Pull thinclient into built JAR (#558)

* Add prints to image generation

* Make xz multithreaded

* More rename copypasta

.github/workflows/main.yml

@@ -24,24 +24,20 @@ jobs:
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
 
-    # Grab the docker container.
-    container:
-      image: docker://node:10
-
     steps:
     # Checkout code.
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
 
     # Setup Node.js
     - name: Setup Node.js
-      uses: actions/setup-node@v1
+      uses: actions/setup-node@v3
       with:
-        node-version: 10
+        node-version: 16
 
     # Run npm
-    - run: |
-        npm ci
-        npm run build --if-present
+    - run: npm update -g npm
+    - run: npm ci
+    - run: npm run build --if-present
 
     # Upload client artifact.
     - uses: actions/upload-artifact@master
@@ -56,7 +52,9 @@ jobs:
     steps:
       # Checkout code.
       - name: Checkout code
-        uses: actions/checkout@v1
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
       # Fetch tags.
       - name: Fetch tags
@@ -64,9 +62,10 @@ jobs:
 
       # Install Java 11.
       - name: Install Java 11
-        uses: actions/setup-java@v1
+        uses: actions/setup-java@v3
         with:
           java-version: 11
+          distribution: temurin
 
       # Run Gradle build.
       - name: Gradle Build
@@ -84,12 +83,12 @@ jobs:
 
       # Publish Coverage Report.
       - name: Publish Server Coverage Report
-        uses: codecov/codecov-action@v1
+        uses: codecov/codecov-action@v3
         with:
           file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
 
       - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v1
+        uses: codecov/codecov-action@v3
         with:
           file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
 
@@ -98,13 +97,13 @@ jobs:
 
     steps:
       # Checkout docs.
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           repository: 'PhotonVision/photonvision-docs.git'
           ref: master
 
       # Install Python.
-      - uses: actions/setup-python@v2
+      - uses: actions/setup-python@v4
         with:
           python-version: '3.6'
 
@@ -135,12 +134,15 @@ jobs:
 
     steps:
       # Checkout code.
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
       # Install Java 11.
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
           java-version: 11
+          distribution: temurin
 
       # Check server code with Spotless.
       - run: |
@@ -148,46 +150,11 @@ 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:
@@ -202,12 +169,13 @@ jobs:
     runs-on: ${{ matrix.os }}
     name: "Photonlib - Build - ${{ matrix.artifact-name }}"
     steps:
-      - uses: actions/checkout@v2.3.4
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
           java-version: 11
+          distribution: temurin
       - run: git fetch --tags --force
       - run: |
           chmod +x gradlew
@@ -234,12 +202,13 @@ jobs:
     container: ${{ matrix.container }}
     name: "Photonlib - Build - ${{ matrix.artifact-name }}"
     steps:
-      - uses: actions/checkout@v2.3.4
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
           java-version: 11
+          distribution: temurin
       - run: |
           chmod +x gradlew
           ./gradlew photon-lib:build --max-workers 1
@@ -254,14 +223,14 @@ jobs:
     name: "wpiformat"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f master origin/master
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Install clang-format
@@ -278,7 +247,7 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
@@ -292,12 +261,15 @@ jobs:
 
     steps:
       # Checkout code.
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
       # Install Java 11.
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
           java-version: 11
+          distribution: temurin
 
       # Clear any existing web resources.
       - run: |
@@ -305,62 +277,72 @@ jobs:
           mkdir -p photon-server/src/main/resources/web/docs
 
       # Download client artifact to resources folder.
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v3
         with:
           name: built-client
           path: photon-server/src/main/resources/web/
 
+      # Copy thinclient in as well
+      - run: cp -r photon-thinclient/* photon-server/src/main/resources/web/
+
       # Download docs artifact to resources folder.
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v3
         with:
           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
+      - uses: actions/upload-artifact@v3
         with:
-          name: jar
+          name: jars
           path: photon-server/build/libs
-      - uses: actions/upload-artifact@master
+      - uses: actions/upload-artifact@v3
+        if: github.event_name != 'pull_request'
         with:
           name: image
-          path: image*.zip
+          path: photonvision*.xz
 
-      - 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*.xz
         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: jars
+
+      # And the image we made previously
+      - uses: actions/download-artifact@v2
+        with:
+          name: image
+
+      # All we've downloaded (ideally) is the fat jar, pi jar, and image. So just upload it all
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: '**/*'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -30,6 +30,7 @@ backend/settings/
 *.nar
 *.ear
 *.zip
+*.xz
 *.tar.gz
 *.rar
 
