Disable Roborio finder (#450 )

Rio finder has been linked to weird crashes after Autonomous
Calculate aspect ratio using rotated rect (#447 )
2026-06-21 01:01:41 +00:00 · 2022-03-31 22:55:51 -04:00 · 2022-03-31 22:51:14 -04:00 · 2022-03-31 22:46:12 -04:00 · 2022-03-16 21:39:02 -07:00 · 2022-03-16 21:38:47 -07:00
325 changed files with 4637 additions and 3332 deletions
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -148,46 +148,11 @@ jobs:
          ./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
-
-      - run: |
-          NEW_JAR=$(realpath $(find . -name photonvision\*.jar))
-          sudo apt install unzip zip
-          curl -sk https://api.github.com/repos/photonvision/photon-pi-gen/releases/latest | grep "browser_download_url.*zip" | cut -d : -f 2,3 | tr -d '"' | wget -qi -
-          FILE_NAME=$(ls | grep image_*.zip)
-          unzip $FILE_NAME
-          IMAGE_FILE=$(ls | grep *.img)
-          TMP=$(mktemp -d)
-          LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
-          sudo mount ${LOOP}p2 $TMP
-          pushd .
-          cd $TMP/opt/photonvision
-          ls
-          sudo cp $NEW_JAR photonvision.jar
-          popd
-          sudo umount ${TMP}
-          sudo rmdir ${TMP}
-          rm $FILE_NAME
-          NEW_IMAGE=$(basename "${NEW_JAR/jar/img}")
-          mv $IMAGE_FILE $NEW_IMAGE
-          zip -r $(basename "${NEW_JAR/jar/zip}") $NEW_IMAGE
-          rm $NEW_IMAGE
-
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: '**/*'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

  #  Building photonlib
  photonlib-build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 10.14
    strategy:
      fail-fast: false
      matrix:
@@ -316,34 +281,18 @@ 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: |
-          NEW_JAR=$(realpath $(find . -name photonvision\*.jar))
-          sudo apt install unzip zip
-          curl -sk https://api.github.com/repos/photonvision/photon-pi-gen/releases/latest | grep "browser_download_url.*zip" | cut -d : -f 2,3 | tr -d '"' | wget -qi -
-          FILE_NAME=$(ls | grep image_*.zip)
-          unzip $FILE_NAME
-          IMAGE_FILE=$(ls | grep *.img)
-          TMP=$(mktemp -d)
-          LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
-          sudo mount ${LOOP}p2 $TMP
-          pushd .
-          cd $TMP/opt/photonvision
-          ls
-          sudo cp $NEW_JAR photonvision.jar
-          popd
-          sudo umount ${TMP}
-          sudo rmdir ${TMP}
-          rm $FILE_NAME
-          NEW_IMAGE=$(basename "${NEW_JAR/jar/img}")
-          mv $IMAGE_FILE $NEW_IMAGE
-          zip -r $(basename "${NEW_JAR/jar/zip}") $NEW_IMAGE
-          rm $NEW_IMAGE
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh

      # Upload final fat jar as artifact.
      - uses: actions/upload-artifact@master
@@ -353,14 +302,36 @@ jobs:
      - uses: actions/upload-artifact@master
        with:
          name: image
-          path: image*.zip
+          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
-            image*.zip
+            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: ${{ secrets.GITHUB_TOKEN }}
--- a/.gitignore
+++ b/.gitignore
@@ -143,3 +143,4 @@ build/*
 build
 photon-lib/src/main/java/org/photonvision/PhotonVersion.java
 /photonlib-java-examples/bin/
+photon-lib/src/generate/native/include/PhotonVersion.h
--- a/.styleguide
+++ b/.styleguide
@@ -25,7 +25,3 @@ includeOtherLibs {
  ^units/
  ^wpi/
 }
-
-licenseUpdateExclude {
-  \.java$
-}
--- a/LicenseHeader.txt
+++ b/LicenseHeader.txt
@@ -1,16 +0,0 @@
-/*
- * 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/>.
- */
--- a/README.md
+++ b/README.md
@@ -10,8 +10,17 @@ 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.
@@ -29,3 +38,9 @@ PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vis

