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

This fixes raspberry pi crashes

.github/CODEOWNERS

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

.github/workflows/main.yml

@@ -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
@@ -81,7 +81,7 @@ jobs:
       # Generate Coverage Report.
       - name: Gradle Coverage
         run: ./gradlew jacocoTestReport --max-workers 1
-      
+
       # Publish Coverage Report.
       - name: Publish Server Coverage Report
         uses: codecov/codecov-action@v1
@@ -107,18 +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
@@ -132,7 +132,7 @@ jobs:
   photonserver-check-lint:
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
-    
+
     steps:
       # Checkout code.
       - uses: actions/checkout@v1
@@ -141,7 +141,7 @@ jobs:
       - uses: actions/setup-java@v1
         with:
           java-version: 11
-      
+
       # Check server code with Spotless.
       - run: |
           chmod +x gradlew
@@ -156,6 +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: '**/*'
@@ -199,7 +223,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2021-18.04
+          - container: wpilib/roborio-cross-ubuntu:2022-18.04
             artifact-name: Athena
           - container: wpilib/raspbian-cross-ubuntu:10-18.04
             artifact-name: Raspbian
@@ -241,11 +265,14 @@ 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: wpiformat -clang 10 -f photon-lib
+        run: wpiformat -clang 12
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -294,11 +321,39 @@ jobs:
           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:
@@ -307,5 +362,5 @@ jobs:
           rm: true
           files: |
             photon-server/build/libs/*.jar
+            image*.zip
         if: github.event_name == 'push'
-

.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

.styleguide

@@ -9,6 +9,12 @@ cppSrcFileInclude {
   \.cpp$
 }
 
+modifiableFileExclude {
+  \.jpg$
+  \.png$
+  \.so$
+}
+
 includeProject {
   ^photonLib/
 }
@@ -19,3 +25,7 @@ includeOtherLibs {
   ^units/
   ^wpi/
 }
+
+licenseUpdateExclude {
+  \.java$
+}

LicenseHeader.txt

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

README.md

@@ -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)

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 = "2021.3.1"
-    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")

codecov.yml

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

gradle/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

gradlew

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

gradlew.bat

@@ -1,100 +1,89 @@
-@rem
-@rem 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