@@ -143,3 +144,9 @@ build/*
 build
 photon-lib/src/main/java/org/photonvision/PhotonVersion.java
 /photonlib-java-examples/bin/
+photon-lib/src/generate/native/include/PhotonVersion.h
+.gitattributes
+lib/*
+photon-server/lib/libapriltag.so
+photon-server/bin/main/nativelibraries/apriltag/*
+photon-server/src/main/resources/nativelibraries/apriltag/*

.styleguide

@@ -11,8 +11,11 @@ cppSrcFileInclude {
 
 modifiableFileExclude {
   \.jpg$
+  \.jpeg$
   \.png$
+  \.gif$
   \.so$
+  \.dll$
 }
 
 includeProject {
@@ -25,7 +28,3 @@ includeOtherLibs {
   ^units/
   ^wpi/
 }
-
-licenseUpdateExclude {
-  \.java$
-}

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)

build.gradle

@@ -1,17 +1,17 @@
 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"
 }
 
 allprojects {
     repositories {
-        jcenter()
+        mavenCentral()
         maven { url = "https://maven.photonvision.org/repository/internal/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
@@ -22,24 +22,36 @@ 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")
+
+    if(project.hasProperty('pionly')) {
+        jniPlatforms = ['linuxraspbian']
+    } else if(project.hasProperty('winonly')) {
+        jniPlatforms = ['windowsx86-64']
+    } else {
+        jniPlatforms = ['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")
     }

gradle.properties

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

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright <20> 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -16,68 +16,58 @@
 # limitations under the License.
 #
 
-##############################################################################
-##
-##  Gradle start up script for UN*X
-##
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
@@ -87,9 +77,9 @@ CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -98,7 +88,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    JAVACMD=java
     which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -106,80 +96,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
-    # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
-        fi
-        i=`expr $i + 1`
-    done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"

gradlew.bat

@@ -1,89 +1,89 @@
-@rem
-@rem Copyright 2015 the original author or authors.
-@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
-@rem you may not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
-@rem
-@rem      https://www.apache.org/licenses/LICENSE-2.0
-@rem
-@rem Unless required by applicable law or agreed to in writing, software
-@rem distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
-@rem
-
-@if "%DEBUG%" == "" @echo off
-@rem ##########################################################################
-@rem
-@rem  Gradle startup script for Windows
-@rem
-@rem ##########################################################################
-
-@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal
-
-set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
-set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
-
-@rem Resolve any "." and ".." in APP_HOME to make it shorter.
-for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
-
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
-
-@rem Find java.exe
-if defined JAVA_HOME goto findJavaFromJavaHome
-
-set JAVA_EXE=java.exe
-%JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
-
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:findJavaFromJavaHome
-set JAVA_HOME=%JAVA_HOME:"=%
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-
-if exist "%JAVA_EXE%" goto execute
-
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:execute
-@rem Setup the command line
-
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-
-
-@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
-
-:end
-@rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
-
-:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

photon-client/package.json

@@ -16,9 +16,10 @@
     "jspdf": "^2.4.0",
     "material-design-icons-iconfont": "^5.0.1",
     "msgpack5": "^4.2.1",
+    "three-full": "^28.0.2",
     "vue": "^2.6.12",
     "vue-axios": "^2.1.5",
-    "vue-native-websocket": "git+https://github.com/PhotonVision/vue-native-websocket.git#7a32791",
+    "vue-native-websocket": "git+https://git@github.com/PhotonVision/vue-native-websocket.git#5189f29",
     "vue-router": "^3.4.3",
     "vuetify": "^2.3.10",
     "vuex": "^3.5.1"

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"
+          >
+            visit 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', {})
             }

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

@@ -5,7 +5,7 @@
     :style="styleObject"
     :src="src"
     alt=""
-    @click="e => $emit('click', e)"
+    @click="e => {this.openThinclientStream(e)}"
   >
 </template>
 
@@ -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: ['idx', 'scale', 'maxHeight', 'maxHeightMd', 'maxHeightLg', 'maxHeightXl', 'colorPicking', 'id', 'disconnected'],
         data() {
             return {
                 seed: 1.0,
@@ -37,25 +37,57 @@
 
