Disable Roborio finder (#450)

Rio finder has been linked to weird crashes after Autonomous

.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
@@ -141,29 +141,18 @@ 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]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/download-artifact@v2
-        with:
-          name: jar
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: '**/*'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
   #  Building photonlib
   photonlib-build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 10.14
     strategy:
       fail-fast: false
       matrix:
@@ -199,7 +188,7 @@ 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 +230,14 @@ 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
@@ -289,23 +281,57 @@ jobs:
           name: built-docs
           path: photon-server/src/main/resources/web/docs
 
-      # Build fat jar.
+      # Build fat jar for both pi and everything
       - run: |
           chmod +x gradlew
           ./gradlew photon-server:shadowJar --max-workers 1
+          ./gradlew photon-server:shadowJar --max-workers 1 -Ppionly
+
+      # The image will only pull the Pi JAR in
+      - name: Generate image
+        if: github.event_name != 'pull_request'
+        run: |
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh
 
       # Upload final fat jar as artifact.
       - uses: actions/upload-artifact@master
         with:
           name: jar
           path: photon-server/build/libs
+      - uses: actions/upload-artifact@master
+        with:
+          name: image
+          path: photonvision*.zip
 
-      - uses: eine/tip@master
+      - uses: pyTooling/Actions/releaser@r0
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
           tag: 'Dev'
           rm: true
           files: |
             photon-server/build/libs/*.jar
+            photonvision*.zip
         if: github.event_name == 'push'
 
+  photon-release:
+    if: startsWith(github.ref, 'refs/tags/v')
+    needs: [photon-build-package]
+    runs-on: ubuntu-latest
+    steps:
+      # This *should* pull in fat and pi-only jars
+      - uses: actions/download-artifact@v2
+        with:
+          name: jar
+
+      # And the image we made previously
+      - uses: actions/download-artifact@v2
+        with:
+          name: image
+
+      # All we've downloaded (ideally) is the fat jar, pi jar, and image. So just upload it all
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: '**/*'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -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
@@ -135,3 +143,4 @@ build/*
 build
 photon-lib/src/main/java/org/photonvision/PhotonVersion.java
 /photonlib-java-examples/bin/
+photon-lib/src/generate/native/include/PhotonVersion.h

.styleguide

@@ -9,6 +9,12 @@ cppSrcFileInclude {
   \.cpp$
 }
 
+modifiableFileExclude {
+  \.jpg$
+  \.png$
+  \.so$
+}
+
 includeProject {
   ^photonLib/
 }

.styleguide-license

@@ -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

@@ -10,14 +10,23 @@ If you are interested in contributing code or documentation to the project, plea
 
 ## Authors
 
-A list of contributors is available in our documentation on ReadTheDocs.
+<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
+  <img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
+</a>
 
+## Gradle Arguments
+
+Note that these are case sensitive!
+
+* `-Ppionly`: only builds for `linuxraspbian`, which reduces JAR size. The JAR name will have "-raspi" appended.
+- `-PtgtIp`: deploys (builds and copies the JAR) to the coprocessor at the specified IP
+- `-Pprofile`: enables JVM profiling
 
 ## Acknowledgments
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
 
 
-* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv). 
+* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
 
 * [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
 
@@ -27,5 +36,11 @@ 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)
+
+## Meeting Notes
+Our meeting notes can be found in the wiki section of this repository.
+
+* [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
+* [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)

build.gradle

@@ -1,10 +1,10 @@
 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 "com.diffplug.spotless" version "6.1.2"
+    id "com.github.johnrengelman.shadow" version "7.1.2"
+    id "com.github.node-gradle.node" version "3.1.1" apply false
+    id "edu.wpi.first.GradleJni" version "1.0.0"
+    id "edu.wpi.first.GradleVsCode" version "1.1.0"
+    id "edu.wpi.first.NativeUtils" version "2022.8.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "org.hidetake.ssh" version "2.10.1"
 }
@@ -22,24 +22,31 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2021.3.1"
-    opencvVersion = "3.4.7-5"
+    wpilibVersion = "2022.1.1"
+    opencvVersion = "4.5.2-1"
     joglVersion = "2.4.0-rc-20200307"
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
+
+
+    jniPlatforms = project.hasProperty('pionly') ? ['linuxraspbian']
+        : ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
+
+    println("Building for archs " + jniPlatforms)
 }
 
 spotless {
     java {
+        toggleOffOn()
         googleJavaFormat()
-        paddedCell()
         indentWithTabs(2)
         indentWithSpaces(4)
         removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
     }
     java {
         target "**/*.java"
-        licenseHeaderFile "$rootDir/LicenseHeader.txt"
         targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
         targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
     }

codecov.yml

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

gradle.properties

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

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-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"
           }
         },
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+          "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz",
+          "integrity": "sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==",
+          "dev": 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",
@@ -12749,7 +12927,7 @@
           "dependencies": {
             "acorn": {
               "version": "3.3.0",
-              "resolved": "http://registry.npmjs.org/acorn/-/acorn-3.3.0.tgz",
+              "resolved": "https://registry.npmjs.org/acorn/-/acorn-3.3.0.tgz",
               "integrity": "sha1-ReN/s56No/JbruP/U2niu18iAXo="
             }
           }
@@ -13653,7 +13831,7 @@
         },
         "browserify-aes": {
           "version": "1.2.0",
-          "resolved": "http://registry.npmjs.org/browserify-aes/-/browserify-aes-1.2.0.tgz",
+          "resolved": "https://registry.npmjs.org/browserify-aes/-/browserify-aes-1.2.0.tgz",
           "integrity": "sha512-+7CHXqGuspUn/Sl5aO7Ea0xWGAtETPXNSAjHo48JfLdPWcMng33Xe4znFvQweqc/uzk5zSOI3H52CYnjCfb5hA==",
           "requires": {
             "buffer-xor": "^1.0.3",
@@ -13687,7 +13865,7 @@
         },
         "browserify-rsa": {
           "version": "4.0.1",
-          "resolved": "http://registry.npmjs.org/browserify-rsa/-/browserify-rsa-4.0.1.tgz",
+          "resolved": "https://registry.npmjs.org/browserify-rsa/-/browserify-rsa-4.0.1.tgz",
           "integrity": "sha1-IeCr+vbyApzy+vsTNWenAdQTVSQ=",
           "requires": {
             "bn.js": "^4.1.0",
@@ -13718,7 +13896,7 @@
         },
         "buffer": {
           "version": "4.9.1",
-          "resolved": "http://registry.npmjs.org/buffer/-/buffer-4.9.1.tgz",
+          "resolved": "https://registry.npmjs.org/buffer/-/buffer-4.9.1.tgz",
           "integrity": "sha1-bRu2AbB6TvztlwlBMgkwJ8lbwpg=",
           "requires": {
             "base64-js": "^1.0.2",
@@ -13854,7 +14032,7 @@
         },
         "chalk": {
           "version": "1.1.3",
-          "resolved": "http://registry.npmjs.org/chalk/-/chalk-1.1.3.tgz",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-1.1.3.tgz",
           "integrity": "sha1-qBFcVeSnAv5NFQq9OHKCKn4J/Jg=",
           "requires": {
             "ansi-styles": "^2.2.1",
@@ -14101,7 +14279,7 @@
         },
         "create-hash": {
           "version": "1.2.0",
-          "resolved": "http://registry.npmjs.org/create-hash/-/create-hash-1.2.0.tgz",
+          "resolved": "https://registry.npmjs.org/create-hash/-/create-hash-1.2.0.tgz",
           "integrity": "sha512-z00bCGNHDG8mHAkP7CtT1qVu+bFQUPjYq/4Iv3C3kWjTFV10zIjfSoeqXo9Asws8gwSHDGj/hl2u4OGIjapeCg==",
           "requires": {
             "cipher-base": "^1.0.1",
@@ -14113,7 +14291,7 @@
         },
         "create-hmac": {
           "version": "1.1.7",
-          "resolved": "http://registry.npmjs.org/create-hmac/-/create-hmac-1.1.7.tgz",
+          "resolved": "https://registry.npmjs.org/create-hmac/-/create-hmac-1.1.7.tgz",
           "integrity": "sha512-MJG9liiZ+ogc4TzUwuvbER1JRdgvUFSB5+VR/g5h82fGaIRWMWddtKBHi7/sVhfjQZ6SehlyhvQYrcYkaUIpLg==",
           "requires": {
             "cipher-base": "^1.0.3",
@@ -14320,7 +14498,7 @@
         },
         "diffie-hellman": {
           "version": "5.0.3",
-          "resolved": "http://registry.npmjs.org/diffie-hellman/-/diffie-hellman-5.0.3.tgz",
+          "resolved": "https://registry.npmjs.org/diffie-hellman/-/diffie-hellman-5.0.3.tgz",
           "integrity": "sha512-kqag/Nl+f3GwyK25fhUMYj81BUOrZ9IuJsjIcDE5icNM9FJHAVm3VcUDxdLPoQtTuUylWm6ZIknYJwwaPxsUzg==",
           "requires": {
             "bn.js": "^4.1.0",
@@ -14396,7 +14574,7 @@
           "dependencies": {
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -14435,7 +14613,7 @@
             },
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -15886,7 +16064,7 @@
         },
         "http-errors": {
           "version": "1.6.3",
-          "resolved": "http://registry.npmjs.org/http-errors/-/http-errors-1.6.3.tgz",
+          "resolved": "https://registry.npmjs.org/http-errors/-/http-errors-1.6.3.tgz",
           "integrity": "sha1-i1VoC7S+KDoLW/TqLjhYC+HZMg0=",
           "requires": {
             "depd": "~1.1.2",
@@ -16372,7 +16550,7 @@
           "dependencies": {
             "lodash": {
               "version": "3.10.1",
-              "resolved": "http://registry.npmjs.org/lodash/-/lodash-3.10.1.tgz",
+              "resolved": "https://registry.npmjs.org/lodash/-/lodash-3.10.1.tgz",
               "integrity": "sha1-W/Rejkm6QYnhfUgnid/RW9FAt7Y="
             }
           }
@@ -16408,7 +16586,7 @@
           "dependencies": {
             "minimist": {
               "version": "1.2.0",
-              "resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
+              "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
               "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ="
             }
           }
@@ -16617,7 +16795,7 @@
             },
             "readable-stream": {
               "version": "1.0.34",
-              "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-1.0.34.tgz",
+              "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-1.0.34.tgz",
               "integrity": "sha1-Elgg40vIQtLyqq+v5MKRbuMsFXw=",
               "requires": {
                 "core-util-is": "~1.0.0",
@@ -16776,7 +16954,7 @@
             },
             "minimist": {
               "version": "1.2.0",
-              "resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
+              "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
               "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ="
             },
             "path-exists": {
@@ -16903,7 +17081,7 @@
         },
         "minimist": {
           "version": "0.0.8",
-          "resolved": "http://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
+          "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
           "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0="
         },
         "mixin-deep": {
@@ -16927,7 +17105,7 @@
         },
         "mkdirp": {
           "version": "0.5.1",
-          "resolved": "http://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
+          "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
           "integrity": "sha1-MAV0OOrGz3+MR2fzhkjWaX11yQM=",
           "requires": {
             "minimist": "0.0.8"
@@ -16954,7 +17132,7 @@
           "dependencies": {
             "commander": {
               "version": "2.9.0",
-              "resolved": "http://registry.npmjs.org/commander/-/commander-2.9.0.tgz",
+              "resolved": "https://registry.npmjs.org/commander/-/commander-2.9.0.tgz",
               "integrity": "sha1-nJkJQXbhIkDLItbFFGCYQA/g99Q=",
               "requires": {
                 "graceful-readlink": ">= 1.0.0"
@@ -17241,7 +17419,7 @@
         },
         "onetime": {
           "version": "1.1.0",
-          "resolved": "http://registry.npmjs.org/onetime/-/onetime-1.1.0.tgz",
+          "resolved": "https://registry.npmjs.org/onetime/-/onetime-1.1.0.tgz",
           "integrity": "sha1-ofeDj4MUxRbwXs78vEzP4EtO14k="
         },
         "optimist": {
@@ -17346,7 +17524,7 @@
         },
         "parse-asn1": {
           "version": "5.1.1",
-          "resolved": "http://registry.npmjs.org/parse-asn1/-/parse-asn1-5.1.1.tgz",
+          "resolved": "https://registry.npmjs.org/parse-asn1/-/parse-asn1-5.1.1.tgz",
           "integrity": "sha512-KPx7flKXg775zZpnp9SxJlz00gTd4BmJ2yJufSc44gMCRrRQ7NSzAcSJQfifuOLgW6bEi+ftrALtsgALeB2Adw==",
           "requires": {
             "asn1.js": "^4.0.0",
@@ -17569,7 +17747,7 @@
         },
         "public-encrypt": {
           "version": "4.0.2",
-          "resolved": "http://registry.npmjs.org/public-encrypt/-/public-encrypt-4.0.2.tgz",
+          "resolved": "https://registry.npmjs.org/public-encrypt/-/public-encrypt-4.0.2.tgz",
           "integrity": "sha512-4kJ5Esocg8X3h8YgJsKAuoesBgB7mqH3eowiDzMUPKiRDDE7E/BqqZD1hnTByIaAFiwAw246YEltSq7tdrOH0Q==",
           "requires": {
             "bn.js": "^4.1.0",
@@ -17685,7 +17863,7 @@
         },
         "readable-stream": {
           "version": "2.3.6",
-          "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
+          "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
           "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==",
           "requires": {
             "core-util-is": "~1.0.0",
@@ -17998,7 +18176,7 @@
         },
         "sha.js": {
           "version": "2.4.11",
-          "resolved": "http://registry.npmjs.org/sha.js/-/sha.js-2.4.11.tgz",
+          "resolved": "https://registry.npmjs.org/sha.js/-/sha.js-2.4.11.tgz",
           "integrity": "sha512-QMEp5B7cftE7APOjk5Y6xgrbWu+WkLVQwk8JNjZ8nKRciZaByEW6MubieAiToS7+dwvrjGhH8jRXz3MVd0AYqQ==",
           "requires": {
             "inherits": "^2.0.1",
@@ -18176,7 +18354,7 @@
           "dependencies": {
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -18205,7 +18383,7 @@
           "dependencies": {
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -18243,7 +18421,7 @@
             },
             "debug": {
               "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
               "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
               "requires": {
                 "ms": "0.7.2"
@@ -18269,7 +18447,7 @@
           "dependencies": {
             "debug": {
               "version": "2.2.0",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.2.0.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.2.0.tgz",
               "integrity": "sha1-+HBX6ZWxofauaklgZkE3vFbwOdo=",
               "requires": {
                 "ms": "0.7.1"
@@ -18464,7 +18642,7 @@
         },
         "table": {
           "version": "3.8.3",
-          "resolved": "http://registry.npmjs.org/table/-/table-3.8.3.tgz",
+          "resolved": "https://registry.npmjs.org/table/-/table-3.8.3.tgz",
           "integrity": "sha1-K7xULw/amGGnVdOUf+/Ys/UThV8=",
           "requires": {
             "ajv": "^4.7.0",
@@ -18521,7 +18699,7 @@
         },
         "through": {
           "version": "2.3.8",
-          "resolved": "http://registry.npmjs.org/through/-/through-2.3.8.tgz",
+          "resolved": "https://registry.npmjs.org/through/-/through-2.3.8.tgz",
           "integrity": "sha1-DdTJ/6q8NXlgsbckEV1+Doai4fU="
         },
         "time-stamp": {
@@ -18697,7 +18875,7 @@
             },
             "yargs": {
               "version": "3.10.0",
-              "resolved": "http://registry.npmjs.org/yargs/-/yargs-3.10.0.tgz",
+              "resolved": "https://registry.npmjs.org/yargs/-/yargs-3.10.0.tgz",
               "integrity": "sha1-9+572FfdfB0tOMDnTvvWgdFDH9E=",
               "requires": {
                 "camelcase": "^1.0.2",
@@ -19339,7 +19517,7 @@
         },
         "wrap-ansi": {
           "version": "2.1.0",
-          "resolved": "http://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz",
+          "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz",
           "integrity": "sha1-2Pw9KE3QV5T+hJc8rs3Rz4JP3YU=",
           "requires": {
             "string-width": "^1.0.1",
@@ -20250,9 +20428,9 @@
       "dev": true
     },
     "y18n": {
-      "version": "4.0.0",
-      "resolved": "https://registry.npmjs.org/y18n/-/y18n-4.0.0.tgz",
-      "integrity": "sha512-r9S/ZyXu/Xu9q1tYlpsLIsa3EeLXXk0VwlxqTcFRfg9EhMW+17kbt9G0NrgCmhGb5vT2hyhJZLfDGx+7+5Uj/w==",
+      "version": "4.0.3",
+      "resolved": "https://registry.npmjs.org/y18n/-/y18n-4.0.3.tgz",
+      "integrity": "sha512-JKhqTOwSrqNA1NY5lSztJ1GrBiUodLMmIZuLiDaMRJ+itFd+ABVE8XBjOvIWL+rSqNDC74LCSFmlb/U4UZ4hJQ==",
       "dev": true
     },
     "yallist": {

