responseType: 'blob'}).then((response) => {
-                require('downloadjs')(response.data, "Calibration Board", "image/png");
-            });
+            // Generates a .pdf of a board for calibration and downloads it
+
+            //Murica paper.
+            var doc = new jsPDF({unit: 'in', format:'letter'});
+            var paper_x = 8.5;
+            var paper_y = 11.0;
+
+            //Load in custom fonts
+            console.log(doc.getFontList());
+            doc.setFont('Prompt-Regular');
+            doc.setFontSize(12);
+
+            // Common Parameters
+            var num_x = this.boardWidth;
+            var num_y = this.boardHeight;
+            var patternSize = this.squareSizeIn;
+            var isCheckerboard = (this.boardType==0);
+
+            var x_coord = 0.0;
+            var y_coord = 0.0;
+            var x_idx = 0;
+            var y_idx = 0;
+            var start_x = 0;
+            var start_y = 0;
+
+            var annotation = num_x + " x " + num_y + " | " + patternSize + "in "
+
+            if(isCheckerboard){
+              ///////////////////////////////////////////
+              // Checkerboard Pattern
+
+              start_x = paper_x/2.0 - (num_x * patternSize)/2.0;
+              start_y = paper_y/2.0 - (num_y * patternSize)/2.0;
+
+              for(y_idx = 0; y_idx < num_y; y_idx++){
+                for(x_idx = 0; x_idx < num_x; x_idx++){
+
+                  x_coord = start_x + x_idx * patternSize;
+                  y_coord = start_y + y_idx * patternSize;
+                  if((x_idx + y_idx) % 2 == 0){
+                    doc.rect(x_coord, y_coord, patternSize, patternSize, "F");
+                  }
+                }
+              }
+
+            } else {
+              ///////////////////////////////////////////
+              // Assymetric Dot-Grid Pattern
+              // see https://github.com/opencv/opencv/blob/b450dd7a87bc69997a8417d94bdfb87427a9fe62/modules/calib3d/src/circlesgrid.cpp#L437
+              // as well as FindBoardCornersPipe.java's Dotboard implementation
+
+              start_x = paper_x/2.0 - ((2*(num_x-1) + (num_y-1) % 2) * patternSize)/2.0;
+              start_y = paper_y/2.0 - (num_y-1 * patternSize)/2.0;
+
+              // Dot Grid Pattern
+              for(y_idx = 0; y_idx < num_y; y_idx++){
+                for(x_idx = 0; x_idx < num_x; x_idx++){
+                  x_coord = start_x + (2*x_idx + y_idx % 2) * patternSize;
+                  y_coord = start_y + y_idx * patternSize;
+                  doc.circle(x_coord, y_coord, patternSize/4.0, "F");
+                }
+              }
+            }
+
+            ///////////////////////////////////////////
+            // Draw a fixed size inch ruler pattern to
+            // help users debug their printers
+            var lineStartX = 1.0;
+            var lineEndX = paper_x - lineStartX;
+            var lineY = paper_y - 1.0;
+            doc.setFont('Prompt-Regular');
+            doc.setLineWidth(0.01);
+            doc.line(lineStartX, lineY, lineEndX, lineY);
+            var segIdx = 0;
+            for(var tickX = lineStartX; tickX <= lineEndX; tickX += 1.0){
+              doc.line(tickX, lineY, tickX, lineY + 0.25);
+              doc.text(String(segIdx) + (segIdx == 0 ? " in" : ""), tickX + 0.1, lineY + 0.25);
+              segIdx++;
+            }
+
+
+            ///////////////////////////////////////////
+            // Annotate what was drawn + branding
+            var img = new Image();
+            img.src = require('@/assets/logoMono.png');
+            doc.addImage(img, 'PNG', 1.0, 0.75, 1.4, 0.5 );
+            doc.setFont('Prompt-Regular');
+            doc.text(annotation, paper_x-1.0, 1.0, {maxWidth:(paper_x - 2.0)/2, align:"right"});
+
+            doc.save("calibrationTarget.pdf");
+
        },
        sendCameraSettings() {
            this.axios.post("http://" + this.$address + "/api/settings/camera", {
@@ -563,4 +657,4 @@ export default {
 .v-data-table th, td {
    font-size: 1rem !important;
 }
-</style>
+</style>
--- a/photon-client/src/views/PipelineView.vue
+++ b/photon-client/src/views/PipelineView.vue
@@ -38,6 +38,13 @@
                <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
                <span v-else>stop viewing the color stream for better performance</span>
              </v-chip>
+              <v-chip small label color="red" text-color="white" v-if="!$store.state.ntConnectionInfo.connected || $store.state.settings.networkSettings.runNTServer">
+                <span>
+                {{ $store.state.settings.networkSettings.runNTServer ?
+                    "NetworkTables Server Enabled! Photonlib may not work" :
+                    "NetworkTables not connected!" }}
+                </span>
+              </v-chip>
              <v-switch
                v-model="driverMode"
                label="Driver Mode"
@@ -83,6 +90,7 @@
        >
          <v-card
            color="primary"
+            class="mt-3"
          >
            <!--            <v-btn @click="onCamNameChange">-->
            <!--              Reload-->
@@ -91,7 +99,7 @@
          </v-card>
          <v-card
            :disabled="$store.getters.isDriverMode || $store.state.colorPicking"
-            class="mt-3"
+            class="mt-6 mb-3"
            color="primary"
          >
            <v-row
@@ -421,6 +429,12 @@ export default {
                    .some(e => e.width === resolution.width && e.height === resolution.height)
          }
        },
+        isRobotConnected: {
+          get() {
+            // return this.$store.state.ntConnectionInfo.connected && this.$store.state.backendConnected;
+            return true;
+          }
+        }
    },
    created() {
        this.$store.state.connectedCallbacks.push(this.reloadStreams)
@@ -469,4 +483,4 @@ th {
    width: 80px;
    text-align: center;
 }
-</style>
+</style>
--- a/photon-client/src/views/PipelineViews/ContoursTab.vue
+++ b/photon-client/src/views/PipelineViews/ContoursTab.vue
@@ -1,162 +1,288 @@
 <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>