                     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;
                     }
 
                     return ret;
                 }
             },
-            src: {
+            port: {
               get() {
-                return this.disconnected ? require("../../assets/noStream.jpg") : this.address + "?" + this.seed // This prevents caching
-              },
-            },
+                if(this.idx == 0){
+                  return this.$store.state.cameraSettings[this.$store.state.currentCameraIndex].inputStreamPort;
+                } else {
+                  return this.$store.state.cameraSettings[this.$store.state.currentCameraIndex].outputStreamPort;
+                }
+              }
+            }
+        },
+        watch : {
+          port(newPort, oldPort){
+            newPort;
+            oldPort;
+            this.reload();
+          },
+          disconnected(newVal, oldVal){
+            oldVal;
+            if(newVal){
+              this.wsStream.stopStream();
+            } else {
+              this.wsStream.startStream();
+            }
+          }
         },
         mounted() {
-            this.reload(); // Force reload image on creation
+          var wsvs = require('../../plugins/WebsocketVideoStream');
+          this.wsStream = new wsvs.WebsocketVideoStream(this.id, this.port, window.location.host);
+        },
+        unmounted() {
+          this.wsStream.stopStream();
+          this.wsStream.ws_close();
         },
         methods: {
             reload() {
-                this.seed = new Date().getTime();
+              console.log("Reloading " + this.id + " with port " + String(this.port));
+              this.wsStream.setPort(this.port);
+            },
+            openThinclientStream(e){
+              e;
+              var URL = "/thinclient.html?port=" + String(this.port) + "&host=" + window.location.hostname;
+              window.open(URL, '_blank');
             }
         },
     }

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 {}
         },

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,

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

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

@@ -1,154 +1,268 @@
 <template>
-  <div>
+  <div
+    id="MapContainer"
+    style="flex-grow:1"
+  >
     <v-row>
       <v-col
         align="center"
         cols="12"
       >
         <span class="white--text">Target Location</span>
+      </v-col>
+    </v-row>
+    <v-row>
+      <v-col
+        align="center"
+        cols="12"
+        align-self="stretch"
+      >
         <canvas
           id="canvasId"
-          class="mt-2"
-          width="800"
-          height="800"
+          style="width:100%;height:100%"
         />
       </v-col>
+      <v-row>
+        <v-col>
+          <v-btn
+            class="ml-10"
+            color="secondary"
+            @click="resetCamFirstPerson"
+          >
+            First Person
+          </v-btn>
+        </v-col>
+        <v-col>
+          <v-btn
+            class="ml-10"
+            color="secondary"
+            @click="resetCamThirdPerson"
+          >
+            Third Person
+          </v-btn>
+        </v-col>
+      </v-row>
     </v-row>
   </div>
 </template>
 
 <script>
-    import theme from "../../../theme";
 
-    export default {
-        name: "MiniMap",
-        props: {
-          // eslint-disable-next-line vue/require-default-prop
-          targets: Array,
-          // eslint-disable-next-line vue/require-default-prop
-          horizontalFOV: Number
-        },
-        data() {
-            return {
-                ctx: undefined,
-                canvas: undefined,
-                x: 0,
-                y: 0,
-                targetWidth: 40,
-                targetHeight: 6
-            }
-        },
-        computed: {
-            hLen: {
-                get() {
-                    return Math.tan(this.horizontalFOV / 2 * Math.PI / 180) * 150;
-                }
-            }
-        },
-        watch: {
-            targets: {
-                deep: true,
-                handler() {
-                    this.draw();
-                }
-            },
-            horizontalFOV() {
-                this.draw();
-            }
-        },
-        mounted: function () {
-            const canvas = document.getElementById("canvasId"); // getting the canvas element
-            const ctx = canvas.getContext("2d"); // getting the canvas context
-            this.canvas = canvas; // setting the canvas as a vue variable
-            this.ctx = ctx; // setting the canvas context as a vue variable
-            this.grad = this.ctx.createLinearGradient(400, 800, 400, 600);
-            this.grad.addColorStop(0, "rgb(119,119,119)");
-            this.grad.addColorStop(0.05, "rgba(14,92,22,0.96)");
-            this.grad.addColorStop(0.8, 'rgba(43,43,43,0.48)');
+import {
+  ArrowHelper,
+  BoxGeometry,
+  ConeGeometry,
+  Mesh,
+  MeshNormalMaterial,
+  PerspectiveCamera,
+  Quaternion,
+  Scene,
+  TrackballControls,
+  Vector3,
+    Color,
+  WebGLRenderer
+} from "three-full";
 
-            // setting canvas context values for drawing
+export default {
+  name: "MiniMap",
+  props: {
+    // eslint-disable-next-line vue/require-default-prop
+    targets: Array,
+    // eslint-disable-next-line vue/require-default-prop
+    horizontalFOV: Number
+  },
+  data() {
+    return {
+      scene: undefined,
+      cubes: [],
 