photon-client/package.json

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

photon-client/public/index.html

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

photon-client/src/App.vue

@@ -87,29 +87,79 @@
             </v-icon>
           </v-list-item-icon>
           <v-list-item-content>
-            <v-list-item-title>Advanced Mode</v-list-item-title>
+            <v-list-item-title>Compact Mode</v-list-item-title>
           </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="$store.state.ntConnectionInfo.connected"
+                src="@/assets/robot.svg"
+                alt=""
+              >
+              <img
+                v-else
+                class="pulse"
+                style="border-radius: 100%"
+                src="@/assets/robot-off.svg"
+                alt=""
+              >
+            </v-list-item-icon>
+            <v-list-item-content>
+              <v-list-item-title
+                v-if="$store.state.settings.networkSettings.runNTServer"
+                class="text-wrap"
+              >
+                NetworkTables server running for {{ $store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero' }} clients!
+              </v-list-item-title>
+              <v-list-item-title
+                v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected"
+                class="text-wrap"
+              >
+                Robot connected! {{ $store.state.ntConnectionInfo.address }}
+              </v-list-item-title>
+              <v-list-item-title
+                v-else
+                class="text-wrap"
+              >
+                Not connected to robot!
+              </v-list-item-title>
+              <router-link
+                v-if="!$store.state.settings.networkSettings.runNTServer"
+                to="settings"
+                class="accent--text"
+                @click="switchToSettingsTab"
+              >
+                Team number is {{ $store.state.settings.networkSettings.teamNumber }}
+              </router-link>
+            </v-list-item-content>
+          </v-list-item>
+
+          <v-list-item>
+            <v-list-item-icon>
+              <v-icon v-if="$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 +182,39 @@
     >
       <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
+          <router-link
+            to="settings"
+            class="accent--text"
+            @click="switchToSettingsTab"
+          >
+            vist the settings tab
+          </router-link>
+          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 +223,16 @@ 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) {
@@ -197,12 +281,12 @@ 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 +298,7 @@ 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)) {
@@ -257,8 +341,7 @@ import Logs from "./views/LogsView"
                 }
               }
               this.previouslySelectedIndices = null;
-            }
-,
+            },
             switchToSettingsTab() {
                 this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
             }
@@ -343,4 +426,4 @@ 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

@@ -13,7 +13,7 @@
     export default {
         name: "CvImage",
         // eslint-disable-next-line vue/require-prop-types
-        props: ['address', 'scale', 'maxHeight', 'maxHeightMd', 'maxHeightXl', 'colorPicking', 'id', 'disconnected'],
+        props: ['address', 'scale', 'maxHeight', 'maxHeightMd', 'maxHeightLg', 'maxHeightXl', 'colorPicking', 'id', 'disconnected'],
         data() {
             return {
                 seed: 1.0,
@@ -37,7 +37,9 @@
 
                     if (this.$vuetify.breakpoint.xl) {
                       ret["max-height"] = this.maxHeightXl;
-                    } else if (this.$vuetify.breakpoint.mdAndUp) {
+                    } else if (this.$vuetify.breakpoint.lg) {
+                      ret["max-height"] = this.maxHeightLg;
+                    } else if (this.$vuetify.breakpoint.md) {
                       ret["max-height"] = this.maxHeightMd;
                     }
 
@@ -59,4 +61,4 @@
             }
         },
     }
-</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

@@ -1,28 +1,46 @@
 <template>
   <div>
-    <v-radio-group
-      v-model="localValue"
-      row
-      dark
-      :mandatory="true"
+    <v-row
+      dense
+      align="center"
     >
-      <v-radio
-        v-for="(name,index) in list"
-        :key="index"
-        color="#ffd843"
-        :label="name"
-        :value="index"
-        :disabled="disabled"
-      />
-    </v-radio-group>
+      <v-col :cols="12 - (inputCols || 8)">
+        <tooltipped-label
+          :tooltip="tooltip"
+          :text="name"
+        />
+      </v-col>
+      <v-col :cols="inputCols || 8">
+        <v-radio-group
+          v-model="localValue"
+          row
+          dark
+          :mandatory="true"
+        >
+          <v-radio
+            v-for="(radioName,index) in list"
+            :key="index"
+            color="#ffd843"
+            :label="radioName"
+            :value="index"
+            :disabled="disabled"
+          />
+        </v-radio-group>
+      </v-col>
+    </v-row>
   </div>
 </template>
 
 <script>
+    import TooltippedLabel from "./cv-tooltipped-label";
+
     export default {
         name: 'Radio',
+        components: {
+          TooltippedLabel
+        },
       // eslint-disable-next-line vue/require-prop-types
-        props: ['value', 'list', 'disabled'],
+        props: ['name', 'value', 'list', 'disabled', 'inputCols', 'tooltip'],
         data() {
             return {}
         },
@@ -41,4 +59,4 @@
 
 <style lang="" scoped>
 
-</style>
+</style>

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

@@ -19,7 +19,9 @@
           hide-details
           class="align-center"
           dark
-          color="accent"
+          :color="inverted ? 'rgba(255, 255, 255, 0.2)' : 'accent'"
+          :track-color="inverted ? 'accent' : undefined"
+          thumb-color="accent"
           :step="step"
           @input="handleInput"
           @mousedown="$emit('rollback', localValue)"
@@ -76,7 +78,7 @@ export default {
     TooltippedLabel,
   },
   // eslint-disable-next-line vue/require-prop-types
-  props: ["name", "min", "max", "value", "step", "tooltip", "disabled"],
+  props: ["name", "min", "max", "value", "step", "tooltip", "disabled", "inverted"],
   data() {
     return {
       prependFocused: false,
@@ -129,4 +131,4 @@ 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

@@ -3,7 +3,7 @@
     <v-tooltip
       :disabled="tooltip === undefined"
       right
-      open-delay="600"
+      open-delay="300"
     >
       <template v-slot:activator="{ on, attrs }">
         <span
@@ -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

@@ -1,11 +1,15 @@
 <template>
   <div>
-    <v-row align="center">
+    <v-row
+      align="center"
+      class="pl-6"
+    >
       <v-col
         cols="10"
         md="5"
         lg="10"
-        class="pt-0 pb-0 pl-6"
+        no-gutters
+        class="pa-0"
       >
         <CVselect
           v-if="isCameraNameEdit === false"
@@ -59,7 +63,8 @@
         cols="10"
         md="5"
         lg="10"
-        class="pt-0 pb-0 pl-6"
+        no-gutters
+        class="pa-0"
       >
         <CVselect
           v-model="currentPipelineIndex"
@@ -139,14 +144,16 @@
       <v-col
         v-if="currentPipelineType >= 0"
         cols="10"
-        md="5"
+        md="11"
         lg="10"
-        class="pt-0 pb-0 pl-6 ml-16"
+        no-gutters
+        class="pa-0"
       >
         <CVselect
           v-model="currentPipelineType"
           name="Type"
-          :list="['Reflective', 'Shape']"
+          tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
+          :list="['Reflective Tape', 'Colored Shape']"
           @input="e => showTypeDialog(e)"
         />
       </v-col>
@@ -173,15 +180,9 @@
         <v-card-text>
           <CVinput
             v-model="newPipelineName"
-            name="Pipeline"
+            name="Name"
             :error-message="checkPipelineName"
           />
-          <CVselect
-            v-model="newPipelineType"
-            name="Pipeline Type"
-            :list="['Reflective', 'Shape']"
-            :disabled="isPipelineNameEdit"
-          />
         </v-card-text>
         <v-divider />
         <v-card-actions>
@@ -263,7 +264,6 @@ export default {
       isPipelineNameEdit: false,
       namingDialog: false,
       newPipelineName: "",
-      newPipelineType: 0,
       duplicateDialog: false,
       showPipeTypeDialog: false,
       proposedPipelineType : 0,
@@ -277,12 +277,12 @@ export default {
           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"
+                return "A camera by that name already exists"
               }
             }
           }
         } else {
-          return "A camera name can only contain letters, numbers and spaces"
+          return "A camera name can only contain letters, numbers, and spaces"
         }
       }
       return "";
@@ -385,7 +385,7 @@ export default {
         if (this.isPipelineNameEdit) {
           this.handleInputWithIndex("changePipelineName", this.newPipelineName);
         } else {
-          this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.newPipelineType]); // 0 for reflective, 1 for colored shpae
+          this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.currentPipelineType]); // 0 for reflective, 1 for colored shpae
         }
         this.discardPipelineNameChange();
       }
@@ -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