photon-client/package-lock.json

@@ -2118,16 +2118,6 @@
       "integrity": "sha512-Jus9s4CDbqwocc5pOAnh8ShfrnMcPHuJYzVcSUU7lrh8Ni5HuIqX3oilL86p3dlTrk0LzHRCgA/GQ7uNCw6l2Q==",
       "dev": true
     },
-    "@types/mini-css-extract-plugin": {
-      "version": "0.9.1",
-      "resolved": "https://registry.npmjs.org/@types/mini-css-extract-plugin/-/mini-css-extract-plugin-0.9.1.tgz",
-      "integrity": "sha512-+mN04Oszdz9tGjUP/c1ReVwJXxSniLd7lF++sv+8dkABxVNthg6uccei+4ssKxRHGoMmPxdn7uBdJWONSJGTGQ==",
-      "dev": true,
-      "optional": true,
-      "requires": {
-        "@types/webpack": "*"
-      }
-    },
     "@types/minimatch": {
       "version": "3.0.3",
       "resolved": "https://registry.npmjs.org/@types/minimatch/-/minimatch-3.0.3.tgz",
@@ -2164,6 +2154,12 @@
       "integrity": "sha512-+wYo+L6ZF6BMoEjtf8zB2esQsqdV6WsjRK/GP9WOgLPrq87PbNWgIxS76dS5uvl/QXtHGakZmwTznIfcPXcKlQ==",
       "dev": true
     },
+    "@types/raf": {
+      "version": "3.4.0",
+      "resolved": "https://registry.npmjs.org/@types/raf/-/raf-3.4.0.tgz",
+      "integrity": "sha512-taW5/WYqo36N7V39oYyHP9Ipfd5pNFvGTIQsNGj86xV88YQ7GnI30/yMfKDF7Zgin0m3e+ikX88FvImnK4RjGw==",
+      "optional": true
+    },
     "@types/range-parser": {
       "version": "1.2.3",
       "resolved": "https://registry.npmjs.org/@types/range-parser/-/range-parser-1.2.3.tgz",
@@ -2679,17 +2675,6 @@
           "integrity": "sha512-bY6fj56OUQ0hU1KjFNDQuJFezqKdrAyFdIevADiqrWHwSlbmBNMHp5ak2f40Pm8JTFyM2mqxkG6ngkHO11f/lg==",
           "dev": true
         },
-        "ansi-styles": {
-          "version": "4.2.1",
-          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.2.1.tgz",
-          "integrity": "sha512-9VGjrMsG1vePxcSweQsN20KY/c4zN0h9fLjqAbwbPfahM3t+NL+M9HC8xeXG2I8pX5NoamTGNuomEUFI7fcUjA==",
-          "dev": true,
-          "optional": true,
-          "requires": {
-            "@types/color-name": "^1.1.1",
-            "color-convert": "^2.0.1"
-          }
-        },
         "browserslist": {
           "version": "4.14.0",
           "resolved": "https://registry.npmjs.org/browserslist/-/browserslist-4.14.0.tgz",
@@ -2734,23 +2719,6 @@
           "integrity": "sha512-Hpwa4obv7EGP+TjkCh/wVvbtNJewxmtg4yVJBLFnxo35vbPapBr138bUWENkb5j5L9JZJ9RXLn4OrXRG/cecPQ==",
           "dev": true
         },
-        "color-convert": {
-          "version": "2.0.1",
-          "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz",
-          "integrity": "sha512-RRECPsj7iu/xb5oKYcsFHSppFNnsj/52OVTRKb4zP5onXwVF3zVmmToNcOfGC+CRDpfK/U584fMg38ZHCaElKQ==",
-          "dev": true,
-          "optional": true,
-          "requires": {
-            "color-name": "~1.1.4"
-          }
-        },
-        "color-name": {
-          "version": "1.1.4",
-          "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.4.tgz",
-          "integrity": "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA==",
-          "dev": true,
-          "optional": true
-        },
         "electron-to-chromium": {
           "version": "1.3.554",
           "resolved": "https://registry.npmjs.org/electron-to-chromium/-/electron-to-chromium-1.3.554.tgz",
@@ -2784,13 +2752,6 @@
             "path-exists": "^4.0.0"
           }
         },
-        "has-flag": {
-          "version": "4.0.0",
-          "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
-          "integrity": "sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==",
-          "dev": true,
-          "optional": true
-        },
         "locate-path": {
           "version": "5.0.0",
           "resolved": "https://registry.npmjs.org/locate-path/-/locate-path-5.0.0.tgz",
@@ -2924,16 +2885,6 @@
             "ansi-regex": "^5.0.0"
           }
         },
-        "supports-color": {
-          "version": "7.2.0",
-          "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz",
-          "integrity": "sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==",
-          "dev": true,
-          "optional": true,
-          "requires": {
-            "has-flag": "^4.0.0"
-          }
-        },
         "terser-webpack-plugin": {
           "version": "2.3.8",
           "resolved": "https://registry.npmjs.org/terser-webpack-plugin/-/terser-webpack-plugin-2.3.8.tgz",
@@ -2960,34 +2911,6 @@
             "psl": "^1.1.28",
             "punycode": "^2.1.1"
           }
-        },
-        "vue-loader-v16": {
-          "version": "npm:vue-loader@16.0.0-beta.5",
-          "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.0.0-beta.5.tgz",
-          "integrity": "sha512-ciWfzNefqWlmzKznCWY9hl+fPP4KlQ0A9MtHbJ/8DpyY+dAM8gDrjufIdxwTgC4szE4EZC3A6ip/BbrqM84GqA==",
-          "dev": true,
-          "optional": true,
-          "requires": {
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@@ -3819,6 +3741,12 @@
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@@ -4110,6 +4038,11 @@
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@@ -5172,6 +5144,15 @@
         "timsort": "^0.3.0"
       }
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       "resolved": "https://registry.npmjs.org/css-loader/-/css-loader-3.6.0.tgz",
@@ -5809,6 +5790,12 @@
         "domelementtype": "1"
       }
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+    "dompurify": {
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+      "resolved": "https://registry.npmjs.org/dompurify/-/dompurify-2.3.3.tgz",
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@@ -6743,6 +6730,11 @@
         "websocket-driver": ">=0.5.1"
       }
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@@ -7440,6 +7432,16 @@
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@@ -8369,6 +8371,42 @@
         "graceful-fs": "^4.1.6"
       }
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+      "resolved": "https://registry.npmjs.org/jspdf/-/jspdf-2.4.0.tgz",
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+        "atob": "^2.1.2",
+        "btoa": "^1.2.1",
+        "canvg": "^3.0.6",
+        "core-js": "^3.6.0",
+        "dompurify": "^2.2.0",
+        "fflate": "^0.4.8",
+        "html2canvas": "^1.0.0-rc.5"
+      },
+      "dependencies": {
+        "@babel/runtime": {
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+          "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.16.0.tgz",