-
-            this.ctx.font = "26px Arial";
-            this.ctx.strokeStyle = "whitesmoke";
-            this.ctx.lineWidth = 2;
-
-            this.$nextTick(function () {
-                this.drawPlayer();
-            });
-        },
-        methods: {
-            draw() {
-                this.clearBoard();
-                this.drawPlayer();
-                for (let index in this.targets) {
-                    this.drawTarget(index, this.targets[index].pose);
-                }
-            },
-            drawTarget(index, target) {
-                // first save the untranslated/unrotated context
-                let x = 800 - (160 * target.x); // getting meters as pixels
-                let y = 400 - (160 * target.y);
-                this.ctx.save();
-                this.ctx.beginPath();
-                // move the rotation point to the center of the rect
-                this.ctx.translate(y + this.targetWidth / 2, x + this.targetHeight / 2); // wpi lib makes x forward and back and y left to right
-                // rotate the rect
-                this.ctx.rotate(target.rot * -1 * Math.PI / 180.0);
-
-                // draw the rect on the transformed context
-                // Note: after transforming [0,0] is visually [x,y]
-                //       so the rect needs to be offset accordingly when drawn
-                this.ctx.rect(-this.targetWidth / 2, -this.targetHeight / 2, this.targetWidth, this.targetHeight);
-
-                this.ctx.fillStyle = theme.accent;
-                this.ctx.fill();
-
-                // restore the context to its untranslated/unrotated state
-                this.ctx.restore();
-                this.ctx.fillStyle = "whitesmoke";
-                this.ctx.beginPath();
-                this.ctx.arc(y + this.targetWidth / 2, x + this.targetHeight / 2, 3, 0, 2 * Math.PI, true);
-                this.ctx.fill();
-                this.ctx.fillText(index, y - 30, x - 5);
-
-            },
-            drawPlayer() {
-                this.ctx.beginPath();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 + this.hLen, 650);
-                this.ctx.lineTo(400 - this.hLen, 650);
-                this.ctx.closePath();
-                this.ctx.fillStyle = this.grad;
-                this.ctx.fill();
-                this.ctx.beginPath();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 + this.hLen, 650);
-                this.ctx.stroke();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 - this.hLen, 650);
-                this.ctx.stroke();
-
-            },
-            clearBoard() {
-                this.ctx.clearRect(0, 0, this.canvas.width, this.canvas.height); // clearing the canvas
-            }
-        }
     }
+  },
+  watch: {
+    targets: {
+      deep: true,
+      handler() {
+        this.drawTargets();
+      }
+    },
+  },
+
+  mounted() {
+    const scene = new Scene();
+    this.scene = scene;
+    const camera = new PerspectiveCamera(75, 800 / 800, 0.1, 1000);
+    this.camera = camera;
+
+    const canvas = document.getElementById("canvasId"); // getting the canvas element
+    this.canvas = canvas;
+    const renderer = new WebGLRenderer({"canvas": canvas});
+    this.renderer = renderer;
+    scene.background = new Color(0xa9a9a9)
+
+    //Set up resize handlers
+    this.onWindowResize();
+    window.addEventListener( 'resize', this.onWindowResize, false );
+
+    //Add the reference frame cues
+    this.refFrameCues = []
+    // coordinate system
+    this.refFrameCues.push(new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+        1, // length
+        0xff0000,
+        0.1,
+        0.1,
+    ))
+    this.refFrameCues.push(new ArrowHelper(new Vector3(0, 1, 0).normalize(), new Vector3(0, 0, 0),
+        1, // length
+        0x00ff00,
+        0.1,
+        0.1,
+    ))
+    this.refFrameCues.push(new ArrowHelper(new Vector3(0, 0, 1).normalize(), new Vector3(0, 0, 0),
+        1, // length
+        0x0000ff,
+        0.1,
+        0.1,
+    ))
+
+    //something that looks vaguely like a camera
+    const camSize = 0.2;
+    const camBodyGeometry = new BoxGeometry(camSize, camSize, camSize);