-</style>
+</style>
--- a/photon-client/src/views/PipelineViews/OutputTab.vue
+++ b/photon-client/src/views/PipelineViews/OutputTab.vue
@@ -156,4 +156,4 @@
 </script>

 <style scoped>
-</style>
+</style>
--- a/photon-client/src/views/PipelineViews/PnPTab.vue
+++ b/photon-client/src/views/PipelineViews/PnPTab.vue
@@ -60,7 +60,7 @@
        },
        data() {
            return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java 
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java
                snackbar: {
                    color: "Success",
                    text: ""
@@ -155,4 +155,4 @@
        margin-left: auto;
        margin-right: auto;
    }
-</style>
+</style>
--- a/photon-client/src/views/PipelineViews/TargetsTab.vue
+++ b/photon-client/src/views/PipelineViews/TargetsTab.vue
@@ -97,4 +97,4 @@
    .v-data-table td {
      font-family: monospace !important;
    }
-</style>
+</style>
--- a/photon-client/src/views/PipelineViews/ThresholdTab.vue
+++ b/photon-client/src/views/PipelineViews/ThresholdTab.vue
@@ -1,48 +1,66 @@
 <template>
  <div>
    <CVrangeSlider
-      v-model="hsvHue"
-      name="Hue"
-      tooltip="Describes color"
-      :min="0"
-      :max="180"
-      @input="handlePipelineData('hsvHue')"
-      @rollback="e => rollback('hue',e)"
+        v-model="hsvHue"
+        name="Hue"
+        tooltip="Describes color"
+        :min="0"
+        :max="180"
+        @input="handlePipelineData('hsvHue')"
+        @rollback="e => rollback('hue',e)"
    />
    <CVrangeSlider
-      v-model="hsvSaturation"
-      name="Saturation"
-      tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
-      :min="0"
-      :max="255"
-      @input="handlePipelineData('hsvSaturation')"
-      @rollback="e => rollback('saturation',e)"
+        v-model="hsvSaturation"
+        name="Saturation"
+        tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
+        :min="0"
+        :max="255"
+        @input="handlePipelineData('hsvSaturation')"
+        @rollback="e => rollback('saturation',e)"
    />
    <CVrangeSlider
-      v-model="hsvValue"
-      name="Value"
-      tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
-      :min="0"
-      :max="255"
-      @input="handlePipelineData('hsvValue')"
-      @rollback="e => rollback('value',e)"
+        v-model="hsvValue"
+        name="Value"
+        tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
+        :min="0"
+        :max="255"
+        @input="handlePipelineData('hsvValue')"
+        @rollback="e => rollback('value',e)"
    />
+    <template v-if="this.currentPipelineType() === 3">
+      <CVSwitch
+          v-model="erode"
+          name="Erode"
+          tooltip="Removes pixels around the edges of white areas in the thresholded image"
+          @input="handlePipelineData('erode')"
+          @rollback="e => rollback('erode',e)"
+      />
+      <CVSwitch
+          v-model="dilate"
+          class="mb-0"
+          name="Dilate"
+          tooltip="Adds pixels around the edges of white areas in the thresholded image"
+          @input="handlePipelineData('dilate')"
+          @rollback="e => rollback('dilate',e)"
+      />
+    </template>
+    <v-divider class="mb-3 mt-3"/>
    <div class="pt-3 white--text">
      Color Picker
    </div>
    <v-divider
-      class="mt-3"
+        class="mt-3"
    />
    <v-row
-      justify="center"
-      class="mt-3 mb-3"
+        justify="center"
+        class="mt-3 mb-3"
    >
      <template v-if="!$store.state.colorPicking">
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(3)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(3)"
        >
          <v-icon left>
            mdi-minus
@@ -50,10 +68,10 @@
          Shrink Range
        </v-btn>
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(1)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(1)"
        >
          <v-icon left>
            mdi-plus-minus
@@ -61,10 +79,10 @@
          Set To Average
        </v-btn>
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          small
-          @click="setFunction(2)"
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="setFunction(2)"
        >
          <v-icon left>
            mdi-plus
@@ -74,11 +92,11 @@
      </template>
      <template v-else>
        <v-btn
-          color="accent"
-          class="ma-2 black--text"
-          style="width: 30%;"
-          small
-          @click="setFunction(0)"
+            color="accent"
+            class="ma-2 black--text"
+            style="width: 30%;"
+            small
+            @click="setFunction(0)"
        >
          Cancel
        </v-btn>
@@ -88,112 +106,130 @@
 </template>