@@ -6,8 +6,10 @@ function initColorPicker() {
         canvas = document.createElement('canvas');
 
     image = document.querySelector('#normal-stream');
-    canvas.width = image.width;
-    canvas.height = image.height;
+    if (image !== null) {
+      canvas.width = image.width;
+      canvas.height = image.height;
+    }
 }
 
 //Called on click of the image,
@@ -122,4 +124,4 @@ 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 +15,15 @@ export default new Vuex.Store({
     },
     state: {
         backendConnected: false,
+        ntConnectionInfo: {
+            connected: false,
+            address: "",
+            clients: 0,
+        },
+        networkInfo: {
+            possibleRios: ["Loading..."],
+            deviceips: ["Loading..."],
+        },
         connectedCallbacks: [],
         colorPicking: false,
         logsOverlay: false,
@@ -48,7 +57,8 @@ export default new Vuex.Store({
                     // Settings that apply to all pipeline types
                     cameraExposure: 1,
                     cameraBrightness: 2,
-                    cameraGain: 3,
+                    cameraRedGain: 3,
+                    cameraBlueGain: 4,
                     inputImageRotationMode: 0,
                     cameraVideoModeIndex: 0,
                     streamingFrameDivisor: 0,
@@ -57,10 +67,13 @@ export default new Vuex.Store({
                     hsvHue: [0, 15],
                     hsvSaturation: [0, 15],
                     hsvValue: [0, 25],
+                    hueInverted: false,
                     contourArea: [0, 12],
                     contourRatio: [0, 12],
                     contourFullness: [0, 12],
                     contourSpecklePercentage: 5,
+                    contourFilterRangeX: 5,
+                    contourFilterRangeY: 5,
                     contourGroupingMode: 0,
                     contourIntersection: 0,
                     contourSortMode: 0,
@@ -143,6 +156,9 @@ export default new Vuex.Store({
         settings: set('settings'),
         calibrationData: set('calibrationData'),
         metrics: set('metrics'),
+        ntConnectionInfo: set('ntConnectionInfo'),
+        networkInfo: set('networkInfo'),
+        backendConnected: set('backendConnected'),
         logString: (state, newStr) => {
             const str = state.logMessages;
             str.push(newStr);
@@ -247,4 +263,4 @@ 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

@@ -19,8 +19,8 @@
             <CVselect
               v-model="currentCameraIndex"
               name="Camera"
-              select-cols="10"
               :list="$store.getters.cameraList"
+              :select-cols="$vuetify.breakpoint.mdAndUp ? 10 : 7"
               @input="handleInput('currentCamera',currentCameraIndex)"
             />
             <CVnumberinput
@@ -28,6 +28,7 @@
               :tooltip="cameraSettings.isFovConfigurable ? 'Field of view (in degrees) of the camera measured across the diagonal of the frame, in a video mode which covers the whole sensor area.' : 'This setting is managed by a vendor'"
               name="Maximum diagonal FOV"
               :disabled="!cameraSettings.isFovConfigurable"
+              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
             />
             <br>
             <CVnumberinput
@@ -35,6 +36,7 @@
               name="Camera pitch"
               tooltip="How many degrees above the horizontal the physical camera is tilted"
               :step="0.01"
+              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
             />
             <br>
             <v-btn
@@ -66,43 +68,51 @@
                 cols="12"
                 md="6"
               >
-                <CVselect
-                  v-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)"
+                    tooltip="Spacing between pattern features in inches"
+                    :disabled="isCalibrating"
+                    :rules="[v => (v > 0) || 'Size must be positive']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
+                  />
+                  <CVnumberinput
+                    v-model="boardWidth"
+                    name="Board width"
+                    tooltip="Width of the board in dots or chessboard squares"
+                    :disabled="isCalibrating"
+                    :rules="[v => (v >= 4) || 'Width must be at least 4']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
+                  />
+                  <CVnumberinput
+                    v-model="boardHeight"
+                    name="Board height"
+                    tooltip="Height of the board in dots or chessboard squares"
+                    :disabled="isCalibrating"
+                    :rules="[v => (v >= 4) || 'Height must be at least 4']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
+                  />
+                </v-form>
               </v-col>
 
               <!-- Calibrated table -->
@@ -186,13 +196,24 @@
                   @input="e => handlePipelineUpdate('cameraBrightness', e)"
                 />
                 <CVslider
-                  v-if="$store.getters.currentPipelineSettings.cameraGain !== -1"
-                  v-model="$store.getters.currentPipelineSettings.cameraGain"
-                  name="Gain"
-                  :min="0"
-                  :max="100"
-                  slider-cols="8"
-                  @input="e => handlePipelineUpdate('cameraGain', e)"
+                  v-if="$store.getters.currentPipelineSettings.cameraRedGain !== -1"
+                  v-model="$store.getters.currentPipelineSettings.cameraRedGain"
+                  name="Red AWB Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+                  :slider-cols="8"
+                  @input="e => handlePipelineData('cameraRedGain', e)"
+                />
+                <CVslider
+                  v-if="$store.getters.currentPipelineSettings.cameraBlueGain !== -1"
+                  v-model="$store.getters.currentPipelineSettings.cameraBlueGain"
+                  name="Blue AWB Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+                  :slider-cols="8"
+                  @input="e => handlePipelineData('cameraBlueGain', e)"
                 />
               </v-col>
             </v-row>
@@ -227,19 +248,14 @@
                   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 +341,8 @@ 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 +359,12 @@ 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 +505,97 @@ 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 +670,4 @@ export default {
 .v-data-table th, td {
     font-size: 1rem !important;
 }
-</style>
+</style>

photon-client/src/views/PipelineView.vue

@@ -30,7 +30,7 @@
                 :class="fpsTooLow ? 'ml-2 mt-1' : 'mt-2'"
                 x-small
                 label
-                :color="fpsTooLow ? 'red' : 'transparent'"
+                :color="fpsTooLow ? 'error' : 'transparent'"
                 :text-color="fpsTooLow ? 'white' : 'grey'"
               >
                 <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
@@ -64,7 +64,8 @@
                     :disconnected="!$store.state.backendConnected"
                     scale="100"
                     :max-height="$store.getters.isDriverMode ? '40vh' : '300px'"
-                    :max-height-md="$store.getters.isDriverMode ? '50vh' : '320px'"
+                    :max-height-md="$store.getters.isDriverMode ? '50vh' : '380px'"
+                    :max-height-lg="$store.getters.isDriverMode ? '55vh' : '390px'"
                     :max-height-xl="$store.getters.isDriverMode ? '60vh' : '450px'"
                     :alt="'Stream' + idx"
                     :color-picking="$store.state.colorPicking && idx === 0"
@@ -84,9 +85,6 @@
           <v-card
             color="primary"
           >
-            <!--            <v-btn @click="onCamNameChange">-->
-            <!--              Reload-->
-            <!--            </v-btn>-->
             <camera-and-pipeline-select @camera-name-changed="reloadStreams" />
           </v-card>
           <v-card
@@ -98,7 +96,6 @@
               align="center"
               class="pl-3 pr-3"
             >
-              <!--  -->
               <v-col lg="12">
                 <p style="color: white;">
                   Processing mode:
@@ -198,21 +195,24 @@
         </v-col>
       </v-row>
     </v-container>
-    <!-- snack bar and modal -->
+
     <v-snackbar
-      v-model="snackbar"
-      :timeout="3000"
-      top
+      v-model="showNTWarning"
       color="error"
+      timeout="-1"
+      top
     >
-      <span style="color:#000">Can not remove the only pipeline!</span>
-      <v-btn
-        color="black"
-        text
-        @click="snackbar = false"
-      >
-        Close
-      </v-btn>
+      {{ $store.state.settings.networkSettings.runNTServer ?
+        "NetworkTables server enabled! PhotonLib may not work." :
+        "NetworkTables not connected! Are you on a network with a robot?" }}
+      <template v-slot:action>
+        <v-btn
+          text
+          @click="hideNTWarning = true"
+        >
+          Hide
+        </v-btn>
+      </template>
     </v-snackbar>
 
     <v-dialog
@@ -278,10 +278,10 @@ export default {
     data() {
         return {
             selectedTabsData: [0, 0, 0, 0],
-            snackbar: false,
             counterData: 0,
             dialog: false,
-            processingModeOverride: false
+            processingModeOverride: false,
+            hideNTWarning: false,
         }
     },
     computed: {
@@ -421,6 +421,17 @@ 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;
+          }
+        },
+        showNTWarning: {
+          get() {
+            return (!this.$store.state.ntConnectionInfo.connected || this.$store.state.settings.networkSettings.runNTServer) && this.$store.state.settings.networkSettings.teamNumber > 0 && this.$store.state.backendConnected && !this.hideNTWarning;
+          }
+        },
     },
     created() {
         this.$store.state.connectedCallbacks.push(this.reloadStreams)
@@ -469,4 +480,4 @@ th {
     width: 80px;
     text-align: center;
 }
-</style>
+</style>

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

@@ -1,140 +1,169 @@
 <template>
   <div>
     <CVrangeSlider
-        v-model="contourArea"
-        name="Area"
-        min="0"
-        max="100"
-        step="0.1"
-        @input="handlePipelineData('contourArea')"
+      v-model="contourArea"
+      name="Area"
+      min="0"
+      max="100"
+      step="0.01"
+      @input="handlePipelineData('contourArea')"
     />
     <CVrangeSlider
-        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')"
+      v-if="currentPipelineType() !== 3"
+      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')"
+    />
+    <CVselect
+        v-model="contourTargetOrientation"
+        name="Target Orientation"
+        tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
+        :list="['Portrait', 'Landscape']"
+        @input="handlePipelineData('contourTargetOrientation')"
+        @rollback="e=> rollback('contourTargetOrientation', e)"
     />
     <CVrangeSlider
-        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')"
+      v-if="currentPipelineType() !== 3"
+      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')"
     />
     <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')"
+      v-if="currentPipelineType() === 3"
+      v-model="contourPerimeter"
+      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')"
+      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')"
+      <CVslider
+        v-model="contourFilterRangeX"
+        name="X filter tightness"
+        tooltip="Rejects contours whose center X is further than X standard deviations above/below the mean X location"
+        min="0.1"
+        max="4"
+        step="0.1"
+        :slider-cols="largeBox"
+        @input="handlePipelineData('contourFilterRangeX')"
+      />
+      <CVslider
+        v-model="contourFilterRangeY"
+        name="Y filter tightness"
+        tooltip="Rejects contours whose center Y is further than X standard deviations above/below the mean Y location"
+        min="0.1"
+        max="4"
+        step="0.1"
+        :slider-cols="largeBox"
+        @input="handlePipelineData('contourFilterRangeY')"
       />
       <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')"
+        v-model="contourGroupingMode"
+        name="Target Grouping"
+        tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
+        :select-cols="largeBox"
+        :list="['Single','Dual','2orMore']"
+        @input="handlePipelineData('contourGroupingMode')"
+      />
+      <CVselect
+        v-model="contourIntersection"
+        name="Target Intersection"
+        tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
+        :select-cols="largeBox"
+        :list="['None','Up','Down','Left','Right']"
+        :disabled="contourGroupingMode === 0"
+        @input="handlePipelineData('contourIntersection')"
       />
     </template>
     <!-- If we arent not a shape, we are a shape-->
     <template v-else>
-      <v-divider class="mt-3"/>
+      <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')"
+        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')"
+        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')"
+        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')"
+        v-model="contourRadius"
+        :disabled="currentPipelineSettings().contourShape !== 0"
+        name="Radius"
+        min="0"
+        max="100"
+        step="1"
+        label-cols="3"
+        @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')"
+        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-model="circleAccuracy"
+        :disabled="currentPipelineSettings().contourShape !== 0"
+        name="Circle Accuracy"
+        min="1"
+        max="100"
+        :slider-cols="largeBox"
+        @input="handlePipelineData('circleAccuracy')"
       />
-      <v-divider class="mt-3"/>
+      <v-divider class="mt-3" />
     </template>
     <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>
@@ -182,6 +211,14 @@ export default {
         this.$store.commit("mutatePipeline", {"contourRatio": val});
       }
     },
+    contourTargetOrientation: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourTargetOrientation
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourTargetOrientation": val});
+      }
+    },
     contourFullness: {
       get() {
         return this.$store.getters.currentPipelineSettings.contourFullness
@@ -206,6 +243,25 @@ export default {
         this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
       }
     },
+    contourFilterRangeX: {
+      get() {
+        console.log(this.$store.getters.currentPipelineSettings.contourFilterRangeX)
+        return this.$store.getters.currentPipelineSettings.contourFilterRangeX
+      },
+      set(val) {
+        console.log("set")
+        console.log(val)
+        this.$store.commit("mutatePipeline", {"contourFilterRangeX": val});
+      }
+    },
+    contourFilterRangeY: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourFilterRangeY
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourFilterRangeY": val});
+      }
+    },
     contourGroupingMode: {
       get() {
         return this.$store.getters.currentPipelineSettings.contourGroupingMode
@@ -285,4 +341,4 @@ export default {
 