+    const camLensGeometry = new ConeGeometry(camSize*0.4, camSize*0.8, 30);
+    const camMaterial = new MeshNormalMaterial();
+    const camBody = new Mesh(camBodyGeometry, camMaterial);
+    const camLens = new Mesh(camLensGeometry, camMaterial);
+    camBody.position.set(0,0,0);
+    camLens.rotateZ(Math.PI / 2);
+    camLens.position.set(camSize*0.8,0,0);
+    this.refFrameCues.push(camBody)
+    this.refFrameCues.push(camLens)
+
+    var controls = new TrackballControls(
+        camera,
+        renderer.domElement
+    );
+    controls.rotateSpeed = 1.0;
+    controls.zoomSpeed = 1.2;
+    controls.panSpeed = 0.8;
+    controls.noZoom = false;
+    controls.noPan = false;
+    controls.staticMoving = true;
+    controls.dynamicDampingFactor = 0.3;
+    controls.keys = [65, 83, 68];
+    this.controls = controls;
+
+    this.scene.add(...this.refFrameCues)
+    this.resetCamFirstPerson();
+
+    controls.update();
+
+    function animate() {
+      requestAnimationFrame(animate);
+
+      controls.update();
+      renderer.render(scene, camera);
+
+      //camera.updateMatrixWorld();
+      //console.log("================")
+      //console.log(camera.position);
+      //console.log(camera.rotation);
+      //console.log(camera.up);
+
+    }
+
+    this.drawTargets()
+
+    animate();
+  },
+  methods: {
+    drawTargets() {
+      this.scene.remove(...this.cubes)
+      this.cubes = []
+
+      for (const target of this.targets) {
+        const geometry = new BoxGeometry(0.3 / 5, 0.2, 0.2);
+        const material = new MeshNormalMaterial();
+        let quat = (new Quaternion(
+            target.pose.qx,
+            target.pose.qy,
+            target.pose.qz,
+            target.pose.qw,
+        ))
+        const cube = new Mesh(geometry, material);
+        cube.position.set(target.pose.x, target.pose.y, target.pose.z)
+        cube.rotation.setFromQuaternion(quat);
+        this.cubes.push(cube)
+
+        let arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+            1, // length
+            0xff0000,
+            0.1,
+            0.1,
+        ));
+        arrow.rotation.setFromQuaternion(quat)
+        arrow.rotateZ(-Math.PI / 2)
+        arrow.position.set(target.pose.x, target.pose.y, target.pose.z)
+        this.cubes.push(arrow);
+
+        arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+            1, // length
+            0x00ff00,
+            0.1,
+            0.1,
+        ));
+        arrow.rotation.setFromQuaternion(quat)
+        // arrow.rotateX(Math.PI / 2)
+        arrow.position.set(target.pose.x, target.pose.y, target.pose.z)
+        this.cubes.push(arrow);
+        arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+            1, // length
+            0x0000ff,
+            0.1,
+            0.1,
+        ));
+        arrow.setRotationFromQuaternion(quat)
+        arrow.rotateX(Math.PI / 2)
+        arrow.position.set(target.pose.x, target.pose.y, target.pose.z)
+        this.cubes.push(arrow);
+      }
+      if(this.cubes.length > 0)
+        this.scene.add(...this.cubes);
+    },
+
+    onWindowResize() {
+      var container = document.getElementById("MapContainer")
+      if(container){
+        this.canvas.width = container.clientWidth * 0.95;
+        this.canvas.height = container.clientWidth * 0.85;
+        this.camera.aspect = this.canvas.width / this.canvas.height;
+        this.camera.updateProjectionMatrix();
+        this.renderer.setSize( this.canvas.width, this.canvas.height );
+      }
+    },
+    resetCamThirdPerson(){
+      //Sets camera to third person position
+      this.controls.reset();
+      this.camera.position.set(-1.39,-1.09,1.17);
+      this.camera.up.set(0,0,1);
+      this.controls.target.set(4.0,0.0,0.0);
+      this.controls.update();
+      this.scene.add(...this.refFrameCues)
+    },
+    resetCamFirstPerson(){
+      //Sets camera to first person position
+      this.controls.reset();
+      this.camera.position.set(-0.1,0,0);
+      this.camera.up.set(0,0,1);
+      this.controls.target.set(0.0,0.0,0.0);
+      this.controls.update();
+      this.scene.remove(...this.refFrameCues)
+    },
+  }
+
+
+}
 </script>
 