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

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

-</script>
+        let s = this.$store.getters.currentPipelineSettings;
+        let hsvArray = this.colorPicker.colorPickerClick(event, this.currentFunction,
+            [
+              [s.hsvHue[0], s.hsvSaturation[0], s.hsvValue[0]],
+              [s.hsvHue[1], s.hsvSaturation[1], s.hsvValue[1]]
+            ].map(hsv => hsv.map(it => it || 0)));
+        // That `map` calls are to make sure that we don't let any undefined/null values slip in
+        this.currentFunction = undefined;
+        this.$store.state.colorPicking = false;
+        this.handlePipelineUpdate("outputShouldDraw", true);
+
+        s.hsvHue = [hsvArray[0][0], hsvArray[1][0]];
+        s.hsvSaturation = [hsvArray[0][1], hsvArray[1][1]];
+        s.hsvValue = [hsvArray[0][2], hsvArray[1][2]];
+
+        let msg = this.$msgPack.encode({
+          "changePipelineSetting": {
+            'hsvHue': s.hsvHue,
+            'hsvSaturation': s.hsvSaturation,
+            'hsvValue': s.hsvValue,
+            'cameraIndex': this.$store.state.currentCameraIndex
+          }
+        });
+        this.$socket.send(msg);
+        this.$emit('update');
+      }
+    },
+    setFunction(index) {
+      switch (index) {
+        case 0:
+          this.currentFunction = undefined;
+          this.$store.state.colorPicking = false;
+
+          this.handlePipelineUpdate("outputShouldDraw", true);
+          return;
+        case 1:
+          this.currentFunction = this.colorPicker.eyeDrop;
+          break;
+        case 2:
+          this.currentFunction = this.colorPicker.expand;
+          break;
+        case 3:
+          this.currentFunction = this.colorPicker.shrink;
+          break;
+      }
+      this.$store.state.colorPicking = true;
+
+      this.handlePipelineUpdate("outputShouldDraw", false);
+      this.$store.commit("mutatePipeline", {"inputShouldShow": true});
+      this.handlePipelineUpdate("inputShouldShow", true);
+    }
+  }
+}
+
+</script>
--- a/photon-client/src/views/SettingsView.vue
+++ b/photon-client/src/views/SettingsView.vue
@@ -85,4 +85,4 @@
        height: auto !important;
        vertical-align: middle;
    }
-</style>
+</style>
--- a/photon-client/src/views/SettingsViews/General.vue
+++ b/photon-client/src/views/SettingsViews/General.vue
@@ -234,7 +234,7 @@ export default {
                  this.snackbar = {
                      color: "error",
                      text: "Error while uploading settings file! Could not process provided file.",
-                  };               
+                  };
                } else if (err.request) {
                  this.snackbar = {
                      color: "error",
@@ -276,4 +276,4 @@ export default {
  border-right: 1px solid;
 }