 <style lang="" scoped>
 
-</style>
+</style>

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

@@ -22,15 +22,26 @@
       @rollback="e => rollback('cameraBrightness', e)"
     />
     <CVslider
-      v-if="cameraGain !== -1"
-      v-model="cameraGain"
-      name="Gain"
+      v-if="cameraRedGain !== -1"
+      v-model="cameraRedGain"
+      name="Red AWB Gain"
       min="0"
       max="100"
-      tooltip="Controls automatic white balance gain, which affects how the camera captures colors in different conditions"
+      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
       :slider-cols="largeBox"
-      @input="handlePipelineData('cameraGain')"
-      @rollback="e => rollback('cameraGain', e)"
+      @input="handlePipelineData('cameraRedGain')"
+      @rollback="e => rollback('cameraRedGain', e)"
+    />
+    <CVslider
+      v-if="cameraBlueGain !== -1"
+      v-model="cameraBlueGain"
+      name="Blue AWB Gain"
+      min="0"
+      max="100"
+      tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+      :slider-cols="largeBox"
+      @input="handlePipelineData('cameraBlueGain')"
+      @rollback="e => rollback('cameraBlueGain', e)"
     />
     <CVselect
       v-model="inputImageRotationMode"
@@ -105,12 +116,20 @@
                     this.$store.commit("mutatePipeline", {"cameraBrightness": parseInt(val)});
                 }
             },
-            cameraGain: {
+            cameraRedGain: {
                 get() {
-                    return parseInt(this.$store.getters.currentPipelineSettings.cameraGain)
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraRedGain)
                 },
                 set(val) {
-                    this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
+                    this.$store.commit("mutatePipeline", {"cameraRedGain": parseInt(val)});
+                }
+            },
+            cameraBlueGain: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraBlueGain)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraBlueGain": parseInt(val)});
                 }
             },
             inputImageRotationMode: {
@@ -170,7 +189,11 @@
             // It would probably be cleaner if this checked that we're on the Raspi 3 instead of checking for GPU accel status
             const width = this.$store.getters.videoFormatList[
                     this.$store.getters.currentCameraSettings.currentPipelineSettings.cameraVideoModeIndex]['width'];
-            return unfilteredStreamDivisors.filter((x) => !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
+
+            // If GPU acceleration is enabled, the  downsized width must be below 400px
+            // This check should be skipped if we're currently in driver mode
+            return unfilteredStreamDivisors.filter((x) => this.$store.getters.isDriverMode
+                    || !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
           },
           getNumSkippedStreamDivisors() {
             return unfilteredStreamDivisors.length - this.getRawStreamDivisors().length;

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

@@ -1,8 +1,5 @@
 <template>
   <div>
-    <span class="white--text">Target Manipulation</span>
-    <v-divider class="mt-2" />
-
     <CVselect
       v-model="contourTargetOffsetPointEdge"
       name="Target Offset Point"
@@ -31,8 +28,7 @@
 
       @rollback="e=> rollback('outputShowMultipleTargets', e)"
     />
-    <span class="white--text">Robot Offset</span>
-    <v-divider class="mt-2" />
+    <v-divider />
     <CVselect
       v-model="offsetRobotOffsetMode"
       name="Robot Offset Mode"
@@ -156,4 +152,4 @@
 </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', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal'], //Keep in sync with TargetModel.java
                 snackbar: {
                     color: "Success",
                     text: ""
@@ -155,4 +155,4 @@
         margin-left: auto;
         margin-right: auto;
     }
-</style>
+</style>

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

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

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

@@ -1,66 +1,79 @@
 <template>
-  <div>
+  <div :style="{'--averageHue': averageHue}">
     <CVrangeSlider
-        v-model="hsvHue"
-        name="Hue"
-        tooltip="Describes color"
-        :min="0"
-        :max="180"
-        @input="handlePipelineData('hsvHue')"
-        @rollback="e => rollback('hue',e)"
+      id="hue-slider"
+      v-model="hsvHue"
+      :class="hueInverted ? 'inverted-slider' : 'normal-slider'"
+      name="Hue"
+      tooltip="Describes color"
+      :min="0"
+      :max="180"
+      :inverted="hueInverted"
+      @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)"
+      id="sat-slider"
+      v-model="hsvSaturation"
+      class="normal-slider"
+      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)"
+      id="value-slider"
+      v-model="hsvValue"
+      class="normal-slider"
+      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="hueInverted"
+      name="Invert hue"
+      tooltip="Selects the hue range outside of the hue slider bounds instead of inside"
+      @input="handlePipelineData('hueInverted')"
+      @rollback="e => rollback('hueInverted',e)"
+    />
+    <template v-if="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)"
+        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)"
+        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(hueInverted ? 2 : 3)"
         >
           <v-icon left>
             mdi-minus
@@ -68,21 +81,21 @@
           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
           </v-icon>
-          Set To Average
+          {{ hueInverted ? "Exclude" : "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(hueInverted ? 3: 2)"
         >
           <v-icon left>
             mdi-plus
@@ -92,16 +105,17 @@
       </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>
       </template>
     </v-row>
+    <v-divider class="mb-3" />
   </div>
 </template>
 
@@ -133,9 +147,41 @@ export default {
         this.$store.commit("mutatePipeline", {"hsvHue": val})
       }
     },
+    averageHue: {
+      get() {
+        var isInverted = this.$store.getters.currentPipelineSettings.hueInverted;
+        const arr = this.$store.getters.currentPipelineSettings.hsvHue;
+        var retVal = 0;
+
+        if (Array.isArray(arr)) {
+          retVal = (arr[0] + arr[1]);
+        } else {
+          retVal = (arr.first + arr.second);
+        }
+
+        if(isInverted){
+          retVal += 180;
+        }
+
+        if(retVal > 360){
+          retVal -= 360;
+        }
+
+        return retVal;
+
+      },
+    },
+    hueInverted: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hueInverted;
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hueInverted": val});
+      }
+    },
     hsvSaturation: {
       get() {
-        return this.$store.getters.currentPipelineSettings.hsvSaturation
+        return this.$store.getters.currentPipelineSettings.hsvSaturation;
       },
       set(val) {
         this.$store.commit("mutatePipeline", {"hsvSaturation": val})
@@ -143,15 +189,15 @@ export default {
     },
     hsvValue: {
       get() {
-        return this.$store.getters.currentPipelineSettings.hsvValue
+        return this.$store.getters.currentPipelineSettings.hsvValue;
       },
       set(val) {
-        this.$store.commit("mutatePipeline", {"hsvValue": val})
+        this.$store.commit("mutatePipeline", {"hsvValue": val});
       }
     },
     erode: {
       get() {
-        return this.$store.getters.currentPipelineSettings.erode
+        return this.$store.getters.currentPipelineSettings.erode;
       },
       set(val) {
         this.$store.commit("mutatePipeline", {"erode": val});
@@ -159,7 +205,7 @@ export default {
     },
     dilate: {
       get() {
-        return this.$store.getters.currentPipelineSettings.dilate
+        return this.$store.getters.currentPipelineSettings.dilate;
       },
       set(val) {
         this.$store.commit("mutatePipeline", {"dilate": val});
@@ -232,4 +278,32 @@ export default {
   }
 }
 
-</script>
+</script>
+
+<style lang="css" scoped>
+#hue-slider >>> .v-slider {
+  background: linear-gradient( to right, #f00 0%, #ff0 17%, #0f0 33%, #0ff 50%, #00f 67%, #f0f 83%, #f00 100% );
+  border-radius: 10px;
+  box-shadow: 0px 0px 5px #333, inset 0px 0px 3px #333;
+}
+#sat-slider >>> .v-slider {
+  background: linear-gradient( to right, #fff 0%, hsl(var(--averageHue), 100%, 50%) 100% );
+  border-radius: 10px;
+  box-shadow: 0px 0px 5px #333, inset 0px 0px 3px #333;
+}
+#value-slider >>> .v-slider {
+  background: linear-gradient( to right, #000 0%, hsl(var(--averageHue), 100%, 50%) 100% );
+  border-radius: 10px;
+  box-shadow: 0px 0px 5px #333, inset 0px 0px 3px #333;
+}
+>>> .v-slider__thumb {
+  outline: black solid thin;
+}
+.normal-slider >>> .v-slider__track-fill {
+    outline: black solid thin;
+}
+
+.inverted-slider >>> .v-slider__track-background {
+  outline: black solid thin;
+}
+</style>

photon-client/src/views/SettingsView.vue

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

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

@@ -91,7 +91,7 @@
       <v-col
         cols="12"
         sm="6"
-        lg="3"
+        md="4"
       >
         <v-btn
           color="secondary"
@@ -106,7 +106,7 @@
       <v-col
         cols="12"
         sm="6"
-        lg="3"
+        md="4"
       >
         <v-btn
           color="secondary"
@@ -120,7 +120,21 @@
       </v-col>
       <v-col
         cols="12"
-        lg="3"
+        md="4"
+      >
+        <v-btn
+          color="secondary"
+          @click="$refs.offlineUpdate.click()"
+        >
+          <v-icon left>
+            mdi-update
+          </v-icon>
+          Offline Update
+        </v-btn>
+      </v-col>
+      <v-col
+        cols="12"
+        lg="6"
       >
         <v-btn
           color="red"
@@ -129,19 +143,19 @@
           <v-icon left>
             mdi-restart
           </v-icon>
-          Restart Photon
+          Restart PhotonVision
         </v-btn>
       </v-col>
       <v-col
         cols="12"
-        lg="3"
+        lg="6"
       >
         <v-btn
           color="red"
           @click="restartDevice()"
         >
           <v-icon left>
-            mdi-restart
+            mdi-restart-alert
           </v-icon>
           Restart Device
         </v-btn>
@@ -172,6 +186,15 @@
       :href="'http://' + this.$address + '/api/settings/photonvision_config.zip'"
       download="photonvision-settings.zip"
     />
+
+    <!-- Special hidden new jar upload input that gets 'clicked' when the user posts a new .jar -->
+    <input
+      ref="offlineUpdate"
+      type="file"
+      accept=".jar"
+      style="display: none;"
+      @change="doOfflineUpdate"
+    >
   </div>
 </template>
 
@@ -181,6 +204,7 @@ export default {
     data() {
         return {
             snack: false,
+            uploadPercentage: 0.0,
             snackbar: {
                 color: "success",
                 text: ""
@@ -226,7 +250,7 @@ export default {
                 {headers: {"Content-Type": "multipart/form-data"}}).then(() => {
                 this.snackbar = {
                     color: "success",
-                    text: "Settings imported successfully! Program will now exit...",
+                    text: "Settings imported successfully! PhotonVision will restart in the background...",
                 };
                 this.snack = true;
             }).catch(err => {
@@ -234,7 +258,7 @@ export default {
                   this.snackbar = {
                       color: "error",
                       text: "Error while uploading settings file! Could not process provided file.",
-                  };               
+                  };
                 } else if (err.request) {
                   this.snackbar = {
                       color: "error",
@@ -249,6 +273,52 @@ export default {
                 this.snack = true;
             });
         },
+        doOfflineUpdate(event) {
+          this.snackbar = {
+                color: "secondary",
+                text: "New Software Upload in Process..."
+            };
+            this.snack = true;
+
+            let formData = new FormData();
+            formData.append("jarData", event.target.files[0]);
+            this.axios.post("http://" + this.$address + "/api/settings/offlineUpdate", formData,
+                {headers: {"Content-Type": "multipart/form-data"},
+                 onUploadProgress: function( progressEvent ) {
+                    this.uploadPercentage = parseInt( Math.round( ( progressEvent.loaded / progressEvent.total ) * 100 ) );
+                    if(this.uploadPercentage < 99.5){
+                      this.snackbar.text = "New Software Upload in Process, " + this.uploadPercentage + "% complete";
+                    } else {
+                      this.snackbar.text = "Installing uploaded software...";
+                    }
+
+                 }.bind(this)
+                }).then(() => {
+                this.snackbar = {
+                    color: "success",
+                    text: "New .jar copied successfully! PhotonVision will restart in the background...",
+                };
+                this.snack = true;
+            }).catch(err => {
+                if (err.response) {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file! Could not process provided file.",
+                  };
+                } else if (err.request) {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file! No respond to upload attempt.",
+                  };
+                } else {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file!",
+                  };
+                }
+                this.snack = true;
+            });
+        },
     }
 }
 </script>
@@ -266,6 +336,8 @@ export default {
   text-align: left;
   margin-bottom: 10px;
   width: 100%;
+  display: block;
+  overflow-x: auto;
 }
 