 <style scoped>
-    #canvasId {
-        width: 400px;
-        height: 400px;
-        background-color: #232C37;
-        border-radius: 5px;
-        border: 2px solid grey;
-        box-shadow: 0 0 5px 1px;
-    }
-
-    th {
-        width: 80px;
-        text-align: center;
-    }
 </style>

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

@@ -1,11 +1,15 @@
 <template>
   <div>
-    <v-row align="center">
+    <v-row
+      align="center"
+      class="pl-6"
+    >
       <v-col
         cols="10"
         md="5"
         lg="10"
-        class="pt-0 pb-0 pl-6"
+        no-gutters
+        class="pa-0"
       >
         <CVselect
           v-if="isCameraNameEdit === false"
@@ -59,7 +63,8 @@
         cols="10"
         md="5"
         lg="10"
-        class="pt-0 pb-0 pl-6"
+        no-gutters
+        class="pa-0"
       >
         <CVselect
           v-model="currentPipelineIndex"
@@ -139,14 +144,16 @@
       <v-col
         v-if="currentPipelineType >= 0"
         cols="10"
-        md="5"
+        md="11"
         lg="10"
-        class="pt-0 pb-0 pl-6 ml-16"
+        no-gutters
+        class="pa-0"
       >
         <CVselect
           v-model="currentPipelineType"
           name="Type"
-          :list="['Reflective', 'Shape']"
+          tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
+          :list="['Reflective Tape', 'Colored Shape', 'AprilTag']"
           @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();
       }

photon-client/src/main.js

@@ -15,11 +15,11 @@ if (process.env.NODE_ENV === "production") {
     Vue.prototype.$address = location.hostname + ":5800";
 }
 
-const wsURL = '//' + Vue.prototype.$address + '/websocket';
+const wsDataURL = '//' + Vue.prototype.$address + '/websocket_data';
 
 import VueNativeSock from 'vue-native-websocket';
 
-Vue.use(VueNativeSock, wsURL, {
+Vue.use(VueNativeSock, wsDataURL, {
     reconnection: true,
     reconnectionDelay: 100,
     connectManually: true,

photon-client/src/plugins/ColorPicker.js

@@ -5,9 +5,11 @@ function initColorPicker() {
     if (!canvas)
         canvas = document.createElement('canvas');
 
-    image = document.querySelector('#normal-stream');
-    canvas.width = image.width;
-    canvas.height = image.height;
+    image = document.querySelector('#raw-stream');
+    if (image !== null) {
+      canvas.width = image.width;
+      canvas.height = image.height;
+    }
 }
 
 //Called on click of the image,

photon-client/src/plugins/WebsocketVideoStream.js

@@ -0,0 +1,148 @@
+
+
+export class WebsocketVideoStream{
+
+
+    constructor(drawDiv, streamPort, host) {
+
+        this.drawDiv = drawDiv;
+        this.image = document.getElementById(this.drawDiv);
+        this.streamPort = streamPort;
+        this.serverAddr = "ws://" + host + "/websocket_cameras";
+        this.noStream = false;
+        this.noStreamPrev = false;
+        this.setNoStream();
+        this.ws_connect();
+        this.imgData = null;
+        this.imgDataTime = -1;
+        this.imgObjURL = null;
+        this.frameRxCount = 0;
+
+        requestAnimationFrame(()=>this.animationLoop());
+
+    }
+
+    animationLoop(){
+        var now = window.performance.now();
+
+        if((now - this.imgDataTime) > 2500 && this.imgData != null){
+            //Handle websocket send timeouts by restarting
+            this.setNoStream();
+            this.stopStream();
+            setTimeout(this.startStream.bind(this), 1000); //restart stream one second later
+        } else {
+            if(this.streamPort == null){
+                this.setNoStream();
+            } else if (this.imgData != null) {
+                //From https://stackoverflow.com/questions/67507616/set-image-src-from-image-blob/67507685#67507685
+                if(this.imgObjURL != null){
+                    URL.revokeObjectURL(this.imgObjURL)
+                }
+                this.imgObjURL = URL.createObjectURL(this.imgData);
+
+                //Update the image with the new mimetype and image
+                this.image.src = this.imgObjURL;
+                this.noStream = false;
+
+            } else {
+                //Nothing, hold previous image while waiting for next frame
+            }
+        }
+
+
+        requestAnimationFrame(()=>this.animationLoop());
+    }
+
+    setNoStream() {
+        this.noStreamPrev = this.noStream;
+        this.noStream = true;
+        if(this.noStreamPrev == false && this.noStream == true){
+            //One-shot background change to preserve animation
+            this.image.src = require("../assets/loading.gif");
+        }
+    }
+
+    startStream() {
+        if(this.serverConnectionActive == true && this.streamPort > 0){
+            this.ws.send(JSON.stringify({"cmd": "subscribe", "port":this.streamPort}));
+            this.noStream = false;
+        }
+    }
+
+    stopStream() {
+        if(this.serverConnectionActive == true && this.streamPort > 0){
+            this.ws.send(JSON.stringify({"cmd": "unsubscribe"}));
+            this.noStream = true;
+        }
+    }
+
+    setPort(streamPort){
+        this.stopStream();
+        this.frameRxCount = 0;
+        this.streamPort = streamPort;
+        this.startStream();
+    }
+
+    ws_onOpen() {
+        // Set the flag allowing general server communication
+        this.serverConnectionActive = true;
+        console.log("Connected!");
+        this.startStream();
+    }
+
+    ws_onClose(e) {
+        this.setNoStream();
+
+        //Clear flags to stop server communication
+        this.ws = null;
+        this.serverConnectionActive = false;
+
+        console.log('Camera Socket is closed. Reconnect will be attempted in 0.5 second.', e.reason);
+        setTimeout(this.ws_connect.bind(this), 500);
+
+        if(!e.wasClean){
+            console.error('Socket encountered error!');
+        }
+
+    }
+
+    ws_onError(e){
+        e; //prevent unused failure
+        this.ws.close();
+    }
+
+    ws_onMessage(e){
+        if(typeof e.data === 'string'){
+            //string data from host
+            //TODO - anything to receive info here? Maybe "available streams?"
+        } else {
+            if(e.data.size > 0){
+                //binary data - a frame
+                this.imgData = e.data;
+                this.imgDataTime = window.performance.now();
+                this.frameRxCount++;
+            } else {
+                //TODO - server is sending empty frames?
+            }
+        }
+
+    }
+
+    ws_connect() {
+        this.ws = new WebSocket(this.serverAddr);
+        this.ws.binaryType = "blob";
+        this.ws.onopen = this.ws_onOpen.bind(this);
+        this.ws.onmessage = this.ws_onMessage.bind(this);
+        this.ws.onclose = this.ws_onClose.bind(this);
+        this.ws.onerror = this.ws_onError.bind(this);
+        console.log("Connecting to server " + this.serverAddr);
+    }
+
+    ws_close(){
+        this.ws.close();
+    }
+
+}
+
+
+export default {WebsocketVideoStream}