-</style>
+</style>
--- a/photon-client/src/views/SettingsViews/Lighting.vue
+++ b/photon-client/src/views/SettingsViews/Lighting.vue
@@ -41,4 +41,4 @@

 <style lang="" scoped>

-</style>
+</style>
--- a/photon-client/src/views/SettingsViews/Networking.vue
+++ b/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"
@@ -16,8 +11,13 @@
        :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"
      />
+      <v-chip label color="red" text-color="white" v-if="parseInt(teamNumber) < 1 && !runNTServer">
+        <span>
+          Team number not set! NetworkTables cannot connect.
+        </span>
+      </v-chip>
      <CVradio
-        v-model="connectionType"
+          v-model="connectionType"
        :list="['DHCP','Static']"
        :disabled="!$store.state.settings.networkSettings.supported"
      />
@@ -35,15 +35,83 @@
        :rules="[v => isHostname(v) || 'Invalid hostname']"
        name="Hostname"
      />
+      Advanced
+      <v-divider/>
+      <CVSwitch
+          v-model="runNTServer"
+          name="Run NetworkTables Server (Debugging Only!)"
+          tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+          class="mt-3 mb-3"
+      />
+      <v-chip label color="red" text-color="white" v-if="runNTServer">
+        <span>
+          Disable this switch if you're on a robot! Photonlib will NOT work.
+        </span>
+      </v-chip>
    </v-form>
    <v-btn
      color="accent"
+      :class="runNTServer ? 'mt-3' : ''"
      style="color: black; width: 100%;"
      :disabled="!valid && !runNTServer"
      @click="sendGeneralSettings()"
    >
      Save
    </v-btn>
+    <v-divider class="mt-4 mb-4"/>
+    <v-row>
+      <v-col cols="6">
+
+        <v-simple-table
+            fixed-header
+            height="100%"
+            dense
+        >
+          <template v-slot:default>
+            <thead style="font-size: 1.25rem;">
+            <tr>
+              <th>
+                Device IPs
+              </th>
+            </tr>
+            </thead>
+            <tbody>
+            <tr
+                v-for="(value, index) in $store.state.ntConnectionInfo.deviceips"
+                :key="index"
+            >
+              <td>{{ value }}</td>
+            </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-col>
+      <v-col cols="6">
+        <v-simple-table
+            fixed-header
+            height="100%"
+            dense
+        >
+          <template v-slot:default>
+            <thead style="font-size: 1.25rem;">
+            <tr>
+              <th>
+                Possible RoboRIOs
+              </th>
+            </tr>
+            </thead>
+            <tbody>
+            <tr
+                v-for="(value, index) in $store.state.ntConnectionInfo.possibleRios"
+                :key="index"
+            >
+              <td>{{ value }}</td>
+            </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-col>
+    </v-row>
  </div>
 </template>

@@ -179,6 +247,24 @@ export default {
 }
 </script>

-<style lang="" scoped>
+<style scoped>
+    .v-data-table {
+      /*text-align: center;*/
+      background-color: transparent !important;
+      width: 100%;
+      height: 100%;
+      overflow-y: auto;
+    }

+    .v-data-table th {
+      background-color: #006492 !important;
+    }
+
+    .v-data-table th, td {
+      font-size: 1rem !important;
+    }
+
+    .v-data-table td {
+      font-family: monospace !important;
+    }
 </style>
--- a/photon-core/.gitignore
+++ b/photon-core/.gitignore
@@ -10,4 +10,4 @@ build/*
 photonvision/*
 photonvision_config/*

-src/main/java/org/photonvision/PhotonVersion.java
+src/main/java/org/photonvision/PhotonVersion.java
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -1,5 +1,4 @@
-import java.time.LocalDateTime
-import java.time.format.DateTimeFormatter
+import java.nio.file.Path

 apply from: "${rootDir}/shared/common.gradle"

@@ -12,11 +11,11 @@ dependencies {
    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:$wpilibVersion:windowsx86-64"
+    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxaarch64bionic"
+    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxraspbian"
+    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxx86-64"
+    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:osxx86-64"
+    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:windowsx86-64"

    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
@@ -26,27 +25,12 @@ dependencies {
    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"

    // Zip
-    compile 'org.zeroturnaround:zt-zip:1.14'
+    implementation 'org.zeroturnaround:zt-zip:1.14'
 }