 ## 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)
--- a/build.gradle
+++ b/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 "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 "1.0.0"
-    id "edu.wpi.first.NativeUtils" version "2022.4.4" apply false
+    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 = "2022.1.1-beta-3-1-g4ba80a3"
+    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")
    }
--- a/gradle.properties
+++ b/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
--- a/photon-client/package-lock.json
+++ b/photon-client/package-lock.json
@@ -12792,11 +12792,10 @@
      }
    },
    "vue-loader-v16": {
-      "version": "npm:vue-loader@16.8.2",
-      "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.8.2.tgz",
-      "integrity": "sha512-Nkq+z9mAsMEK+qkXgK+9Ia7D8w9uu9j4ut0IMT5coMfux3rCgIp1QBB1CYwY0M34A1nRMSONEaWXxAAw6xSl/Q==",
+      "version": "npm:vue-loader@16.8.3",
+      "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.8.3.tgz",
+      "integrity": "sha512-7vKN45IxsKxe5GcVCbc2qFU5aWzyiLrYJyUuMz4BQLKctCj/fmCa0w6fGiiQ2cLFetNcek1ppGJQDCup0c1hpA==",
      "dev": true,
-      "optional": true,
      "requires": {
        "chalk": "^4.1.0",
        "hash-sum": "^2.0.0",
@@ -12808,7 +12807,6 @@
          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz",
          "integrity": "sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==",
          "dev": true,
-          "optional": true,
          "requires": {
            "color-convert": "^2.0.1"
          }
@@ -12818,7 +12816,6 @@
          "resolved": "https://registry.npmjs.org/chalk/-/chalk-4.1.2.tgz",
          "integrity": "sha512-oKnbhFyRIXpUuez8iBMmyEa4nbj4IOQyuhc/wy9kY7/WVPcwIO9VA668Pu8RkO7+0G76SLROeyw9CpQ061i4mA==",
          "dev": true,
-          "optional": true,
          "requires": {
            "ansi-styles": "^4.1.0",
            "supports-color": "^7.1.0"
@@ -12829,7 +12826,6 @@
          "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"
          }
@@ -12838,39 +12834,34 @@
          "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
+          "dev": true
        },
        "emojis-list": {
          "version": "3.0.0",
          "resolved": "https://registry.npmjs.org/emojis-list/-/emojis-list-3.0.0.tgz",
          "integrity": "sha512-/kyM18EfinwXZbno9FyUGeFh87KC8HRQBQGildHZbEuRyWFOmv1U10o9BBp8XVZDVNNuQKyIGIu5ZYAAXJ0V2Q==",
-          "dev": true,
-          "optional": true
+          "dev": true
        },
        "has-flag": {
          "version": "4.0.0",
          "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
          "integrity": "sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==",
-          "dev": true,
-          "optional": true
+          "dev": true
        },
        "json5": {
          "version": "2.2.0",
          "resolved": "https://registry.npmjs.org/json5/-/json5-2.2.0.tgz",
          "integrity": "sha512-f+8cldu7X/y7RAJurMEJmdoKXGB/X550w2Nr3tTbezL6RwEE/iMcm+tZnXeoZtKuOq6ft8+CqzEkrIgx1fPoQA==",
          "dev": true,
-          "optional": true,
          "requires": {
            "minimist": "^1.2.5"
          }
        },
        "loader-utils": {
-          "version": "2.0.1",
-          "resolved": "https://registry.npmjs.org/loader-utils/-/loader-utils-2.0.1.tgz",
-          "integrity": "sha512-g4miPa9uUrZz4iElkaVJgDFwKJGh8aQGM7pUL4ejXl6cu7kSb30seQOVGNMP6sW8j7DW77X68hJZ+GM7UGhXeQ==",
+          "version": "2.0.2",
+          "resolved": "https://registry.npmjs.org/loader-utils/-/loader-utils-2.0.2.tgz",
+          "integrity": "sha512-TM57VeHptv569d/GKh6TAYdzKblwDNiumOdkFnejjD0XwTH87K90w3O7AiJRqdQoXygvi1VQTJTLGhJl7WqA7A==",
          "dev": true,
-          "optional": true,
          "requires": {
            "big.js": "^5.2.2",
            "emojis-list": "^3.0.0",
@@ -12882,7 +12873,6 @@
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          "integrity": "sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==",
          "dev": true,
-          "optional": true,
          "requires": {
            "has-flag": "^4.0.0"
          }
@@ -12937,7 +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="
            }
          }
@@ -13841,7 +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",
@@ -13875,7 +13865,7 @@
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        "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",
@@ -13906,7 +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",
@@ -14042,7 +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",
@@ -14289,7 +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",
@@ -14301,7 +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",
@@ -14508,7 +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",
@@ -14584,7 +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"
@@ -14623,7 +14613,7 @@
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            "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"
@@ -16074,7 +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",
@@ -16560,7 +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="
            }
          }
@@ -16596,7 +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="
            }
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@@ -16805,7 +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",
@@ -16964,7 +16954,7 @@
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            "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": {
@@ -17091,7 +17081,7 @@
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        "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": {
@@ -17115,7 +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"
@@ -17142,7 +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"
@@ -17429,7 +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": {
@@ -17534,7 +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",
@@ -17757,7 +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",
@@ -17873,7 +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",
@@ -18186,7 +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",
@@ -18364,7 +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"
@@ -18393,7 +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"
@@ -18431,7 +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"
@@ -18457,7 +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"
@@ -18652,7 +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",
@@ -18709,7 +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": {
@@ -18885,7 +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",
@@ -19527,7 +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",
@@ -20438,9 +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": {
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -87,31 +87,56 @@
            </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>

        <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-icon v-if="$store.state.settings.networkSettings.runNTServer">
+                mdi-server
+              </v-icon>
+              <img
+                v-else-if="$store.state.ntConnectionInfo.connected"
+                src="@/assets/robot.svg"
+                alt=""
+              >
+              <img
+                v-else
+                class="pulse"
+                style="border-radius: 100%"
+                src="@/assets/robot-off.svg"
+                alt=""
+              >
            </v-list-item-icon>
            <v-list-item-content>
-              <v-list-item-title class="text-wrap" v-if="$store.state.settings.networkSettings.runNTServer">
-                NetworkTables server running for {{$store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero'}} clients!
+              <v-list-item-title
+                v-if="$store.state.settings.networkSettings.runNTServer"
+                class="text-wrap"
+              >
+                NetworkTables server running for {{ $store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero' }} clients!
              </v-list-item-title>
-              <v-list-item-title class="text-wrap" v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected">
-                Robot connected! {{$store.state.ntConnectionInfo.address}}
+              <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 class="text-wrap" v-else>
+              <v-list-item-title
+                v-else
+                class="text-wrap"
+              >
                Not connected to robot!
              </v-list-item-title>
-              <a
-                  href="/#/settings"
-                  style="color:#FFD843"
-              >{{"Team: " + $store.state.settings.networkSettings.teamNumber}}</a>
+              <router-link
+                v-if="!$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>