 .infoElem {
@@ -276,4 +348,4 @@ export default {
   border-right: 1px solid;
 }
 
-</style>
+</style>

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

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

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

@@ -10,35 +10,52 @@
         name="Team Number"
         :rules="[v => (v > 0) || 'Team number must be greater than zero', v => (v < 10000) || 'Team number must have fewer than five digits']"
         class="mb-4"
+        :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 5"
       />
-      <span v-if="parseInt(teamNumber) < 1 && !runNTServer" class="red font-weight-bold">Team number not set! NetworkTables cannot connect.</span>
+      <v-banner
+        v-show="(teamNumber < 1 || teamNumber > 10000) && !runNTServer"
+        rounded
+        color="red"
+        text-color="white"
+      >
+        Team number is unset or invalid. NetworkTables will not be able to connect.
+      </v-banner>
       <CVradio
+        v-show="$store.state.settings.networkSettings.supported"
         v-model="connectionType"
+        :input-cols="inputCols"
+        name="IP Assignment Mode"
+        tooltip="DHCP will make the radio (router) automatically assign an IP address; this may result in an IP address that changes across reboots. Static IP assignment means that you pick the IP address and it won't change."
         :list="['DHCP','Static']"
-        :disabled="!$store.state.settings.networkSettings.supported"
       />
-      <template v-if="!isDHCP">
-        <CVinput
-          v-model="staticIp"
-          :input-cols="inputCols"
-          :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
-          name="IP"
-        />
-      </template>
+      <CVinput
+        v-if="!isDHCP"
+        v-model="staticIp"
+        :input-cols="inputCols"
+        :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
+        name="IP"
+      />
       <CVinput
         v-model="hostname"
         :input-cols="inputCols"
         :rules="[v => isHostname(v) || 'Invalid hostname']"
         name="Hostname"
       />
-      Advanced
-      <v-divider/>
       <CVSwitch
-          v-model="runNTServer"
-          name="Run NetworkTables Server (Debugging Only!)"
-          tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+        v-model="runNTServer"
+        name="Run NetworkTables Server (Debugging Only)"
+        tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+        class="mt-3 mb-3"
+        :text-cols="$vuetify.breakpoint.mdAndUp ? undefined : 5"
       />
-      <span v-if="runNTServer" class="red font-weight-bold">Disable this switch if you're on a robot! Photonlib will NOT work.</span>
+      <v-banner
+        v-show="runNTServer"
+        rounded
+        color="red"
+        text-color="white"
+      >
+        This switch is intended for testing; it should be off on a robot. PhotonLib will NOT work!
+      </v-banner>
     </v-form>
     <v-btn
       color="accent"
@@ -49,6 +66,65 @@
     >
       Save
     </v-btn>
+    <v-divider class="mt-4 mb-4" />
+    <v-row>
+      <v-col
+        cols="12"
+        sm="6"
+      >
+        <v-simple-table
+          fixed-header
+          height="100%"
+          dense
+        >
+          <template v-slot:default>
+            <thead style="font-size: 1.25rem;">
+              <tr>
+                <th>
+                  Device IPs
+                </th>
+              </tr>
+            </thead>
+            <tbody>
+              <tr
+                v-for="(value, index) in $store.state.networkInfo.deviceips"
+                :key="index"
+              >
+                <td>{{ value }}</td>
+              </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-col>
+      <v-col
+        cols="12"
+        sm="6"
+      >
+        <v-simple-table
+          fixed-header
+          height="100%"
+          dense
+        >
+          <template v-slot:default>
+            <thead style="font-size: 1.25rem;">
+              <tr>
+                <th>
+                  Possible RoboRIOs
+                </th>
+              </tr>
+            </thead>
+            <tbody>
+              <tr
+                v-for="(value, index) in $store.state.networkInfo.possibleRios"
+                :key="index"
+              >
+                <td>{{ value }}</td>
+              </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-col>
+    </v-row>
   </div>
 </template>
 
@@ -85,7 +161,7 @@ export default {
     },
     computed: {
         inputCols() {
-            return this.$vuetify.breakpoint.smAndUp ? 10 : 7;
+            return this.$vuetify.breakpoint.mdAndUp ? 10 : 7;
         },
         isDHCP() {
             return this.settings.connectionType === 0;
@@ -184,6 +260,24 @@ 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

@@ -5,17 +5,13 @@ apply from: "${rootDir}/shared/common.gradle"
 dependencies {
     implementation project(':photon-targeting')
 
-    implementation 'io.javalin:javalin:3.7.0'
+    implementation 'io.javalin:javalin:4.2.0'
 
-    implementation 'org.msgpack:msgpack-core:0.8.20'
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.8.20'
+    implementation 'org.msgpack:msgpack-core:0.9.0'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
 
     // 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:$wpilibVersion:windowsx86-64"
+    jniPlatforms.each { implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:$it" }
 
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
@@ -25,11 +21,12 @@ dependencies {
     implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
 
     // Zip
-    compile 'org.zeroturnaround:zt-zip:1.14'
+    implementation 'org.zeroturnaround:zt-zip:1.14'
 }
 
 task writeCurrentVersionJava {
-    writePhotonVersionFile(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
+    def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
+    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
             versionString)
 }
 

photon-core/settings.gradle

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

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

@@ -20,7 +20,7 @@ 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

@@ -32,7 +32,6 @@ import java.util.*;
 import java.util.stream.Collectors;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.FileUtils;
 import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
@@ -57,6 +56,7 @@ public class ConfigManager {
     final File configDirectoryFile;
 
     private long saveRequestTimestamp = -1;
+    private Thread settingsSaveThread;
 
     public static ConfigManager getInstance() {
         if (INSTANCE == null) {
@@ -97,7 +97,8 @@ public class ConfigManager {
                 new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri());
         this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
 
-        TimedTaskManager.getInstance().addTask("ConfigManager", this::checkSaveAndWrite, 1000);
+        settingsSaveThread = new Thread(this::saveAndWriteTask);
+        settingsSaveThread.start();
     }
 
     public void load() {
@@ -425,12 +426,24 @@ public class ConfigManager {
         saveRequestTimestamp = System.currentTimeMillis();
     }
 
-    private void checkSaveAndWrite() {
+    private void saveAndWriteTask() {
         // Only save if 1 second has past since the request was made
-        if (saveRequestTimestamp > 0 && (System.currentTimeMillis() - saveRequestTimestamp) > 1000L) {
-            saveRequestTimestamp = -1;
-            logger.debug("Saving to disk...");
-            saveToDisk();
+        while (!Thread.currentThread().isInterrupted()) {
+            if (saveRequestTimestamp > 0 && (System.currentTimeMillis() - saveRequestTimestamp) > 1000L) {
+                saveRequestTimestamp = -1;
+                logger.debug("Saving to disk...");
+                saveToDisk();
+            }
+
+            try {
+                Thread.sleep(1000);
+            } catch (InterruptedException e) {
+                logger.error("Exception waiting for settings semaphor", e);
+            }
         }
     }
+
+    public void unloadCameraConfigs() {
+        this.config.getCameraConfigurations().clear();
+    }
 }

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

@@ -24,7 +24,6 @@ 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/PhotonConfiguration.java

@@ -32,7 +32,6 @@ 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/DataChangeService.java

@@ -27,7 +27,6 @@ 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/events/IncomingWebSocketEvent.java

@@ -23,7 +23,6 @@ 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/networktables/NTDataChangeListener.java

@@ -23,7 +23,6 @@ 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

@@ -25,15 +25,16 @@ import java.util.List;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
+import org.opencv.core.Point;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
 
 public class NTDataPublisher implements CVPipelineResultConsumer {
-
     private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
     private NetworkTable subTable;
     private NetworkTableEntry rawBytesEntry;
@@ -211,9 +212,20 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
     public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
         var ret = new ArrayList<PhotonTrackedTarget>();
         for (var t : targets) {
+            var points = new Point[4];
+            t.getMinAreaRect().points(points);
+            var cornerList = new ArrayList<TargetCorner>();
+
+            for (int i = 0; i < 4; i++) cornerList.add(new TargetCorner(points[i].x, points[i].y));
+
             ret.add(
                     new PhotonTrackedTarget(
-                            t.getYaw(), t.getPitch(), t.getArea(), t.getSkew(), t.getCameraToTarget()));
+                            t.getYaw(),
+                            t.getPitch(),
+                            t.getArea(),
+                            t.getSkew(),
+                            t.getCameraToTarget(),
+                            cornerList));
         }
         return ret;
     }

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

@@ -20,16 +20,19 @@ package org.photonvision.common.dataflow.networktables;
 import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.HashMap;
 import java.util.function.Consumer;
 import org.photonvision.PhotonVersion;
 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 +51,6 @@ 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 +59,7 @@ 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 +67,33 @@ 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));
+    }
+
     private void broadcastVersion() {
         kRootTable.getEntry("version").setString(PhotonVersion.versionString);
         kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);

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

@@ -21,7 +21,6 @@ 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/pi/PigpioException.java

@@ -20,14 +20,13 @@ package org.photonvision.common.hardware.GPIO.pi;
 import java.util.HashMap;
 
 /**
-* A class that defines the exceptions that can be thrown by Pigpio.
-*
-* <p>Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
-*/
+ * A class that defines the exceptions that can be thrown by Pigpio.
+ *
+ * <p>Credit to nkolban
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
+ */
 @SuppressWarnings({"SpellCheckingInspection", "unused", "RedundantSuppression"})
 public class PigpioException extends Exception {
-
     private int rc = -99999999;
     private static final long serialVersionUID = 443595760654129068L;
 
@@ -67,10 +66,10 @@ public class PigpioException extends Exception {
     }
 
     /**
-    * Retrieve the error code that was returned by the underlying Pigpio call.
-    *
-    * @return The error code that was returned by the underlying Pigpio call.
-    */
+     * Retrieve the error code that was returned by the underlying Pigpio call.
+     *
+     * @return The error code that was returned by the underlying Pigpio call.
+     */
     public int getErrorCode() {
         return rc;
     } // End of getErrorCode

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

@@ -24,7 +24,6 @@ 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

@@ -23,14 +23,14 @@ public class PigpioPulse {
     int delayMicros;
 
     /**
-    * Initialises a pulse.
-    *
-    * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
-    *     switched on.
-    * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
-    *     be switched off.
-    * @param delayMicros the delay in microseconds before the next pulse.
-    */
+     * Initialises a pulse.
+     *
+     * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
+     *     switched on.
+     * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
+     *     be switched off.
+     * @param delayMicros the delay in microseconds before the next pulse.
+     */
     public PigpioPulse(int gpioOn, int gpioOff, int delayMicros) {
         this.gpioOn = gpioOn != 0 ? 1 << gpioOn : 0;
         this.gpioOff = gpioOff != 0 ? 1 << gpioOff : 0;

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

@@ -41,12 +41,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
-    * address and port
-    *
-    * @param addr Address of remote pigpio daemon
-    * @param port Port of remote pigpio daemon
-    */
+     * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
+     * address and port
+     *
+     * @param addr Address of remote pigpio daemon
+     * @param port Port of remote pigpio daemon
+     */
     public PigpioSocket(String addr, int port) {
         try {
             commandSocket = new PigpioSocketLock(addr, port);
@@ -56,10 +56,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Reconnects to the pigpio daemon
-    *
-    * @throws PigpioException on failure
-    */
+     * Reconnects to the pigpio daemon
+     *
+     * @throws PigpioException on failure
+     */
     public void reconnect() throws PigpioException {
         try {
             commandSocket.reconnect();
@@ -70,10 +70,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Terminates the connection to the pigpio daemon
-    *
-    * @throws PigpioException on failure
-    */
+     * Terminates the connection to the pigpio daemon
+     *
+     * @throws PigpioException on failure
+     */
     public void gpioTerminate() throws PigpioException {
         try {
             commandSocket.terminate();
@@ -84,12 +84,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Read the GPIO level
-    *
-    * @param pin Pin to read from
-    * @return Value of the pin
-    * @throws PigpioException on failure
-    */
+     * Read the GPIO level
+     *
+     * @param pin Pin to read from
+     * @return Value of the pin
+     * @throws PigpioException on failure
+     */
     public boolean gpioRead(int pin) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_READ.value, pin);
@@ -102,12 +102,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Write the GPIO level
-    *
-    * @param pin Pin to write to
-    * @param value Value to write
-    * @throws PigpioException on failure
-    */
+     * Write the GPIO level
+     *
+     * @param pin Pin to write to
+     * @param value Value to write
+     * @throws PigpioException on failure
+     */
     public void gpioWrite(int pin, boolean value) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WRITE.value, pin, value ? 1 : 0);
@@ -119,10 +119,10 @@ public class PigpioSocket {
     }
 