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

 build.dependsOn writeCurrentVersionJava
--- a/photon-core/settings.gradle
+++ b/photon-core/settings.gradle
@@ -1,2 +1 @@
 rootProject.name = 'photon-core'
-
--- a/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java
+++ b/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common;

 public enum ProgramStatus {
--- a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -14,13 +14,12 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.logging.LogGroup;
--- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

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

 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
@@ -24,7 +23,6 @@ import java.util.List;

@JsonIgnoreProperties(ignoreUnknown = true)
 public class HardwareConfig {
-
    public final String deviceName;
    public final String deviceLogoPath;
    public final String supportURL;
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

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

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

 import java.util.Collection;
@@ -32,7 +31,6 @@ import org.photonvision.vision.processes.VisionSource;

 // TODO rename this class
 public class PhotonConfiguration {
-
    private HardwareConfig hardwareConfig;
    private HardwareSettings hardwareSettings;
    private NetworkConfig networkConfig;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow;

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

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

 import java.util.concurrent.BlockingQueue;
@@ -27,7 +26,6 @@ import org.photonvision.common.logging.Logger;

@SuppressWarnings("rawtypes")
 public class DataChangeService {
-
    private static final Logger logger = new Logger(DataChangeService.class, LogGroup.WebServer);

    private static class ThreadSafeSingleton {
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow;

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

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

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

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

 import io.javalin.websocket.WsContext;
@@ -23,7 +22,6 @@ import org.photonvision.common.dataflow.DataChangeDestination;
 import org.photonvision.common.dataflow.DataChangeSource;

 public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
-
    public final Integer cameraIndex;
    public final WsContext originContext;

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

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

 import edu.wpi.first.networktables.EntryListenerFlags;
@@ -23,7 +22,6 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import java.util.function.Consumer;

 public class NTDataChangeListener {
-
    private final NetworkTableEntry watchedEntry;
    private final int listenerID;

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

 import edu.wpi.first.networktables.EntryNotification;
@@ -33,7 +32,6 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;

 public class NTDataPublisher implements CVPipelineResultConsumer {
-
    private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
    private NetworkTable subTable;
    private NetworkTableEntry rawBytesEntry;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -14,21 +14,32 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.networktables;

+import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.List;
 import java.util.function.Consumer;
+import org.photonvision.PhotonVersion;
+import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.scripting.ScriptEventType;
 import org.photonvision.common.scripting.ScriptManager;
+import org.photonvision.common.util.TimedTaskManager;

 public class NetworkTablesManager {
-
    private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
    private final String kRootTableName = "/photonvision";
    public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
@@ -47,7 +58,6 @@ public class NetworkTablesManager {
    private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);

    private static class NTLogger implements Consumer<LogMessage> {
-
        private boolean hasReportedConnectionFailure = false;
        private long lastConnectMessageMillis = 0;

@@ -56,29 +66,127 @@ public class NetworkTablesManager {
            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
                logger.error("NT Connection has failed! Will retry in background.");
                hasReportedConnectionFailure = true;
+                getInstance().broadcastConnectedStatus();
            } else if (logMessage.message.contains("connected")
                    && System.currentTimeMillis() - lastConnectMessageMillis > 125) {
                logger.info("NT Connected!");
                hasReportedConnectionFailure = false;
                lastConnectMessageMillis = System.currentTimeMillis();
                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
+                getInstance().broadcastVersion();
+                getInstance().broadcastConnectedStatus();
            }
        }
    }