@@ -121,9 +146,9 @@
                mdi-wifi
              </v-icon>
              <v-icon
-                  v-else
-                  class="pulse"
-                  style="border-radius: 100%;"
+                v-else
+                class="pulse"
+                style="border-radius: 100%;"
              >
                mdi-wifi-off
              </v-icon>
@@ -135,7 +160,6 @@
            </v-list-item-content>
          </v-list-item>
        </div>
-
      </v-list>
    </v-navigation-drawer>
    <v-main>
@@ -159,23 +183,27 @@
      <logs />
    </v-dialog>
    <v-dialog
-        v-model="needsTeamNumberSet"
-        width="500"
-        dark
-        persistent
+      v-model="needsTeamNumberSet"
+      width="500"
+      dark
+      persistent
    >
      <v-card
-          dark
-          color="primary"
-          flat
+        dark
+        color="primary"
+        flat
      >
        <v-card-title>No team number set!</v-card-title>
        <v-card-text>
          PhotonVision cannot connect to your robot! Please
-          <a
-              href="/#/settings"
-              style="color:#FFD843"
-          >head to the settings page</a> and set your team number.
+          <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>
@@ -219,12 +247,6 @@ export default {
                    localStorage.setItem("compactMode", value);
                },
            },
-            // ...mapState({
-              // ntServerMode: state => state.settings.networkSettings.runNTServer,
-              // ntClients: state => state.ntConnectionInfo.clients,
-              // ntConnected: state => state.ntConnectionInfo.connected,
-              // backendConnected: state => state.backendConnected
-            // })
        },
        created() {
            document.addEventListener("keydown", e => {
@@ -319,8 +341,7 @@ export default {
                }
              }
              this.previouslySelectedIndices = null;
-            }
-,
+            },
            switchToSettingsTab() {
                this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
            }
--- a/photon-client/src/components/common/cv-image.vue
+++ b/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;
                    }