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+          "requires": {
+            "regenerator-runtime": "^0.13.4"
+          }
+        },
+        "core-js": {
+          "version": "3.19.0",
+          "resolved": "https://registry.npmjs.org/core-js/-/core-js-3.19.0.tgz",
+          "integrity": "sha512-L1TpFRWXZ76vH1yLM+z6KssLZrP8Z6GxxW4auoCj+XiViOzNPJCAuTIkn03BGdFe6Z5clX5t64wRIRypsZQrUg==",
+          "optional": true
+        },
+        "regenerator-runtime": {
+          "version": "0.13.9",
+          "resolved": "https://registry.npmjs.org/regenerator-runtime/-/regenerator-runtime-0.13.9.tgz",
+          "integrity": "sha512-p3VT+cOEgxFsRRA9X4lkI1E+k2/CtnKtU4gcxyaCUreilL/vqI6CdZ3wxVUx3UOUg+gnUOQQcRI7BmSI656MYA=="
+        }
+      }
+    },
     "jsprim": {
       "version": "1.4.1",
       "resolved": "https://registry.npmjs.org/jsprim/-/jsprim-1.4.1.tgz",
@@ -9658,8 +9696,7 @@
     "performance-now": {
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       "resolved": "https://registry.npmjs.org/performance-now/-/performance-now-2.1.0.tgz",
-      "integrity": "sha1-Ywn04OX6kT7BxpMHrjZLSzd8nns=",
-      "dev": true
+      "integrity": "sha1-Ywn04OX6kT7BxpMHrjZLSzd8nns="
     },
     "picomatch": {
       "version": "2.2.2",
@@ -10546,6 +10583,15 @@
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       "dev": true
     },
+    "raf": {
+      "version": "3.4.1",
+      "resolved": "https://registry.npmjs.org/raf/-/raf-3.4.1.tgz",
+      "integrity": "sha512-Sq4CW4QhwOHE8ucn6J34MqtZCeWFP2aQSmrlroYgqAV1PjStIhJXxYuTgUIfkEk7zTLjmIjLmU5q+fbD1NnOJA==",
+      "optional": true,
+      "requires": {
+        "performance-now": "^2.1.0"
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     "randombytes": {
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       "resolved": "https://registry.npmjs.org/randombytes/-/randombytes-2.1.0.tgz",
@@ -10923,6 +10969,12 @@
       "integrity": "sha1-QzdOLiyglosO8VI0YLfXMP8i7rM=",
       "dev": true
     },
+    "rgbcolor": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/rgbcolor/-/rgbcolor-1.0.1.tgz",
+      "integrity": "sha1-1lBezbMEplldom+ktDMHMGd1lF0=",
+      "optional": true
+    },
     "rimraf": {
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@@ -11648,6 +11700,12 @@
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       "dev": true
     },
+    "stackblur-canvas": {
+      "version": "2.5.0",
+      "resolved": "https://registry.npmjs.org/stackblur-canvas/-/stackblur-canvas-2.5.0.tgz",
+      "integrity": "sha512-EeNzTVfj+1In7aSLPKDD03F/ly4RxEuF/EX0YcOG0cKoPXs+SLZxDawQbexQDBzwROs4VKLWTOaZQlZkGBFEIQ==",
+      "optional": true
+    },
     "stackframe": {
       "version": "1.2.0",
       "resolved": "https://registry.npmjs.org/stackframe/-/stackframe-1.2.0.tgz",
@@ -11955,6 +12013,12 @@
         "has-flag": "^3.0.0"
       }
     },
+    "svg-pathdata": {
+      "version": "6.0.3",
+      "resolved": "https://registry.npmjs.org/svg-pathdata/-/svg-pathdata-6.0.3.tgz",
+      "integrity": "sha512-qsjeeq5YjBZ5eMdFuUa4ZosMLxgr5RZ+F+Y1OrDhuOCEInRMA3x74XdBtggJcj9kOeInz0WE+LgCPDkZFlBYJw==",
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+    },
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       "resolved": "https://registry.npmjs.org/svg-tags/-/svg-tags-1.0.0.tgz",
@@ -12041,6 +12105,15 @@
         }
       }
     },
+    "text-segmentation": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/text-segmentation/-/text-segmentation-1.0.2.tgz",
+      "integrity": "sha512-uTqvLxdBrVnx/CFQOtnf8tfzSXFm+1Qxau7Xi54j4OPTZokuDOX8qncQzrg2G8ZicAMOM8TgzFAYTb+AqNO4Cw==",
+      "optional": true,
+      "requires": {
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+      }
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     "text-table": {
       "version": "0.2.0",
       "resolved": "https://registry.npmjs.org/text-table/-/text-table-0.2.0.tgz",
@@ -12613,6 +12686,23 @@
       "integrity": "sha1-n5VxD1CiZ5R7LMwSR0HBAoQn5xM=",
       "dev": true
     },
+    "utrie": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/utrie/-/utrie-1.0.1.tgz",
+      "integrity": "sha512-JPaDXF3vzgZxfeEwutdGzlrNoVFL5UvZcbO6Qo9D4GoahrieUPoMU8GCpVpR7MQqcKhmShIh8VlbEN3PLM3EBg==",
+      "optional": true,
+      "requires": {
+        "base64-arraybuffer": "^1.0.1"
+      },
+      "dependencies": {
+        "base64-arraybuffer": {
+          "version": "1.0.1",
+          "resolved": "https://registry.npmjs.org/base64-arraybuffer/-/base64-arraybuffer-1.0.1.tgz",
+          "integrity": "sha512-vFIUq7FdLtjZMhATwDul5RZWv2jpXQ09Pd6jcVEOvIsqCWTRFD/ONHNfyOS8dA/Ippi5dsIgpyKWKZaAKZltbA==",
+          "optional": true
+        }
+      }
+    },
     "uuid": {
       "version": "3.3.3",
       "resolved": "https://registry.npmjs.org/uuid/-/uuid-3.3.3.tgz",
@@ -12701,6 +12791,104 @@
         }
       }
     },
+    "vue-loader-v16": {
+      "version": "npm:vue-loader@16.8.2",
+      "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.8.2.tgz",
+      "integrity": "sha512-Nkq+z9mAsMEK+qkXgK+9Ia7D8w9uu9j4ut0IMT5coMfux3rCgIp1QBB1CYwY0M34A1nRMSONEaWXxAAw6xSl/Q==",
+      "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": {
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+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-4.1.2.tgz",
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+          "dev": true,
+          "optional": true,
+          "requires": {
+            "ansi-styles": "^4.1.0",
+            "supports-color": "^7.1.0"
+          }
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+        "color-convert": {
+          "version": "2.0.1",
+          "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz",
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+          "optional": true,
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+        "color-name": {
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+          "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.4.tgz",
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+          "version": "2.2.0",
+          "resolved": "https://registry.npmjs.org/json5/-/json5-2.2.0.tgz",
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     "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",