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..."],
         },
@@ -33,8 +35,8 @@ export default new Vuex.Store({
                 tiltDegrees: 0.0,
                 currentPipelineIndex: 0,
                 pipelineNicknames: ["Unknown"],
-                outputStreamPort: 1181,
-                inputStreamPort: 1182,
+                outputStreamPort: 0,
+                inputStreamPort: 0,
                 nickname: "Unknown",
                 videoFormatList: [
                     {
@@ -49,13 +51,15 @@ export default new Vuex.Store({
                 isFovConfigurable: true,
                 calibrated: false,
                 currentPipelineSettings: {
-                    pipelineType: 2, // One of "calib", "driver", "reflective", "shape"
+                    pipelineType: 4, // One of "calib", "driver", "reflective", "shape", "AprilTag"
                     // 2 is reflective
 
                     // Settings that apply to all pipeline types
                     cameraExposure: 1,
                     cameraBrightness: 2,
-                    cameraGain: 3,
+                    cameraAutoExposure: false,
+                    cameraRedGain: 3,
+                    cameraBlueGain: 4,
                     inputImageRotationMode: 0,
                     cameraVideoModeIndex: 0,
                     streamingFrameDivisor: 0,
@@ -64,10 +68,13 @@ 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,
@@ -82,7 +89,14 @@ export default new Vuex.Store({
 
                     cornerDetectionAccuracyPercentage: 10,
 
-                    // Settings that apply to shape
+                    // Settings that apply to AprilTag
+                    tagFamily: 0,
+                    decimate: 1.0,
+                    blur: 0.0,
+                    threads: 1,
+                    debug: false,
+                    refineEdges: true,
+                    numIterations: 1,
                 }
             }
         ],
@@ -96,9 +110,18 @@ export default new Vuex.Store({
                     skew: 0,
                     area: 0,
                     // 3D only
-                    pose: {x: 0, y: 0, rot: 0},
-                }]
-            },
+                    pose: {x: 1, y: 1, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+                },
+            {
+                // Available in both 2D and 3D
+                pitch: 0,
+                yaw: 0,
+                skew: 0,
+                area: 0,
+                // 3D only
+                pose: {x: 2, y: 3, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+            }]
+        },
         settings: {
             general: {
                 version: "Unknown",
@@ -151,6 +174,7 @@ 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;