--- a/photon-client/src/components/common/cv-radio.vue
+++ b/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 {}
        },
--- a/photon-client/src/components/common/cv-range-slider.vue
+++ b/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,
--- a/photon-client/src/components/common/cv-tooltipped-label.vue
+++ b/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
--- a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
+++ b/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();
      }
--- a/photon-client/src/plugins/ColorPicker.js
+++ b/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,
--- a/photon-client/src/store/index.js
+++ b/photon-client/src/store/index.js
@@ -19,6 +19,8 @@ export default new Vuex.Store({
            connected: false,
            address: "",
            clients: 0,
+        },
+        networkInfo: {
            possibleRios: ["Loading..."],
            deviceips: ["Loading..."],
        },
@@ -55,7 +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,
@@ -64,10 +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,
@@ -151,6 +157,7 @@ export default new Vuex.Store({
        calibrationData: set('calibrationData'),
        metrics: set('metrics'),
        ntConnectionInfo: set('ntConnectionInfo'),
+        networkInfo: set('networkInfo'),
        backendConnected: set('backendConnected'),
        logString: (state, newStr) => {
            const str = state.logMessages;
--- a/photon-client/src/views/CamerasView.vue
+++ b/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
@@ -89,26 +91,26 @@
                  <CVnumberinput
                    v-model="squareSizeIn"
                    name="Pattern Spacing (in)"
-                    label-cols="5"
                    tooltip="Spacing between pattern features in inches"
                    :disabled="isCalibrating"
                    :rules="[v => (v > 0) || 'Size must be positive']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
                  />
                  <CVnumberinput
                    v-model="boardWidth"
                    name="Board width"
-                    label-cols="5"
                    tooltip="Width of the board in dots or chessboard squares"
                    :disabled="isCalibrating"
                    :rules="[v => (v >= 4) || 'Width must be at least 4']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
                  />
                  <CVnumberinput
                    v-model="boardHeight"
                    name="Board height"
-                    label-cols="5"
                    tooltip="Height of the board in dots or chessboard squares"
                    :disabled="isCalibrating"
                    :rules="[v => (v >= 4) || 'Height must be at least 4']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
                  />
                </v-form>
              </v-col>
@@ -194,13 +196,24 @@
                  @input="e => handlePipelineUpdate('cameraBrightness', e)"
                />
                <CVslider
-                  v-if="$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="$store.getters.currentPipelineSettings.cameraBlueGain"
+                  name="Blue AWB Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+                  :slider-cols="8"
+                  @input="e => handlePipelineData('cameraBlueGain', e)"
                />
              </v-col>
            </v-row>
--- a/photon-client/src/views/PipelineView.vue
+++ b/photon-client/src/views/PipelineView.vue
@@ -30,7 +30,7 @@
                :class="fpsTooLow ? 'ml-2 mt-1' : 'mt-2'"
                x-small
                label
-                :color="fpsTooLow ? 'red' : 'transparent'"
+                :color="fpsTooLow ? 'error' : 'transparent'"
                :text-color="fpsTooLow ? 'white' : 'grey'"
              >
                <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
@@ -38,13 +38,6 @@
                <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
                <span v-else>stop viewing the color stream for better performance</span>
              </v-chip>
-              <v-chip small label color="red" text-color="white" v-if="!$store.state.ntConnectionInfo.connected || $store.state.settings.networkSettings.runNTServer">
-                <span>
-                {{ $store.state.settings.networkSettings.runNTServer ?
-                    "NetworkTables Server Enabled! Photonlib may not work" :
-                    "NetworkTables not connected!" }}
-                </span>
-              </v-chip>
              <v-switch
                v-model="driverMode"
                label="Driver Mode"
@@ -71,7 +64,8 @@
                    :disconnected="!$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"
@@ -90,23 +84,18 @@
        >
          <v-card
            color="primary"
-            class="mt-3"
          >
-            <!--            <v-btn @click="onCamNameChange">-->
-            <!--              Reload-->
-            <!--            </v-btn>-->
            <camera-and-pipeline-select @camera-name-changed="reloadStreams" />
          </v-card>
          <v-card
            :disabled="$store.getters.isDriverMode || $store.state.colorPicking"
-            class="mt-6 mb-3"
+            class="mt-3"
            color="primary"
          >
            <v-row
              align="center"
              class="pl-3 pr-3"
            >
-              <!--  -->
              <v-col lg="12">
                <p style="color: white;">
                  Processing mode:
@@ -206,21 +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
@@ -286,10 +278,10 @@ export default {
    data() {
        return {
            selectedTabsData: [0, 0, 0, 0],
-            snackbar: false,
            counterData: 0,
            dialog: false,
-            processingModeOverride: false
+            processingModeOverride: false,
+            hideNTWarning: false,
        }
    },
    computed: {
@@ -434,7 +426,12 @@ export default {
            // 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)
--- a/photon-client/src/views/PipelineViews/ContoursTab.vue
+++ b/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.$store.getters.currentPipelineSettings.contourGroupingMode
--- a/photon-client/src/views/PipelineViews/InputTab.vue
+++ b/photon-client/src/views/PipelineViews/InputTab.vue
@@ -22,15 +22,26 @@
      @rollback="e => rollback('cameraBrightness', e)"
    />
    <CVslider
-      v-if="cameraGain !== -1"
-      v-model="cameraGain"
-      name="Gain"
+      v-if="cameraRedGain !== -1"
+      v-model="cameraRedGain"
+      name="Red AWB Gain"
      min="0"
      max="100"
-      tooltip="Controls automatic white balance gain, which affects how the camera captures colors in different conditions"
+      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
      :slider-cols="largeBox"
-      @input="handlePipelineData('cameraGain')"
-      @rollback="e => rollback('cameraGain', e)"
+      @input="handlePipelineData('cameraRedGain')"
+      @rollback="e => rollback('cameraRedGain', e)"
+    />
+    <CVslider
+      v-if="cameraBlueGain !== -1"
+      v-model="cameraBlueGain"
+      name="Blue AWB Gain"
+      min="0"
+      max="100"
+      tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+      :slider-cols="largeBox"
+      @input="handlePipelineData('cameraBlueGain')"
+      @rollback="e => rollback('cameraBlueGain', e)"
    />
    <CVselect
      v-model="inputImageRotationMode"
@@ -105,12 +116,20 @@
                    this.$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;
--- a/photon-client/src/views/PipelineViews/OutputTab.vue
+++ b/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"
--- a/photon-client/src/views/PipelineViews/PnPTab.vue
+++ b/photon-client/src/views/PipelineViews/PnPTab.vue
@@ -60,7 +60,7 @@
        },
        data() {
            return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal'], //Keep in sync with TargetModel.java
                snackbar: {
                    color: "Success",
                    text: ""
--- a/photon-client/src/views/PipelineViews/ThresholdTab.vue
+++ b/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});
@@ -233,3 +279,31 @@ export default {
 }