+    public void broadcastConnectedStatus() {
+        TimedTaskManager.getInstance().addOneShotTask(this::broadcastConnectedStatusImpl, 1000L);
+    }
+
+    private void broadcastConnectedStatusImpl() {
+        HashMap<String, Object> map = new HashMap<>();
+        var subMap = new HashMap<String, Object>();
+        subMap.put("connected", ntInstance.isConnected());
+        if (ntInstance.isConnected()) {
+            var connections = getInstance().ntInstance.getConnections();
+            if (connections.length > 0) {
+                subMap.put("address", connections[0].remote_ip + ":" + connections[0].remote_port);
+            }
+            subMap.put("clients", connections.length);
+        }
+
+        map.put("ntConnectionInfo", subMap);
+        DataChangeService.getInstance()
+                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
+
+        // Seperate from the above so we don't hold stuff up
+        System.setProperty("java.net.preferIPv4Stack", "true");
+        subMap.put(
+                "deviceips",
+                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
+                        .filter(it -> !it.equals("0.0.0.0"))
+                        .toArray());
+        logger.info("Searching for rios");
+        List<String> possibleRioList = new ArrayList<>();
+        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
+            logger.info("Trying " + ip);
+            var possibleRioAddr = getPossibleRioAddress(ip);
+            if (possibleRioAddr != null) {
+                logger.info("Maybe found " + ip);
+                searchForHost(possibleRioList, possibleRioAddr);
+            } else {
+                logger.info("Didn't match RIO IP");
+            }
+        }
+        String name =
+                "roboRIO-"
+                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+                        + "-FRC.local";
+        searchForHost(possibleRioList, name);
+        name =
+                "roboRIO-"
+                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+                        + "-FRC.lan";
+        searchForHost(possibleRioList, name);
+        name =
+                "roboRIO-"
+                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+                        + "-FRC.frc-field.local";
+        searchForHost(possibleRioList, name);
+        subMap.put("possibleRios", possibleRioList.toArray());
+        DataChangeService.getInstance()
+                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
+    }
+
+    String getPossibleRioAddress(String ip) {
+        try {
+            InetAddress addr = InetAddress.getByName(ip);
+            var address = addr.getAddress();
+            if (address[0] != (byte) (10 & 0xff)) return null;
+            address[3] = (byte) (2 & 0xff);
+            return InetAddress.getByAddress(address).getHostAddress();
+        } catch (UnknownHostException e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    void searchForHost(List<String> list, String hostname) {
+        try {
+            logger.info("Looking up " + hostname);
+            InetAddress testAddr = InetAddress.getByName(hostname);
+            logger.info("Pinging " + hostname);
+            var canContact = testAddr.isReachable(500);
+            if (canContact) {
+                logger.info("Was able to connect to " + hostname);
+                if (!list.contains(hostname)) list.add(hostname);
+            } else {
+                logger.info("Unable to reach " + hostname);
+            }
+        } catch (IOException ignored) {
+        }
+    }
+
+    private void broadcastVersion() {
+        kRootTable.getEntry("version").setString(PhotonVersion.versionString);
+        kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);
+    }
+
    public void setConfig(NetworkConfig config) {
        if (config.runNTServer) {
            setServerMode();
        } else {
            setClientMode(config.teamNumber);
        }
+        broadcastVersion();
    }

    private void setClientMode(int teamNumber) {
        logger.info("Starting NT Client");
        ntInstance.stopServer();

-        ntInstance.startClientTeam(teamNumber);
+        //        ntInstance.startClientTeam(teamNumber);
+        ntInstance.startClient("localhost");
        ntInstance.startDSClient();
        if (ntInstance.isConnected()) {
            logger.info("[NetworkTablesManager] Connected to the robot!");
@@ -86,11 +194,13 @@ public class NetworkTablesManager {
            logger.error(
                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
        }
+        broadcastVersion();
    }

    private void setServerMode() {
        logger.info("Starting NT Server");
        ntInstance.stopClient();
        ntInstance.startServer();
+        broadcastVersion();
    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.websocket;

 import java.util.ArrayList;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java
@@ -14,14 +14,12 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO;

 import org.photonvision.common.configuration.HardwareConfig;
 import org.photonvision.common.hardware.Platform;

 public class CustomGPIO extends GPIOBase {
-
    private boolean currentState;
    private final int port;

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

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

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

 import java.util.HashMap;
@@ -27,7 +26,6 @@ import java.util.HashMap;
 */
@SuppressWarnings({"SpellCheckingInspection", "unused", "RedundantSuppression"})
 public class PigpioException extends Exception {
-
    private int rc = -99999999;
    private static final long serialVersionUID = 443595760654129068L;

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

 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
@@ -24,7 +23,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

 public class PigpioPin extends GPIOBase {
-
    public static final Logger logger = new Logger(PigpioPin.class, LogGroup.General);
    private static final PigpioSocket piSocket = new PigpioSocket();

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

 public class PigpioPulse {
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO.pi;

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

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

 import edu.wpi.first.networktables.NetworkTableEntry;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -14,10 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware;

-import edu.wpi.first.wpiutil.RuntimeDetector;
+import edu.wpi.first.util.RuntimeDetector;
 import java.io.IOException;
 import org.photonvision.common.util.ShellExec;

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

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

 import edu.wpi.first.networktables.EntryNotification;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
@@ -14,11 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

 public class CPUMetrics extends MetricsBase {
-
    private String cpuMemSplit = null;

    public String getMemory() {
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