     /**
-    * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
-    *
-    * @throws PigpioException on failure
-    */
+     * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
+     *
+     * @throws PigpioException on failure
+     */
     public void waveClear() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCLR.value);
@@ -134,12 +134,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Adds a number of pulses to the current waveform
-    *
-    * @param pulses ArrayList of pulses to add
-    * @return the new total number of pulses in the current waveform
-    * @throws PigpioException on failure
-    */
+     * Adds a number of pulses to the current waveform
+     *
+     * @param pulses ArrayList of pulses to add
+     * @return the new total number of pulses in the current waveform
+     * @throws PigpioException on failure
+     */
     private int waveAddGeneric(ArrayList<PigpioPulse> pulses) throws PigpioException {
         // pigpio wave message format
 
@@ -175,12 +175,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates pulses and adds them to the current waveform
-    *
-    * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
-    * @param pinNo Pin to pulse
-    */
+     * Creates pulses and adds them to the current waveform
+     *
+     * @param pulseTimeMillis Pulse length in milliseconds
+     * @param blinks Number of times to pulse. -1 for repeat
+     * @param pinNo Pin to pulse
+     */
     private void addBlinkPulsesToWaveform(int pulseTimeMillis, int blinks, int pinNo) {
         boolean repeat = blinks == -1;
 
@@ -208,13 +208,13 @@ public class PigpioSocket {
     }
 
     /**
-    * Generates and sends a waveform to the given pins with the specified parameters.
-    *
-    * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
-    * @param pins Pins to pulse
-    * @throws PigpioException on failure
-    */
+     * Generates and sends a waveform to the given pins with the specified parameters.
+     *
+     * @param pulseTimeMillis Pulse length in milliseconds
+     * @param blinks Number of times to pulse. -1 for repeat
+     * @param pins Pins to pulse
+     * @throws PigpioException on failure
+     */
     public void generateAndSendWaveform(int pulseTimeMillis, int blinks, int... pins)
             throws PigpioException {
         if (pins.length == 0) return;
@@ -263,11 +263,11 @@ public class PigpioSocket {
     }
 
     /**
-    * Stops the transmission of the current waveform
-    *
-    * @return success
-    * @throws PigpioException on failure
-    */
+     * Stops the transmission of the current waveform
+     *
+     * @return success
+     * @throws PigpioException on failure
+     */
     public boolean waveTxStop() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVHLT.value);
@@ -280,12 +280,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Creates a waveform from the data provided by the prior calls to {@link
-    * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
-    *
-    * @return ID of the created waveform
-    * @throws PigpioException on failure
-    */
+     * Creates a waveform from the data provided by the prior calls to {@link
+     * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
+     *
+     * @return ID of the created waveform
+     * @throws PigpioException on failure
+     */
     public int waveCreate() throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCRE.value);
@@ -298,11 +298,11 @@ public class PigpioSocket {
     }
 
     /**
-    * Deletes the waveform with specified wave ID
-    *
-    * @param waveId ID of the waveform to delete
-    * @throws PigpioException on failure
-    */
+     * Deletes the waveform with specified wave ID
+     *
+     * @param waveId ID of the waveform to delete
+     * @throws PigpioException on failure
+     */
     public void waveDelete(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVDEL.value, waveId);
@@ -314,12 +314,12 @@ public class PigpioSocket {
     }
 
     /**
-    * Transmits the waveform with specified wave ID. The waveform is sent once
-    *
-    * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
-    */
+     * Transmits the waveform with specified wave ID. The waveform is sent once
+     *
+     * @param waveId ID of the waveform to transmit
+     * @return The number of DMA control blocks in the waveform
+     * @throws PigpioException on failure
+     */
     public int waveSendOnce(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTX.value, waveId);
@@ -331,13 +331,13 @@ public class PigpioSocket {
     }
 
     /**
-    * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
-    * the sending of a new waveform or {@link #waveTxStop()}
-    *
-    * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
-    */
+     * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
+     * the sending of a new waveform or {@link #waveTxStop()}
+     *
+     * @param waveId ID of the waveform to transmit
+     * @return The number of DMA control blocks in the waveform
+     * @throws PigpioException on failure
+     */
     public int waveSendRepeat(int waveId) throws PigpioException {
         try {
             int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTXR.value, waveId);
@@ -349,14 +349,14 @@ public class PigpioSocket {
     }
 
     /**
-    * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
-    *
-    * @param pin GPIO pin to start PWM on
-    * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
-    *     work
-    * @param pwmDuty Duty cycle to run at (0-1,000,000)
-    * @throws PigpioException on failure
-    */
+     * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
+     *
+     * @param pin GPIO pin to start PWM on
+     * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
+     *     work
+     * @param pwmDuty Duty cycle to run at (0-1,000,000)
+     * @throws PigpioException on failure
+     */
     public void hardwarePWM(int pin, int pwmFrequency, int pwmDuty) throws PigpioException {
         try {
             ByteBuffer bb = ByteBuffer.allocate(4);

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

@@ -24,9 +24,9 @@ import java.net.Socket;
 import java.nio.ByteBuffer;
 
 /**
-* Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
-*/
+ * Credit to nkolban
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
+ */
 final class PigpioSocketLock {
     private static final int replyTimeoutMillis = 1000;
 
@@ -82,16 +82,16 @@ final class PigpioSocketLock {
     }
 
     /**
-    * Send extended command to pigpiod and return result code
-    *
-    * @param cmd Command to send
-    * @param p1 Command parameter 1
-    * @param p2 Command parameter 2
-    * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
-    * @param ext Array of bytes containing extended data
-    * @return Command result code
-    * @throws IOException in case of network connection error
-    */
+     * Send extended command to pigpiod and return result code
+     *
+     * @param cmd Command to send
+     * @param p1 Command parameter 1
+     * @param p2 Command parameter 2
+     * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
+     * @param ext Array of bytes containing extended data
+     * @return Command result code
+     * @throws IOException in case of network connection error
+     */
     @SuppressWarnings("UnusedAssignment")
     public synchronized int sendCmd(int cmd, int p1, int p2, int p3, byte[] ext) throws IOException {
         ByteBuffer bb = ByteBuffer.allocate(16 + ext.length);
@@ -136,11 +136,11 @@ final class PigpioSocketLock {
     }
 
     /**
-    * Read all remaining bytes coming from pigpiod
-    *
-    * @param data Array to store read bytes.
-    * @throws IOException if unable to read from network
-    */
+     * Read all remaining bytes coming from pigpiod
+     *
+     * @param data Array to store read bytes.
+     * @throws IOException if unable to read from network
+     */
     public void readBytes(byte[] data) throws IOException {
         in.readFully(data);
     }

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

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware;
+
+public enum PiVersion {
+    PI_B("Pi Model B"),
+    COMPUTE_MODULE("Compute Module Rev"),
+    ZERO_W("Pi Zero W Rev 1.1"),
+    ZERO_2_W("Raspberry Pi Zero 2"),
+    PI_3("Pi 3"),
+    PI_4("Pi 4"),
+    COMPUTE_MODULE_3("Compute Module 3"),
+    UNKNOWN("UNKNOWN");
+
+    private final String identifier;
+
+    PiVersion(String s) {
+        this.identifier = s.toLowerCase();
+    }
+
+    public static PiVersion getPiVersion() {
+        if (!Platform.isRaspberryPi()) return PiVersion.UNKNOWN;
+        String piString = Platform.currentPiVersionStr;
+        for (PiVersion p : PiVersion.values()) {
+            if (piString.toLowerCase().contains(p.identifier)) return p;
+        }
+        return UNKNOWN;
+    }
+}

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

@@ -17,7 +17,7 @@
 
 package org.photonvision.common.hardware;
 
-import edu.wpi.first.wpiutil.RuntimeDetector;
+import edu.wpi.first.util.RuntimeDetector;
 import java.io.IOException;
 import org.photonvision.common.util.ShellExec;
 
@@ -46,7 +46,11 @@ public enum Platform {
 
     private static final String OS_NAME = System.getProperty("os.name");
     private static final String OS_ARCH = System.getProperty("os.arch");
-    public static final Platform CurrentPlatform = getCurrentPlatform();
+
+    // These are queried on init and should never change after
+    public static final Platform currentPlatform = getCurrentPlatform();
+    protected static final String currentPiVersionStr = getPiVersionString();
+    public static final PiVersion currentPiVersion = PiVersion.getPiVersion();
 
     private static String UnknownPlatformString =
             String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
@@ -62,7 +66,7 @@ public enum Platform {
     }
 
     public static boolean isRaspberryPi() {
-        return CurrentPlatform.equals(LINUX_RASPBIAN);
+        return currentPlatform.equals(LINUX_RASPBIAN);
     }
 
     @SuppressWarnings("StatementWithEmptyBody")
@@ -115,4 +119,22 @@ public enum Platform {
             return this.value;
         }
     }
+
+    // Querry /proc/device-tree/model. This should return the model of the pi
+    // Versions here:
+    // https://github.com/raspberrypi/linux/blob/rpi-5.10.y/arch/arm/boot/dts/bcm2710-rpi-cm3.dts
+    private static String getPiVersionString() {
+        if (!isRaspberryPi()) return "";
+        try {
+            shell.executeBashCommand("cat /proc/device-tree/model");
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+        if (shell.getExitCode() == 0) {
+            // We expect it to be in the format "raspberry pi X model X"
+            return shell.getOutput();
+        }
+
+        return "";
+    }
 }

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

@@ -18,7 +18,6 @@
 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/logging/Logger.java

@@ -36,7 +36,6 @@ 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";
@@ -127,9 +126,9 @@ public class Logger {
     }
 
     public static void cleanLogs(Path folderToClean) {
-
-        LinkedList<File> logFileList =
-                new LinkedList<>(Arrays.asList(folderToClean.toFile().listFiles()));
+        File[] logs = folderToClean.toFile().listFiles();
+        if (logs == null) return;
+        LinkedList<File> logFileList = new LinkedList<>(Arrays.asList(logs));
         HashMap<File, Date> logFileStartDateMap = new HashMap<>();
 
         // Remove any files from the list for which we can't parse a start date from their name.
@@ -234,12 +233,12 @@ public class Logger {
     }
 
     /**
-    * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed
-    * if the current LogLevel is TRACE
-    *
-    * @param message
-    * @param t
-    */
+     * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed
+     * if the current LogLevel is TRACE
+     *
+     * @param message
+     * @param t
+     */
     public void error(String message, Throwable t) {
         log(message, LogLevel.ERROR);
         log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.DEBUG);

photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java

@@ -24,7 +24,6 @@ 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/RoborioFinder.java

@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.networking;
+
+import edu.wpi.first.cscore.CameraServerJNI;
+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 org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class RoborioFinder {
+    private static RoborioFinder instance;
+    private static final Logger logger = new Logger(RoborioFinder.class, LogGroup.General);
+
+    public static RoborioFinder getInstance() {
+        if (instance == null) instance = new RoborioFinder();
+        return instance;
+    }
+
+    public void findRios() {
+        HashMap<String, Object> map = new HashMap<>();
+        var subMap = new HashMap<String, Object>();
+        // 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());
+
+        subMap.put("possibleRios", possibleRioList.toArray());
+        map.put("networkInfo", subMap);
+        DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("deviceIpInfo", 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) {
+        }
+    }
+}

photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java

@@ -31,7 +31,6 @@ import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.JacksonUtils;
 
 public class ScriptManager {
-
     private static final Logger logger = new Logger(ScriptManager.class, LogGroup.General);
 
     private ScriptManager() {}
@@ -67,8 +66,7 @@ public class ScriptManager {
 
         private void handleEvent(ScriptEventType eventType) {
             var toRun =
-                    events
-                            .parallelStream()
+                    events.parallelStream()
                             .filter(e -> e.config.eventType == eventType)
                             .findFirst()
                             .orElse(null);
@@ -83,7 +81,6 @@ public class ScriptManager {
     }
 
     protected static class ScriptConfigManager {
-
         //        protected static final Path scriptConfigPath =
         // Paths.get(ConfigManager.SettingsPath.toString(), "scripts.json");
         static final Path scriptConfigPath = Paths.get(""); // TODO: Waiting on config
@@ -131,7 +128,7 @@ public class ScriptManager {
     }
 
     public static void queueEvent(ScriptEventType eventType) {
-        if (!Platform.CurrentPlatform.isWindows()) {
+        if (!Platform.currentPlatform.isWindows()) {
             try {
                 queuedEvents.putLast(eventType);
                 logger.info("Queued event: " + eventType.name());

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

@@ -18,7 +18,6 @@
 package org.photonvision.common.util;
 
 public class MemoryManager {
-
     private static final long MEGABYTE_FACTOR = 1024L * 1024L;
 
     private int collectionThreshold;

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

@@ -18,7 +18,6 @@
 package org.photonvision.common.util;
 
 public class ReflectionUtils {
-
     public static StackTraceElement[] getFullStackTrace() {
         return Thread.currentThread().getStackTrace();
     }