 </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>
--- a/photon-client/src/views/SettingsView.vue
+++ b/photon-client/src/views/SettingsView.vue
@@ -49,6 +49,7 @@
            return {
                selectedTab: 0,
                snack: false,
+                calibrationInProgress: false,
                snackbar: {
                  color: "accent",
                  text: ""
--- a/photon-client/src/views/SettingsViews/General.vue
+++ b/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 => {
@@ -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 {
--- a/photon-client/src/views/SettingsViews/Networking.vue
+++ b/photon-client/src/views/SettingsViews/Networking.vue
@@ -10,44 +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="$vuetify.breakpoint.mdAndUp ? undefined : 5"
      />
-      <v-chip label color="red" text-color="white" v-if="parseInt(teamNumber) < 1 && !runNTServer">
-        <span>
-          Team number not set! NetworkTables cannot connect.
-        </span>
-      </v-chip>
+      <v-banner
+        v-show="(teamNumber < 1 || teamNumber > 10000) && !runNTServer"
+        rounded
+        color="red"
+        text-color="white"
+      >
+        Team number is unset or invalid. NetworkTables will not be able to connect.
+      </v-banner>
      <CVradio
-          v-model="connectionType"
+        v-show="$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="!$store.state.settings.networkSettings.supported"
      />
-      <template v-if="!isDHCP">
-        <CVinput
-          v-model="staticIp"
-          :input-cols="inputCols"
-          :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
-          name="IP"
-        />
-      </template>
+      <CVinput
+        v-if="!isDHCP"
+        v-model="staticIp"
+        :input-cols="inputCols"
+        :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
+        name="IP"
+      />
      <CVinput
        v-model="hostname"
        :input-cols="inputCols"
        :rules="[v => isHostname(v) || 'Invalid hostname']"
        name="Hostname"
      />
-      Advanced
-      <v-divider/>
      <CVSwitch
-          v-model="runNTServer"
-          name="Run NetworkTables Server (Debugging Only!)"
-          tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
-          class="mt-3 mb-3"
+        v-model="runNTServer"
+        name="Run NetworkTables Server (Debugging Only)"
+        tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+        class="mt-3 mb-3"
+        :text-cols="$vuetify.breakpoint.mdAndUp ? undefined : 5"
      />
-      <v-chip label color="red" text-color="white" v-if="runNTServer">
-        <span>
-          Disable this switch if you're on a robot! Photonlib will NOT work.
-        </span>
-      </v-chip>
+      <v-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"
@@ -58,55 +66,60 @@
    >
      Save
    </v-btn>
-    <v-divider class="mt-4 mb-4"/>
+    <v-divider class="mt-4 mb-4" />
    <v-row>
-      <v-col cols="6">
-
+      <v-col
+        cols="12"
+        sm="6"
+      >
        <v-simple-table
-            fixed-header
-            height="100%"
-            dense
+          fixed-header
+          height="100%"
+          dense
        >
          <template v-slot:default>
            <thead style="font-size: 1.25rem;">
-            <tr>
-              <th>
-                Device IPs
-              </th>
-            </tr>
+              <tr>
+                <th>
+                  Device IPs
+                </th>
+              </tr>
            </thead>
            <tbody>
-            <tr
-                v-for="(value, index) in $store.state.ntConnectionInfo.deviceips"
+              <tr
+                v-for="(value, index) in $store.state.networkInfo.deviceips"
                :key="index"
-            >
-              <td>{{ value }}</td>
-            </tr>
+              >
+                <td>{{ value }}</td>
+              </tr>
            </tbody>
          </template>
        </v-simple-table>
      </v-col>
-      <v-col cols="6">
+      <v-col
+        cols="12"
+        sm="6"
+      >
        <v-simple-table
-            fixed-header
-            height="100%"
-            dense
+          fixed-header
+          height="100%"
+          dense
        >
          <template v-slot:default>
            <thead style="font-size: 1.25rem;">
-            <tr>
-              <th>
-                Possible RoboRIOs
-              </th>
-            </tr>
+              <tr>
+                <th>
+                  Possible RoboRIOs
+                </th>
+              </tr>
            </thead>
            <tbody>
-            <tr
-                v-for="(value, index) in $store.state.ntConnectionInfo.possibleRios"
+              <tr
+                v-for="(value, index) in $store.state.networkInfo.possibleRios"
                :key="index"
-            >
-              <td>{{ value }}</td>
-            </tr>
+              >
+                <td>{{ value }}</td>
+              </tr>
            </tbody>
          </template>
        </v-simple-table>
@@ -148,7 +161,7 @@ export default {
    },
    computed: {
        inputCols() {
-            return this.$vuetify.breakpoint.smAndUp ? 10 : 7;
+            return this.$vuetify.breakpoint.mdAndUp ? 10 : 7;
        },
        isDHCP() {
            return this.settings.connectionType === 0;
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -5,17 +5,13 @@ apply from: "${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
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxaarch64bionic"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxraspbian"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxx86-64"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:osxx86-64"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:windowsx86-64"
+    jniPlatforms.each { implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:$it" }

    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
@@ -29,7 +25,8 @@ dependencies {
 }

 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)
 }

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

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

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

 import com.fasterxml.jackson.core.JsonProcessingException;
@@ -31,7 +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;
@@ -56,6 +56,7 @@ public class ConfigManager {
    final File configDirectoryFile;

    private long saveRequestTimestamp = -1;
+    private Thread settingsSaveThread;

    public static ConfigManager getInstance() {
        if (INSTANCE == null) {
@@ -96,7 +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() {
@@ -424,12 +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();
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.configuration;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 import edu.wpi.first.networktables.EntryNotification;
@@ -24,10 +25,12 @@ 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;

@@ -209,9 +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;
    }
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -14,22 +14,15 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.dataflow.networktables;

-import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import java.io.IOException;
-import java.net.InetAddress;
-import java.net.UnknownHostException;
-import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
-import java.util.List;
 import java.util.function.Consumer;
 import org.photonvision.PhotonVersion;
-import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
@@ -86,6 +79,7 @@ public class NetworkTablesManager {
    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();
@@ -98,73 +92,6 @@ public class NetworkTablesManager {
        map.put("ntConnectionInfo", subMap);
        DataChangeService.getInstance()
                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
-
-        // Seperate from the above so we don't hold stuff up
-        System.setProperty("java.net.preferIPv4Stack", "true");
-        subMap.put(
-                "deviceips",
-                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
-                        .filter(it -> !it.equals("0.0.0.0"))
-                        .toArray());
-        logger.info("Searching for rios");
-        List<String> possibleRioList = new ArrayList<>();
-        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
-            logger.info("Trying " + ip);
-            var possibleRioAddr = getPossibleRioAddress(ip);
-            if (possibleRioAddr != null) {
-                logger.info("Maybe found " + ip);
-                searchForHost(possibleRioList, possibleRioAddr);
-            } else {
-                logger.info("Didn't match RIO IP");
-            }
-        }
-        String name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.local";
-        searchForHost(possibleRioList, name);
-        name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.lan";
-        searchForHost(possibleRioList, name);
-        name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.frc-field.local";
-        searchForHost(possibleRioList, name);
-        subMap.put("possibleRios", possibleRioList.toArray());
-        DataChangeService.getInstance()
-                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
-    }
-
-    String getPossibleRioAddress(String ip) {
-        try {
-            InetAddress addr = InetAddress.getByName(ip);
-            var address = addr.getAddress();
-            if (address[0] != (byte) (10 & 0xff)) return null;
-            address[3] = (byte) (2 & 0xff);
-            return InetAddress.getByAddress(address).getHostAddress();
-        } catch (UnknownHostException e) {
-            e.printStackTrace();
-        }
-        return null;
-    }
-
-    void searchForHost(List<String> list, String hostname) {
-        try {
-            logger.info("Looking up " + hostname);
-            InetAddress testAddr = InetAddress.getByName(hostname);
-            logger.info("Pinging " + hostname);
-            var canContact = testAddr.isReachable(500);
-            if (canContact) {
-                logger.info("Was able to connect to " + hostname);
-                if (!list.contains(hostname)) list.add(hostname);
-            } else {
-                logger.info("Unable to reach " + hostname);
-            }
-        } catch (IOException ignored) {
-        }
    }