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

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

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

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

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

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

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

 import java.io.*;
@@ -36,7 +35,6 @@ import org.photonvision.common.util.TimedTaskManager;

@SuppressWarnings("unused")
 public class Logger {
-
    public static final String ANSI_RESET = "\u001B[0m";
    public static final String ANSI_BLACK = "\u001B[30m";
    public static final String ANSI_RED = "\u001B[31m";
@@ -127,7 +125,6 @@ public class Logger {
    }

    public static void cleanLogs(Path folderToClean) {
-
        LinkedList<File> logFileList =
                new LinkedList<>(Arrays.asList(folderToClean.toFile().listFiles()));
        HashMap<File, Date> logFileStartDateMap = new HashMap<>();
@@ -344,6 +341,8 @@ public class Logger {
                wantsFlush = true;
            } catch (IOException e) {
                e.printStackTrace();
+            } catch (NullPointerException e) {
+                // Nothing to do - no stream available for writing
            }
        }
    }
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkInterface.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkInterface.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.networking;

 import java.net.InterfaceAddress;
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Matt	be5f0880c8	Update WPILib to 2022.1.1-beta-3-1-g4ba80a3 (#337 ) This fixes raspberry pi crashes	2021-11-28 07:34:13 -06:00
Banks T	a02cd4a50e	Explicitly specify JDK11 for photon-targeting (#334 )	2021-11-27 00:22:51 -05:00
Tyler Veness	efd31543f6	Upgrade athena Docker container from 2021 to 2022 (#332 ) The proper compiler wasn't available for 2022 native-utils, so linuxathena artifact builds were silently skipped.	2021-11-26 09:44:05 -05:00
Matt	a151f23319	Add team number dialog, NT connected chip (#313 ) Makes NT connection status visible from the UI	2021-11-25 15:43:29 -05:00
Matt	822811c853	Upload a new image on releases (#329 ) Uploads a new Pi image (without any hardware configs) on releases and pushes to dev	2021-11-25 15:42:58 -05:00
Matt	23834c87f4	Only let in tags starting with "v" (#328 )	2021-11-23 20:22:54 -05:00
Tyler Veness	f103a6b712	Run wpiformat (#327 )	2021-11-23 19:09:51 -05:00
Chris Gerth	3257736ffa	Add .pdf taraget generation (#307 ) * Added rectangle target generation * added dot grid support * dot grid functional. Added branding and ruler * comments, rebuild, testing * proper branding rework * undo index.html commit	2021-11-21 20:34:06 -05:00
Tyler Veness	9df25eda88	Add clangd files to .gitignore (#318 )	2021-11-21 20:30:10 -05:00
Tyler Veness	5a13739818	Remove unused private variable (#317 )	2021-11-21 20:30:03 -05:00
Tyler Veness	5ca39e7f84	Upgrade to Gradle 7.2 and WPILib 2022 (#316 )	2021-11-21 20:22:56 -05:00
Matt	ffe34f00fe	Ensure skew is always in [-90, 90] (#319 )	2021-11-21 18:50:15 -06:00
Matt	a5cc0808c4	Make photon targeting respect snapshot repo (#309 )	2021-11-06 20:12:50 -04:00
Banks T	08fafe2607	Fix file delete, possible null on perms set (#303 )	2021-11-06 19:58:07 -04:00
Matt	a2af7d9273	Add red warning text with server mode, team number not set (#308 )	2021-11-03 09:12:29 -04:00
Matt	a731c7a8db	Revert part of #288 (#306 ) Fixes picam streaming/hangs	2021-10-30 12:27:41 -04:00
Matt	7e74da5cff	Make photonlib complain if versions don't match (#302 ) Adds messages if Photon isn't detected or major versions don't match	2021-10-18 22:31:18 -04:00
Matt	0977fd0dff	Update PacketTest.java (#301 ) Adds unit test to make sure the packet structure doesn't change	2021-10-16 09:42:21 -04:00
Matt	3241ef7b1b	Update dev tag matcher (#300 )	2021-10-07 11:13:11 -04:00
Matt	f922466d41	Fix contour grouping (#298 ) Fixes bug where n+1 contours were needed to match a target of size n	2021-10-05 12:16:50 -04:00
Matt	243f06da2d	Fix vision module stream index logic (#295 ) Previous logic could cause stream index with multiple cameras to run away	2021-10-03 22:43:39 -04:00