photon-client/package.json

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

photon-client/public/index.html

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

photon-client/src/App.vue

@@ -91,25 +91,51 @@
           </v-list-item-content>
         </v-list-item>
 
-        <v-list-item style="position: absolute; bottom: 0; left: 0;">
-          <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>

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

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

photon-client/src/assets/robot.svg

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -405,4 +405,4 @@ export default {
 
 <style scoped>
 
-</style>
+</style>

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

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

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

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

photon-client/src/jsPDFFonts/readme.md

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

photon-client/src/plugins/ColorPicker.js

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

photon-client/src/scss/variables.scss

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

photon-client/src/store/index.js

@@ -15,6 +15,13 @@ export default new Vuex.Store({
     },
     state: {
         backendConnected: false,
+        ntConnectionInfo: {
+            connected: false,
+            address: "",
+            clients: 0,
+            possibleRios: ["Loading..."],
+            deviceips: ["Loading..."],
+        },
         connectedCallbacks: [],
         colorPicking: false,
         logsOverlay: false,
@@ -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);
@@ -247,4 +256,4 @@ export default new Vuex.Store({
         calibrationList: state => state.cameraSettings[state.currentCameraIndex].calibrations,
         pipelineType: state => state.cameraSettings[state.currentCameraIndex].currentPipelineSettings.pipelineType
     }
-})
+})

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

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

photon-client/src/theme.js

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

photon-client/src/views/CamerasView.vue

@@ -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>

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>

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

@@ -285,4 +285,4 @@ export default {
 
 <style lang="" scoped>
 
-</style>
+</style>

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

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

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

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

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

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

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

@@ -232,4 +232,4 @@ export default {
   }
 }
 
-</script>
+</script>

photon-client/src/views/SettingsView.vue

@@ -85,4 +85,4 @@
         height: auto !important;
         vertical-align: middle;
     }
-</style>
+</style>

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>

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

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

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>

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

photon-core/build.gradle

@@ -11,11 +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:$joglVersion"
@@ -25,7 +25,7 @@ dependencies {
     implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
 
     // Zip
-    compile 'org.zeroturnaround:zt-zip:1.14'
+    implementation 'org.zeroturnaround:zt-zip:1.14'
 }
 
 task writeCurrentVersionJava {

photon-core/settings.gradle

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -14,7 +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;

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

@@ -14,22 +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);
@@ -48,7 +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;
 
@@ -57,6 +66,7 @@ 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!");
@@ -64,10 +74,99 @@ public class NetworkTablesManager {
                 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);
@@ -86,7 +185,8 @@ public class NetworkTablesManager {
         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!");

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;

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

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

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

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

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

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

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

@@ -14,7 +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;
 

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

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

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

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

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.*;

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;

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;

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;
 

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -14,7 +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;

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 {

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 {

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 {

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<>();

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;

photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.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 org.photonvision.common.configuration.ConfigManager;
@@ -24,7 +23,6 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
 
 public class NetworkManager {
-
     private static final Logger logger = new Logger(NetworkManager.class, LogGroup.General);
 
     private NetworkManager() {}

photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.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;
 
 public enum NetworkMode {