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

@@ -44,12 +44,12 @@ public class ShellExec {
     }
 
     /**
-    * Execute a bash command. We can handle complex bash commands including multiple executions (; |
-    * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)"
-    *
-    * @param command Bash command to execute
-    * @return true if bash got started, but your command may have failed.
-    */
+     * Execute a bash command. We can handle complex bash commands including multiple executions (; |
+     * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)"
+     *
+     * @param command Bash command to execute
+     * @return true if bash got started, but your command may have failed.
+     */
     public int executeBashCommand(String command, boolean wait) throws IOException {
         logger.debug("Executing \"" + command + "\"");
 
@@ -72,25 +72,25 @@ public class ShellExec {
     }
 
     /**
-    * Execute a command in current folder, and wait for process to end
-    *
-    * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
-    * @param args 0..n command line arguments
-    * @return process exit code
-    */
+     * Execute a command in current folder, and wait for process to end
+     *
+     * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
+     * @param args 0..n command line arguments
+     * @return process exit code
+     */
     public int execute(String command, String... args) throws IOException {
         return execute(command, null, true, args);
     }
 
     /**
-    * Execute a command.
-    *
-    * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
-    * @param workdir working directory or NULL to use command folder
-    * @param wait wait for process to end
-    * @param args 0..n command line arguments
-    * @return process exit code
-    */
+     * Execute a command.
+     *
+     * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
+     * @param workdir working directory or NULL to use command folder
+     * @param wait wait for process to end
+     * @param args 0..n command line arguments
+     * @return process exit code
+     */
     public int execute(String command, String workdir, boolean wait, String... args)
             throws IOException {
         String[] cmdArr;
@@ -154,10 +154,10 @@ public class ShellExec {
     // ********************************************
 
     /**
-    * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a
-    * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams.
-    * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
-    */
+     * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a
+     * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams.
+     * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
+     */
     @SuppressWarnings("WeakerAccess")
     private static class StreamGobbler extends Thread {
         private InputStream is;
@@ -187,19 +187,19 @@ public class ShellExec {
         }
 
         /**
-        * Get inputstream buffer or null if stream was not consumed.
-        *
-        * @return Output stream
-        */
+         * Get inputstream buffer or null if stream was not consumed.
+         *
+         * @return Output stream
+         */
         public String getOutput() {
             return (output != null ? output.toString() : null);
         }
 
         /**
-        * Is input stream completed.
-        *
-        * @return if input stream is completed
-        */
+         * Is input stream completed.
+         *
+         * @return if input stream is completed
+         */
         public boolean isCompleted() {
             return completed;
         }

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

@@ -18,7 +18,8 @@
 package org.photonvision.common.util;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.cscore.CameraServerCvJNI;
+import edu.wpi.first.cscore.CameraServerCvJNI;
+import edu.wpi.first.math.util.Units;
 import java.awt.*;
 import java.io.File;
 import java.io.IOException;
@@ -28,7 +29,6 @@ import org.opencv.highgui.HighGui;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 
 public class TestUtils {
-
     @SuppressWarnings("unused")
     public enum WPI2019Image {
         kCargoAngledDark48in(1.2192),
@@ -99,6 +99,26 @@ public class TestUtils {
         }
     }
 
+    public enum WPI2022Image {
+        kTerminal12ft6in(Units.feetToMeters(12.5)),
+        kTerminal22ft6in(Units.feetToMeters(22.5));
+
+        public static double FOV = 68.5;
+
+        public final double distanceMeters;
+        public final Path path;
+
+        Path getPath() {
+            var filename = this.toString().substring(1).replace('_', '-');
+            return Path.of("2022", "WPI", filename + ".png");
+        }
+
+        WPI2022Image(double distanceMeters) {
+            this.distanceMeters = distanceMeters;
+            this.path = getPath();
+        }
+    }
+
     public enum PolygonTestImages {
         kPolygons;
 
@@ -135,7 +155,8 @@ public class TestUtils {
     }
 
     private static Path getResourcesFolderPath(boolean testMode) {
-        return Path.of(testMode ? "src/main/resources" : "../test-resources").toAbsolutePath();
+        System.out.println("CWD: " + Path.of("").toAbsolutePath().toString());
+        return Path.of("test-resources").toAbsolutePath();
     }
 
     public static Path getTestMode2019ImagePath() {
@@ -150,6 +171,12 @@ public class TestUtils {
                 .resolve(WPI2020Image.kBlueGoal_108in_Center.path);
     }
 
+    public static Path getTestMode2022ImagePath() {
+        return getResourcesFolderPath(true)
+                .resolve("testimages")
+                .resolve(WPI2022Image.kTerminal22ft6in.path);
+    }
+
     public static Path getTestImagesPath(boolean testMode) {
         return getResourcesFolderPath(testMode).resolve("testimages");
     }
@@ -232,7 +259,6 @@ public class TestUtils {
             HighGui.waitKey(timeoutMs);
             HighGui.destroyAllWindows();
         } catch (HeadlessException ignored) {
-
         }
     }
 

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

@@ -23,7 +23,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public class TimedTaskManager {
-
     private static final Logger logger = new Logger(TimedTaskManager.class, LogGroup.General);
 
     private static class Singleton {

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

@@ -21,6 +21,7 @@ import java.io.File;
 import java.io.FileNotFoundException;
 import java.io.IOException;
 import java.nio.file.Files;
+import java.nio.file.NoSuchFileException;
 import java.nio.file.Path;
 import java.nio.file.attribute.PosixFileAttributes;
 import java.nio.file.attribute.PosixFilePermission;
@@ -33,7 +34,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public class FileUtils {
-
     private FileUtils() {}
 
     private static final Logger logger = new Logger(FileUtils.class, LogGroup.General);
@@ -62,7 +62,7 @@ public class FileUtils {
     public static void deleteFile(Path path) {
         try {
             Files.delete(path);
-        } catch (FileNotFoundException fe) {
+        } catch (FileNotFoundException | NoSuchFileException fe) {
             logger.warn("Tried to delete file \"" + path + "\" but it did not exist");
         } catch (IOException e) {
             logger.error("Exception deleting file \"" + path + "\"!", e);
@@ -78,7 +78,7 @@ public class FileUtils {
     }
 
     public static void setFilePerms(Path path) throws IOException {
-        if (!Platform.CurrentPlatform.isWindows()) {
+        if (!Platform.currentPlatform.isWindows()) {
             File thisFile = path.toFile();
             Set<PosixFilePermission> perms =
                     Files.readAttributes(path, PosixFileAttributes.class).permissions();
@@ -96,7 +96,7 @@ public class FileUtils {
     }
 
     public static void setAllPerms(Path path) {
-        if (!Platform.CurrentPlatform.isWindows()) {
+        if (!Platform.currentPlatform.isWindows()) {
             String command = String.format("chmod 777 -R %s", path.toString());
             try {
                 Process p = Runtime.getRuntime().exec(command);

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

@@ -34,7 +34,7 @@ import java.nio.file.Path;
 
 public class JacksonUtils {
     public static <T> void serialize(Path path, T object) throws IOException {
-        serialize(path, object, false);
+        serialize(path, object, true);
     }
 
     public static <T> void serialize(Path path, T object, boolean forceSync) throws IOException {
@@ -80,7 +80,7 @@ public class JacksonUtils {
 
     public static <T> void serialize(Path path, T object, Class<T> ref, StdSerializer<T> serializer)
             throws IOException {
-        serialize(path, object, ref, serializer, false);
+        serialize(path, object, ref, serializer, true);
     }
 
     public static <T> void serialize(

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

@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.util.file;
+
+import java.io.File;
+import java.net.URISyntaxException;
+
+public class ProgramDirectoryUtilities {
+    private static String getJarName() {
+        return new File(
+                        ProgramDirectoryUtilities.class
+                                .getProtectionDomain()
+                                .getCodeSource()
+                                .getLocation()
+                                .getPath())
+                .getName();
+    }
+
+    private static boolean runningFromJAR() {
+        String jarName = getJarName();
+        return jarName.contains(".jar");
+    }
+
+    public static String getProgramDirectory() {
+        if (runningFromJAR()) {
+            return getCurrentJARDirectory();
+        } else {
+            return System.getProperty("user.dir");
+        }
+    }
+
+    private static String getCurrentJARDirectory() {
+        try {
+            return new File(
+                            ProgramDirectoryUtilities.class
+                                    .getProtectionDomain()
+                                    .getCodeSource()
+                                    .getLocation()
+                                    .toURI()
+                                    .getPath())
+                    .getParent();
+        } catch (URISyntaxException exception) {
+            exception.printStackTrace();
+        }
+
+        return null;
+    }
+}

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

@@ -17,7 +17,9 @@
 
 package org.photonvision.common.util.math;
 
-import edu.wpi.first.wpiutil.WPIUtilJNI;
+import edu.wpi.first.util.WPIUtilJNI;
+import java.util.Arrays;
+import java.util.List;
 
 public class MathUtils {
     MathUtils() {}
@@ -64,20 +66,68 @@ public class MathUtils {
         return (int) Math.floor(map((double) value, inMin, inMax, outMin, outMax) + 0.5);
     }
 
+    public static long wpiNanoTime() {
+        return microsToNanos(WPIUtilJNI.now());
+    }
+
     /**
-    * Linearly interpolates between two values.
-    *
-    * @param startValue The start value.
-    * @param endValue The end value.
-    * @param t The fraction for interpolation.
-    * @return The interpolated value.
-    */
+     * Get the value of the nTh percentile of a list
+     *
+     * @param list The list to evaluate
+     * @param p The percentile, in [0,100]
+     * @return
+     */
+    public static double getPercentile(List<Double> list, double p) {
+        if ((p > 100) || (p <= 0)) {
+            throw new IllegalArgumentException("invalid quantile value: " + p);
+        }
+
+        if (list.size() == 0) {
+            return Double.NaN;
+        }
+        if (list.size() == 1) {
+            return list.get(0); // always return single value for n = 1
+        }
+
+        // Sort array.  We avoid a third copy here by just creating the
+        // list directly.
+        double[] sorted = new double[list.size()];
+        for (int i = 0; i < list.size(); i++) {
+            sorted[i] = list.get(i);
+        }
+        Arrays.sort(sorted);
+
+        return evaluateSorted(sorted, p);
+    }
+
+    private static double evaluateSorted(final double[] sorted, final double p) {
+        double n = sorted.length;
+        double pos = p * (n + 1) / 100;
+        double fpos = Math.floor(pos);
+        int intPos = (int) fpos;
+        double dif = pos - fpos;
+
+        if (pos < 1) {
+            return sorted[0];
+        }
+        if (pos >= n) {
+            return sorted[sorted.length - 1];
+        }
+        double lower = sorted[intPos - 1];
+        double upper = sorted[intPos];
+        return lower + dif * (upper - lower);
+    }
+
+    /**
+     * Linearly interpolates between two values.
+     *
+     * @param startValue The start value.
+     * @param endValue The end value.
+     * @param t The fraction for interpolation.
+     * @return The interpolated value.
+     */
     @SuppressWarnings("ParameterName")
     public static double lerp(double startValue, double endValue, double t) {
         return startValue + (endValue - startValue) * t;
     }
-
-    public static long wpiNanoTime() {
-        return microsToNanos(WPIUtilJNI.now());
-    }
 }

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

@@ -20,7 +20,6 @@ package org.photonvision.common.util.numbers;
 import org.opencv.core.Point;
 
 public class DoubleCouple extends NumberCouple<Double> {
-
     public DoubleCouple() {
         super(0.0, 0.0);
     }

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

@@ -18,7 +18,6 @@
 package org.photonvision.common.util.numbers;
 
 public class IntegerCouple extends NumberCouple<Integer> {
-
     public IntegerCouple() {
         super(0, 0);
     }

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

@@ -20,7 +20,6 @@ package org.photonvision.common.util.numbers;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 
 public abstract class NumberCouple<T extends Number> {
-
     protected T first;
     protected T second;
 

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

@@ -25,11 +25,10 @@ import java.util.StringJoiner;
 
 @SuppressWarnings("unused")
 public class NumberListUtils {
-
     /**
-    * @param collection an ArrayList of Comparable objects
-    * @return the median of collection
-    */
+     * @param collection an ArrayList of Comparable objects
+     * @return the median of collection
+     */
     public static <T extends Number> double median(List<T> collection, Comparator<T> comp) {
         double result;
         int n = collection.size() / 2;
@@ -59,9 +58,9 @@ public class NumberListUtils {
     }
 
     /**
-    * @param collection an ArrayList of Numbers
-    * @return the mean of collection
-    */
+     * @param collection an ArrayList of Numbers
+     * @return the mean of collection
+     */
     public static double mean(final List<? extends Number> collection) {
         BigDecimal sum = BigDecimal.ZERO;
         for (final Number number : collection) {
@@ -71,11 +70,11 @@ public class NumberListUtils {
     }
 