Matt	44e91a184d	Publish photon-targeting (#292 ) Pushes photon-targeting to Maven	2021-10-03 10:58:35 -04:00
Matt	e6b0f398b6	Fix versioning picked up in CI (#291 ) Fixes ignore blob in versioningHelper	2021-09-24 18:51:40 -04:00
Chris Gerth	5a475e1071	Fix crash in logging when log files are not writable (#286 ) * Addresses null pointer crash in logging when log files are not writable * One of these days, I'll be able to type code without spotless complaining. But today is not that day.	2021-09-23 22:38:50 -04:00
Tyler Veness	f8def88e4d	Rename tests to appease wpiformat (#290 )	2021-09-23 21:13:04 -04:00
Chris Gerth	db09e5209f	Colored shape fix (#288 ) * Move test images out of resources folder * Limit workers in CI * Fix image area filtering bug in colored shape * Add missing picam settings * Swap to make blank/empty Mat when a picam doesn't supply a color image. Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2021-09-23 18:48:18 -04:00
Matt	9fdd945a52	Fix compilation with `gradlew build` (#284 ) * Fix everything but test mode * Update TestUtils.java * Jank testutils fix * Limit workers in CI	2021-09-07 06:49:07 -07:00
Matt	00b8e7d1c5	Add colored shape to the UI (#258 ) * Fixup colored shape backend code * More colored shape stuff * Start adding shape change to drawing * Mostly works! * Add powercell image for shape test mode * Make super-duper-sure to release stuff Fixes colored shape leak * Move approx poly dp into Contour * Adjust epsilon threshold * Add dialog to change pipeline type * Run spotless * Make yes red :> * Move "no" button * Fix duplication/deletion name logic and switching * Fix compilation errors from rebase * Update VisionSourceManager.java * Update type dialog, remove duplicate popup The dropdown still switches even if the user says "no" tho Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>	2021-09-03 22:20:55 -04:00
Tyler Veness	798b8e398a	Remove hasTargets member variable and fix docs warnings (#283 ) hasTargets is redundant because the same information can be obtained by checking the size of the targets array.	2021-09-03 22:19:38 -04:00
Tyler Veness	affb27038b	Fix uninitialized variables in PhotonPipelineResult (#282 ) If the default constructor is used, some member variables weren't properly initialized.	2021-09-02 20:48:05 -07:00
Tyler Veness	6767781a41	Update photonlib vendordep JSON URL (#281 )	2021-09-01 05:11:03 -07:00
Matt	6007cc752d	Add libpicam with gain slider bugfix (#278 ) * Add libpicam with gain slider bugfix * Patches to get zero-copy working with Pi3. -- Success/Failure mistmatch assumptions - lots of functions in the JNI return true on failure (not true on success) -- isVSCMSupported() is currently implemented to be "isVSCMNotSupported()" Likely, we'll want at least some .so changes Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>	2021-08-31 23:48:11 -04:00
Banks T	9cf5c77d69	CI test fix (#280 ) Addresses OOM in CI	2021-08-31 20:27:51 -07:00
Matt	9dc5481d1c	Push dev tag last	2021-04-02 17:04:22 -04:00
Matt	3948650e6c	[photonlib] Fix C++ compilation errors (#266 ) Properly builds linux athena artifacts and fixes vendor JSON bug	2021-03-28 14:36:03 -07:00
Chris Gerth	49fcdb64ed	Update Sim Example Unit Conversions (#265 ) Updated Java examples to fix radians/degrees mismatch. Inspected c++ examples - they create a units::degree_t from the NT value, which should be handled properly inside the PhotonUtils methods.	2021-03-23 10:57:32 -07:00
Banks T	1e715ce4bb	Sim target sorting and "easy" NT entries (#262 ) * Typo fixes, add target sorting * Add easy NT entries * spotttttttttttttttttlessssssssssssss * Run wpiformat * Fix return on no targets * formatting hell 2 electric boogaloo Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2021-03-23 12:47:26 -04:00
Vasista Vovveti	f9fd7a0b45	Handle GetLatestResult segfault (#259 ) * Handle GetLatestResult segfault * Update PhotonCamera.cpp * Update PhotonCamera.cpp	2021-03-21 16:29:29 -04:00
Matt	e9a3c2d1b8	Pull tags in photon CI (#263 )	2021-03-15 16:13:45 -07:00
Banks T	129575dd23	Fix Test Mode (#246 ) * Fix test mode path and args * spoooootless * Fix unit test resources	2021-03-07 21:39:02 -05:00
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