    private void broadcastVersion() {
@@ -185,8 +112,7 @@ public class NetworkTablesManager {
        logger.info("Starting NT Client");
        ntInstance.stopServer();

-        //        ntInstance.startClientTeam(teamNumber);
-        ntInstance.startClient("localhost");
+        ntInstance.startClientTeam(teamNumber);
        ntInstance.startDSClient();
        if (ntInstance.isConnected()) {
            logger.info("[NetworkTablesManager] Connected to the robot!");
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.dataflow.websocket;

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

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

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

@SuppressWarnings("SpellCheckingInspection")
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java
@@ -14,16 +14,17 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.hardware.GPIO.pi;

 import java.util.HashMap;

 /**
-* 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;
@@ -65,10 +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
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.hardware.GPIO.pi;

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

 public class PigpioPulse {
@@ -22,14 +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;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.hardware.GPIO.pi;

 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
@@ -40,12 +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);
@@ -55,10 +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();
@@ -69,10 +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();
@@ -83,12 +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);
@@ -101,12 +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);
@@ -118,10 +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);
@@ -133,12 +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

@@ -174,12 +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;

@@ -207,13 +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;
@@ -262,11 +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);
@@ -279,12 +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);
@@ -297,11 +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);
@@ -313,12 +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);
@@ -330,13 +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);
@@ -348,14 +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);
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.hardware.GPIO.pi;

 import java.io.DataInputStream;
@@ -23,9 +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;

@@ -81,16 +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);
@@ -135,11 +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);
    }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.hardware;

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

 import edu.wpi.first.util.RuntimeDetector;
@@ -45,7 +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);
@@ -61,7 +66,7 @@ public enum Platform {
    }

    public static boolean isRaspberryPi() {
-        return CurrentPlatform.equals(LINUX_RASPBIAN);
+        return currentPlatform.equals(LINUX_RASPBIAN);
    }

    @SuppressWarnings("StatementWithEmptyBody")
@@ -114,4 +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 "";
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.hardware;

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

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

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

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

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

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

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

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

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

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

 import java.io.*;
@@ -125,8 +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.
@@ -231,12 +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);
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkInterface.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkInterface.java
@@ -14,6 +14,7 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.networking;

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

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

 public enum NetworkMode {
--- a/photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java
+++ b/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) {
+        }
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptCommandType.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptCommandType.java
@@ -14,6 +14,7 @@
 * 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.scripting;

 public enum ScriptCommandType {
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptConfig.java
@@ -14,6 +14,7 @@
 * 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.scripting;

 import com.fasterxml.jackson.annotation.JsonCreator;
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEvent.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEvent.java
@@ -14,6 +14,7 @@
 * 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.scripting;

 import java.io.IOException;
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEventType.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEventType.java
@@ -14,6 +14,7 @@
 * 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.scripting;

 public enum ScriptEventType {
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
@@ -14,6 +14,7 @@
 * 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.scripting;

 import java.io.IOException;
@@ -65,8 +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);
@@ -128,7 +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());
--- a/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java
@@ -14,6 +14,7 @@
 * 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;

 import java.awt.*;
--- a/photon-core/src/main/java/org/photonvision/common/util/MemoryManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/MemoryManager.java
@@ -14,6 +14,7 @@
 * 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;

 public class MemoryManager {
--- a/photon-core/src/main/java/org/photonvision/common/util/ReflectionUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ReflectionUtils.java
@@ -14,6 +14,7 @@
 * 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;

 public class ReflectionUtils {
--- a/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java
@@ -14,6 +14,7 @@
 * 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;

 import java.util.HashMap;
--- a/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java
@@ -14,6 +14,7 @@
 * 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;

 import java.io.*;
@@ -43,12 +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 + "\"");

@@ -71,25 +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;
@@ -153,10 +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;
@@ -186,19 +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;
        }
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -14,10 +14,12 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.util;

 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.cscore.CameraServerCvJNI;
+import edu.wpi.first.math.util.Units;
 import java.awt.*;
 import java.io.File;
 import java.io.IOException;
@@ -97,6 +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;