     /**
-    * @param collection a collection of Comparable objects
-    * @param n the position of the desired object, using the ordering defined on the collection
-    *     elements
-    * @return the nth smallest object
-    */
+     * @param collection a collection of Comparable objects
+     * @param n the position of the desired object, using the ordering defined on the collection
+     *     elements
+     * @return the nth smallest object
+     */
     public static <T> T nthSmallest(List<T> collection, int n, Comparator<T> comp) {
         T result, pivot;
         ArrayList<T> underPivot = new ArrayList<>(),

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

@@ -23,12 +23,12 @@ import java.io.InputStream;
 import java.net.URL;
 import java.nio.file.Files;
 import java.nio.file.Path;
+import org.photonvision.common.hardware.PiVersion;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public class PicamJNI {
-
     private static boolean libraryLoaded = false;
     private static Logger logger = new Logger(PicamJNI.class, LogGroup.Camera);
 
@@ -85,7 +85,13 @@ public class PicamJNI {
     }
 
     public static boolean isSupported() {
-        return libraryLoaded && !isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
+        return libraryLoaded
+                && isVCSMSupported()
+                && getSensorModel() != SensorModel.Disconnected
+                && Platform.isRaspberryPi()
+                && (Platform.currentPiVersion == PiVersion.PI_3
+                        || Platform.currentPiVersion == PiVersion.COMPUTE_MODULE_3
+                        || Platform.currentPiVersion == PiVersion.ZERO_2_W);
     }
 
     public static SensorModel getSensorModel() {
@@ -111,29 +117,35 @@ public class PicamJNI {
     // Everything here is static because multiple picams are unsupported at the hardware level
 
     /**
-    * Called once for each video mode change. Starts a native thread running MMAL that stays alive
-    * until destroyCamera is called.
-    *
-    * @return true on error.
-    */
+     * Called once for each video mode change. Starts a native thread running MMAL that stays alive
+     * until destroyCamera is called.
+     *
+     * @return true on error.
+     */
     public static native boolean createCamera(int width, int height, int fps);
 
     /**
-    * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera.
-    *
-    * @return true on error.
-    */
+     * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera.
+     *
+     * @return true on error.
+     */
     public static native boolean destroyCamera();
 
     public static native void setThresholds(
             double hL, double sL, double vL, double hU, double sU, double vU);
 
+    public static native void setInvertHue(boolean shouldInvert);
+
     public static native boolean setExposure(int exposure);
 
     public static native boolean setBrightness(int brightness);
 
+    // This adjusts the analog gain (normalized to 0-100); ignores the digital gain
     public static native boolean setGain(int gain);
 
+    // Adjusts the auto white balance gains, which are normalized 0-100 in the native code
+    public static native boolean setAwbGain(int red, int blue);
+
     public static native boolean setRotation(int rotation);
 
     public static native void setShouldCopyColor(boolean shouldCopyColor);

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

@@ -17,8 +17,8 @@
 
 package org.photonvision.vision.camera;
 
-import edu.wpi.cscore.VideoMode;
-import edu.wpi.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import java.nio.file.Path;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
@@ -29,7 +29,6 @@ import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
 public class FileVisionSource extends VisionSource {
-
     private final FileFrameProvider frameProvider;
     private final FileSourceSettables settables;
 
@@ -73,7 +72,6 @@ public class FileVisionSource extends VisionSource {
     }
 
     private static class FileSourceSettables extends VisionSourceSettables {
-
         private final VideoMode videoMode;
 
         private final HashMap<Integer, VideoMode> videoModes = new HashMap<>();

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

@@ -22,7 +22,6 @@ import java.util.List;
 import java.util.Objects;
 
 public class QuirkyCamera {
-
     private static final List<QuirkyCamera> quirkyCameras =
             List.of(
                     new QuirkyCamera(0x2000, 0x1415, CameraQuirk.Gain, CameraQuirk.FPSCap100), // PS3Eye
@@ -44,24 +43,24 @@ public class QuirkyCamera {
     public final HashMap<CameraQuirk, Boolean> quirks;
 
     /**
-    * Creates a QuirkyCamera that matches by USB VID/PID
-    *
-    * @param usbVid USB VID of camera
-    * @param usbPid USB PID of camera
-    * @param quirks Camera quirks
-    */
+     * Creates a QuirkyCamera that matches by USB VID/PID
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param quirks Camera quirks
+     */
     private QuirkyCamera(int usbVid, int usbPid, CameraQuirk... quirks) {
         this(usbVid, usbPid, "", quirks);
     }
 
     /**
-    * Creates a QuirkyCamera that matches by USB VID/PID and name
-    *
-    * @param usbVid USB VID of camera
-    * @param usbPid USB PID of camera
-    * @param baseName CSCore name of camera
-    * @param quirks Camera quirks
-    */
+     * Creates a QuirkyCamera that matches by USB VID/PID and name
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param baseName CSCore name of camera
+     * @param quirks Camera quirks
+     */
     private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) {
         this.usbVid = usbVid;
         this.usbPid = usbPid;

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

@@ -17,11 +17,11 @@
 
 package org.photonvision.vision.camera;
 
-import edu.wpi.cscore.CvSink;
-import edu.wpi.cscore.UsbCamera;
-import edu.wpi.cscore.VideoException;
-import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.cscore.VideoMode;
 import java.util.*;
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
@@ -175,7 +175,19 @@ public class USBCameraSource extends VisionSource {
                 videoModes = new HashMap<>();
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
-                    var modes = camera.enumerateVideoModes();
+                    VideoMode[] modes;
+                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                        modes =
+                                new VideoMode[] {
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 90),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 90),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 60),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1280, 720, 45),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1920, 1080, 20),
+                                };
+                    } else {
+                        modes = camera.enumerateVideoModes();
+                    }
                     for (int i = 0; i < modes.length; i++) {
                         var videoMode = modes[i];
 
@@ -235,24 +247,6 @@ public class USBCameraSource extends VisionSource {
                     sortedList.remove(badIdx);
                 }
 
-                // Filter bogus modes on picam
-                if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                    sortedList.removeIf(
-                            it ->
-                                    (it.width == 1296
-                                                    && it.height == 730
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
-                                            || (it.width == 1296
-                                                    && it.height == 972
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
-                                            || (it.width == 2592
-                                                    && it.height == 1944
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
-                                            || (it.width == 160
-                                                    && it.height == 120
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR));
-                }
-
                 for (VideoMode videoMode : sortedList) {
                     videoModes.put(sortedList.indexOf(videoMode), videoMode);
                 }

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

@@ -17,7 +17,8 @@
 
 package org.photonvision.vision.camera;
 
-import edu.wpi.cscore.VideoMode;
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.math.Pair;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -57,13 +58,14 @@ public class ZeroCopyPicamSource extends VisionSource {
     }
 
     /**
-    * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
-    * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
-    * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
-    * we request from the GPU. This is important for setting user expectations, and is also used by
-    * the frontend to detect and explain FPS drops.
-    */
-    private static class FPSRatedVideoMode extends VideoMode {
+     * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
+     * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
+     * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
+     * we request from the GPU. This is important for setting user expectations, and is also used by
+     * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video
+     * modes! This is to make sure it shows up nice in the frontend
+     */
+    public static class FPSRatedVideoMode extends VideoMode {
         public final int fpsActual;
         public final double fovMultiplier;
 
@@ -82,11 +84,11 @@ public class ZeroCopyPicamSource extends VisionSource {
     }
 
     public static class PicamSettables extends VisionSourceSettables {
-
         private FPSRatedVideoMode currentVideoMode;
-        private double lastExposure;
-        private int lastBrightness;
-        private int lastGain;
+        private double lastExposure = 50;
+        private int lastBrightness = 50;
+        private int lastGain = 50;
+        private Pair<Integer, Integer> lastAwbGains = new Pair(18, 18);
 
         public PicamSettables(CameraConfiguration configuration) {
             super(configuration);
@@ -118,9 +120,9 @@ public class ZeroCopyPicamSource extends VisionSource {
                 videoModes.put(
                         1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
                 videoModes.put(
-                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 60, 1));
+                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
                 videoModes.put(
-                        3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.92));
+                        3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
                 videoModes.put(
                         4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
             }
@@ -137,21 +139,38 @@ public class ZeroCopyPicamSource extends VisionSource {
         public void setExposure(double exposure) {
             lastExposure = exposure;
             var failure = PicamJNI.setExposure((int) Math.round(exposure));
-            if (failure) logger.warn("Couldn't set Pi camera exposure");
+            if (failure) logger.warn("Couldn't set Pi Camera exposure");
         }
 
         @Override
         public void setBrightness(int brightness) {
             lastBrightness = brightness;
             var failure = PicamJNI.setBrightness(brightness);
-            if (failure) logger.warn("Couldn't set Pi camera brightness");
+            if (failure) logger.warn("Couldn't set Pi Camera brightness");
         }
 
         @Override
         public void setGain(int gain) {
             lastGain = gain;
             var failure = PicamJNI.setGain(gain);
-            if (failure) logger.warn("Couldn't set Pi camera gain");
+            if (failure) logger.warn("Couldn't set Pi Camera gain");
+        }
+
+        @Override
+        public void setRedGain(int red) {
+            lastAwbGains = Pair.of(red, lastAwbGains.getSecond());
+            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
+        }
+
+        @Override
+        public void setBlueGain(int blue) {
+            lastAwbGains = Pair.of(lastAwbGains.getFirst(), blue);
+            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
+        }
+
+        public void setAwbGain(int red, int blue) {
+            var failure = PicamJNI.setAwbGain(red, blue);
+            if (failure) logger.warn("Couldn't set Pi Camera AWB gains");
         }
 
         @Override
@@ -165,17 +184,18 @@ public class ZeroCopyPicamSource extends VisionSource {
             var failure = PicamJNI.destroyCamera();
             if (failure)
                 throw new RuntimeException(
-                        "Couldn't destroy a zero copy Pi camera while switching video modes");
+                        "Couldn't destroy a zero copy Pi Camera while switching video modes");
             failure = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
             if (failure)
                 throw new RuntimeException(
-                        "Couldn't create a zero copy Pi camera while switching video modes");
+                        "Couldn't create a zero copy Pi Camera while switching video modes");
 
             // We don't store last settings on the native side, and when you change video mode these get
             // reset on MMAL's end
             setExposure(lastExposure);
             setBrightness(lastBrightness);
             setGain(lastGain);
+            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
 
             currentVideoMode = mode;
         }

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

@@ -17,7 +17,7 @@
 
 package org.photonvision.vision.frame;
 
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;

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

@@ -17,8 +17,8 @@
 
 package org.photonvision.vision.frame;
 
-import edu.wpi.cscore.VideoMode;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.math.geometry.Rotation2d;
 import org.opencv.core.Point;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
@@ -38,23 +38,23 @@ public class FrameStaticProperties {
     public CameraCalibrationCoefficients cameraCalibration;
 
     /**
-    * Instantiates a new Frame static properties.
-    *
-    * @param mode The Video Mode of the camera.
-    * @param fov The fov of the image.
-    */
+     * Instantiates a new Frame static properties.
+     *
+     * @param mode The Video Mode of the camera.
+     * @param fov The fov of the image.
+     */
     public FrameStaticProperties(
             VideoMode mode, double fov, Rotation2d cameraPitch, CameraCalibrationCoefficients cal) {
         this(mode != null ? mode.width : 1, mode != null ? mode.height : 1, fov, cameraPitch, cal);
     }
 
     /**
-    * Instantiates a new Frame static properties.
-    *
-    * @param imageWidth The width of the image.
-    * @param imageHeight The width of the image.
-    * @param fov The fov of the image.
-    */
+     * Instantiates a new Frame static properties.
+     *
+     * @param imageWidth The width of the image.
+     * @param imageHeight The width of the image.
+     * @param fov The fov of the image.
+     */
     public FrameStaticProperties(
             int imageWidth,
             int imageHeight,
@@ -83,7 +83,6 @@ public class FrameStaticProperties {
 
     public static DoubleCouple calculateHorizontalVerticalFoV(
             double diagonalFoV, int imageWidth, int imageHeight) {
-
         double diagonalView = Math.toRadians(diagonalFoV);
         double diagonalAspect = Math.hypot(imageWidth, imageHeight);
 

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

@@ -34,7 +34,6 @@ import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.vision.frame.Frame;
 
 public class FileSaveFrameConsumer implements Consumer<Frame> {
-
     // Formatters to generate unique, timestamped file names
     private static String FILE_PATH = ConfigManager.getInstance().getImageSavePath().toString();
     private static String FILE_EXTENSION = ".jpg";
@@ -66,7 +65,6 @@ public class FileSaveFrameConsumer implements Consumer<Frame> {
 
     public void accept(Frame frame) {
         if (frame != null && !frame.image.getMat().empty()) {
-
             if (lock.tryLock()) {
                 boolean curCommand = entry.getBoolean(false);
                 if (curCommand && !prevCommand) {