@@ -133,7 +155,8 @@ public class TestUtils {
    }

    private static Path getResourcesFolderPath(boolean testMode) {
-        return Path.of("../test-resources").toAbsolutePath();
+        System.out.println("CWD: " + Path.of("").toAbsolutePath().toString());
+        return Path.of("test-resources").toAbsolutePath();
    }

    public static Path getTestMode2019ImagePath() {
@@ -148,6 +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");
    }
--- a/photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java
@@ -14,6 +14,7 @@
 * 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;

 import java.util.concurrent.*;
--- a/photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java
@@ -14,12 +14,14 @@
 * 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.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;
@@ -60,7 +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);
@@ -76,7 +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();
@@ -94,7 +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);
--- a/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
@@ -14,6 +14,7 @@
 * 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 com.fasterxml.jackson.core.json.JsonReadFeature;
@@ -33,7 +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 {
@@ -79,7 +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(
--- a/photon-core/src/main/java/org/photonvision/common/util/file/ProgramDirectoryUtilities.java
+++ b/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;
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/util/java/TriConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/java/TriConsumer.java
@@ -14,6 +14,7 @@
 * 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.java;

 public interface TriConsumer<T, U, V> {
--- a/photon-core/src/main/java/org/photonvision/common/util/math/IPUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/IPUtils.java
@@ -14,6 +14,7 @@
 * 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.math;

 import java.util.ArrayList;
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -14,9 +14,12 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
+
 package org.photonvision.common.util.math;

 import edu.wpi.first.util.WPIUtilJNI;
+import java.util.Arrays;
+import java.util.List;

 public class MathUtils {
    MathUtils() {}
@@ -63,20 +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());
-    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
@@ -14,6 +14,7 @@
 * 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.numbers;

 import org.opencv.core.Point;
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
@@ -14,6 +14,7 @@
 * 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.numbers;

 public class IntegerCouple extends NumberCouple<Integer> {
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
@@ -14,6 +14,7 @@
 * 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.numbers;

 import com.fasterxml.jackson.annotation.JsonIgnore;
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java
@@ -14,6 +14,7 @@
 * 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.numbers;

 import java.math.BigDecimal;
@@ -25,9 +26,9 @@ 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;
@@ -57,9 +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) {
@@ -69,11 +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<>(),
--- a/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
@@ -14,6 +14,7 @@
 * 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.raspi;

 import java.io.File;
@@ -22,6 +23,7 @@ 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;
@@ -83,7 +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() {
@@ -109,29 +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);
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -14,6 +14,7 @@
 * 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.vision.calibration;

 import com.fasterxml.jackson.annotation.JsonCreator;
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
@@ -14,6 +14,7 @@
 * 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.vision.calibration;

 import com.fasterxml.jackson.annotation.JsonIgnore;
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -14,6 +14,7 @@
 * 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.vision.camera;

 public enum CameraQuirk {
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraType.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraType.java
@@ -14,6 +14,7 @@
 * 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.vision.camera;

 public enum CameraType {
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Matt	72717cecf0	Disable Roborio finder (#450 ) Rio finder has been linked to weird crashes after Autonomous	2022-03-31 22:55:51 -04:00
Matt	971ff3ac40	Calculate aspect ratio using rotated rect (#447 )	2022-03-31 22:51:14 -04:00
Banks T	b80e436f02	Force fs sync on all .json writes (#451 )	2022-03-31 22:46:12 -04:00
Matt	be1a053cbe	Fix PhotoVersion template typo (#446 )	2022-03-16 21:39:02 -07:00
Matt	f4555dc545	Fix offset point bug (#445 ) Fixes bug where offset point can be wrong	2022-03-16 21:38:47 -07:00
Matt	54fdd1db51	Add test mode from path (#440 ) adds --path to --test-mode	2022-03-16 21:33:20 -07:00
Matt	1805785cc6	Rio discovery slowdown (#444 ) * Only send rio IPs on settings button click * Wpiformat	2022-03-14 20:44:14 -07:00
Matt	e62f6419b5	Move config saving to its own thread (#438 ) * Move config saving to its own thread RIO discovery can block * Add sleep	2022-03-01 00:11:30 -05:00
Declan	fa7824c616	Fix 960x720 weirdness (#439 ) * Update 960x720 FOV modifier to track video mode change * Update native code to version that includes 960x720 fix	2022-02-28 07:42:26 -05:00
Matt	9090aa6bcc	Add version verification disable switch in photonlib (#437 )	2022-02-28 07:37:52 -05:00
Declan	5655ca6890	Separate AWB gain slider (#410 ) Makes gain adjust digital gain, adds sliders for red/blue on picam Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>	2022-02-28 00:45:29 -05:00
Matt	50fdfd8bce	Add outlier rejection (#432 ) Uses standard deviations from mean x/y location to reject outliers	2022-02-28 00:44:22 -05:00
Declan	3120a6439b	Handle average hue inverted (#431 ) Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>	2022-02-27 00:09:44 -05:00
Jason Daming	ab3e8c8db7	Add version string to NT in sim (#424 )	2022-02-22 20:01:01 -05:00
Banks T	5144819ce2	Invertable hue (#428 ) * Add UI-side changes for invertable hue slider * Add hue inverted range * Add new slider backgrounds to threshold tab * Run spotless * Updated libpicam.so to artifact built from commit c458bab87740 in that repo on gerth2's pi. * undo the java-side hack since isVCSMSupported is fixed * Hook up hue inversion frontend to backend and UI tweaks * Remove unused .flipped class * Fix hueInverted name in Vue.js store Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com> Co-authored-by: Matt <matthew.morley.ca@gmail.com> Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>	2022-02-21 22:41:51 -05:00
Matt	d779fe23f0	Add disabled stream warning (#409 )	2022-01-24 12:39:04 -05:00
Matt	b2a3f34433	Fix version verification with non-default networktable (#407 ) Adds version verification to c++ too	2022-01-24 12:38:45 -05:00
drew-struensee	b09a6d6a2d	Added Support for 3D tracking of the 2022 Cargo Balls (#408 ) * added cargo ball 2022 * added cargoball2022. tested on pi.. it works * spotlessapply * made list more consistant	2022-01-20 22:36:54 -05:00
Tyler Veness	9893cf1f7e	Update photonlib and photonlib example license headers to MIT (#395 )	2022-01-20 22:35:28 -05:00
Matt	fc91daf397	Enable GPU acecel on any Pi Zeros, not just zero W (#405 )	2022-01-20 21:59:29 -05:00
Matt	a3e205cb6f	Limit circle accuracy to [1,100] (#406 )	2022-01-20 21:57:41 -05:00
Vasista Vovveti	553bed32b5	[photonlib] Target macOS 10.14 (#402 )	2022-01-16 15:04:03 -05:00
Declan	6c91feaf3f	Make small cosmetic improvments across the user interface (#396 )	2022-01-16 11:25:37 -05:00
Chris Gerth	4ddb9aa08f	Create new pipelines with same type as current (#398 )	2022-01-15 10:11:12 -05:00
Banks T	4aadebdbb2	Change PhotonLib License to MIT (#394 ) * Change PhotonLib License to MIT * Remove extraneous newline in license	2022-01-14 22:05:49 -05:00
Matt	da8d70f887	Ensure cameras with gain will always have it enabled (#388 )	2022-01-11 17:12:30 -08:00
Tyler Veness	80a0d8de1c	Fix test resources path (#386 )	2022-01-10 21:40:43 -08:00
Matt	3ad476bc28	Send corners of min area rectangles (#382 ) Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. Co-authored-by: Tyler Veness <calcmogul@gmail.com>	2022-01-10 20:31:36 -08:00
Matt	e6d8e05b91	2022 grouping and test mode updates (#381 ) Add 2022 images, "2orMore" grouping mode, and 2022 test mode Test mode now preserves old settings	2022-01-10 16:51:06 -08:00
Tyler Veness	46fa17dfd8	Upgrade spotless and shadow (#385 ) Fixes Log4J vulnerability	2022-01-10 11:56:45 -08:00
Matt	43c35286f3	Reword restart modal (#374 ) Clarifies that photon will restart (when running as service)	2022-01-09 16:02:32 -08:00
Matt	3d317f7035	Switch to Releaser from eine/tip (#379 )	2022-01-09 09:00:25 -08:00
Tyler Veness	a161bd5be9	Upgrade all maven dependencies for 2022 (#377 ) This also fixes compilation with JDK 17.	2022-01-08 10:17:28 -08:00
Matt	0f730fc28d	Update WPILib to 2022.1.1 rc 1 (#376 )	2022-01-06 20:14:51 -08:00
Matt	12e06b09c3	Add Pi zero 2 W to PiVersion enum (#373 ) This approach is quite brittle, but it's easy to get working and can ship in an initial 2022 release. It's necessary to prevent GPU acceleration from happening on Pi 4s though. Let's try to put together something better for future releases.	2022-01-05 20:34:42 -08:00
Matt	641101f574	Fix NetworkTables team connection bug (#375 )	2021-12-31 22:55:32 -06:00
Matt	6a1201432c	Hard-code picam resolutions (#366 ) * Hard-code picam resolutions * Address review comment	2021-12-30 23:19:25 -08:00
Matt	e77a06bfa6	Remove pipeline type select (#371 )	2021-12-23 20:27:59 -08:00
dependabot[bot]	8b0b18bd07	Bump y18n from 4.0.0 to 4.0.3 in /photon-client (#372 ) Bumps [y18n](https://github.com/yargs/y18n) from 4.0.0 to 4.0.3. - [Release notes](https://github.com/yargs/y18n/releases) - [Changelog](https://github.com/yargs/y18n/blob/y18n-v4.0.3/CHANGELOG.md) - [Commits](https://github.com/yargs/y18n/compare/v4.0.0...y18n-v4.0.3) --- updated-dependencies: - dependency-name: y18n dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2021-12-20 10:39:21 -08:00
Matt	1766f3bf0f	Add picam resolution type, remove k prefix (#365 ) Changes "kUnknown" to "Picam" in resolution dropdown; similarly "kBGR" -> "BGR"	2021-12-20 10:08:17 -08:00
Matt	4578fa756c	Null-check files to be cleaned in Logger (#367 )	2021-12-19 06:52:13 -06:00
Matt	d6e1e28fc2	Add pi version check (#360 ) Should prevent GPU acceleration on Pi 4	2021-12-18 13:12:53 -05:00
Matt	49048c3998	Don't limit divisors in driver mode (#363 )	2021-12-18 12:56:52 -05:00
Matt	8b079d9b20	Add pi-only JAR createion (#362 )	2021-12-18 12:53:08 -05:00
icemannie	1522adaa0e	Remove pipeline index/driver mode/led mode caching in PhotonCamera	2021-12-15 12:16:09 -05:00
Matt	3cd57b8b43	Don't generate Pi images on PRs (#350 )	2021-12-03 23:19:20 -05:00
Chris Gerth	c944967476	Offline Update (.jar replace) (#340 ) Allows users to upload a new JAR to a Pi. Also bumps the pi image to increase the heap size.	2021-12-03 23:08:51 -05:00
Matt	dbd631da61	Suffix pi image zips with "-image.zip" (#339 ) * Suffix pi image zips with "-image.zip" * Update main.yml	2021-11-29 21:43:41 -06:00
mdurrani808	f731ae37d2	Updated README.md (#344 )	2021-11-29 21:20:46 -06:00
Matt	0a8da1a0bd	Fix image glob in dev releases (#338 ) Should now upload pi images to dev releases	2021-11-28 18:32:33 -05:00