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
@@ -28,13 +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"
-            />
-            <br>
-            <CVnumberinput
-              v-model="cameraSettings.tiltDegrees"
-              name="Camera pitch"
-              tooltip="How many degrees above the horizontal the physical camera is tilted"
-              :step="0.01"
+              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
             />
             <br>
             <v-btn
@@ -89,26 +83,26 @@
                   <CVnumberinput
                     v-model="squareSizeIn"
                     name="Pattern Spacing (in)"
-                    label-cols="5"
                     tooltip="Spacing between pattern features in inches"
                     :disabled="isCalibrating"
                     :rules="[v => (v > 0) || 'Size must be positive']"
+                    :label-cols="$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>
@@ -144,6 +138,24 @@
                             text="Standard Deviation"
                           />
                         </th>
+                        <th class="text-center">
+                          <tooltipped-label
+                            tooltip="Estimated Horizontal FOV, in degrees"
+                            text="Horizontal FOV"
+                          />
+                        </th>
+                        <th class="text-center">
+                          <tooltipped-label
+                            tooltip="Estimated Vertical FOV, in degrees"
+                            text="Vertical FOV"
+                          />
+                        </th>
+                        <th class="text-center">
+                          <tooltipped-label
+                            tooltip="Estimated Diagonal FOV, in degrees"
+                            text="Diagonal FOV"
+                          />
+                        </th>
                       </tr>
                     </thead>
                     <tbody>
@@ -156,6 +168,9 @@
                           {{ isCalibrated(value) ? value.mean.toFixed(2) + "px" : "—" }}
                         </td>
                         <td> {{ isCalibrated(value) ? value.standardDeviation.toFixed(2) + "px" : "—" }} </td>
+                        <td> {{ isCalibrated(value) ? value.horizontalFOV.toFixed(2) + "°" : "—" }} </td>
+                        <td> {{ isCalibrated(value) ? value.verticalFOV.toFixed(2) + "°" : "—" }} </td>
+                        <td> {{ isCalibrated(value) ? value.diagonalFOV.toFixed(2) + "°" : "—" }} </td>
                       </tr>
                     </tbody>
                   </v-simple-table>
@@ -179,10 +194,13 @@
               >
                 <CVslider
                   v-model="$store.getters.currentPipelineSettings.cameraExposure"
+                  :disabled="$store.getters.currentPipelineSettings.cameraAutoExposure"
                   name="Exposure"
                   :min="0"
                   :max="100"
                   slider-cols="8"
+                  step="0.1"
+                  tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
                   @input="e => handlePipelineUpdate('cameraExposure', e)"
                 />
                 <CVslider
@@ -193,14 +211,32 @@
                   slider-cols="8"
                   @input="e => handlePipelineUpdate('cameraBrightness', e)"
                 />
+                <CVswitch
+                  v-model="$store.getters.currentPipelineSettings.cameraAutoExposure"
+                  class="pt-2"
+                  name="Auto Exposure"
+                  tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+                  @input="e => handlePipelineUpdate('cameraAutoExposure', e)"
+                />
                 <CVslider
-                  v-if="$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="$store.getters.currentPipelineSettings.cameraBlueGain"
+                  name="Blue AWB Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+                  :slider-cols="8"
+                  @input="e => handlePipelineData('cameraBlueGain', e)"
                 />
               </v-col>
             </v-row>
@@ -255,7 +291,8 @@
       >
         <template>
           <CVimage
-            :address="$store.getters.streamAddress[1]"
+            :id="cameras-cal"
+            :idx=1
             :disconnected="!$store.state.backendConnected"
             scale="100"
             style="border-radius: 5px;"
@@ -326,6 +363,7 @@
 import CVselect from '../components/common/cv-select';
 import CVnumberinput from '../components/common/cv-number-input';
 import CVslider from '../components/common/cv-slider';
+import CVswitch from '../components/common/cv-switch';
 import CVimage from "../components/common/cv-image";
 import TooltippedLabel from "../components/common/cv-tooltipped-label";
 import jsPDF from "jspdf";
@@ -338,6 +376,7 @@ export default {
         CVselect,
         CVnumberinput,
         CVslider,
+        CVswitch,
         CVimage
     },
     data() {
@@ -383,6 +422,9 @@ export default {
                         if (calib != null) {
                             it['standardDeviation'] = calib.standardDeviation;
                             it['mean'] = calib.perViewErrors.reduce((a, b) => a + b) / calib.perViewErrors.length;
+                            it['horizontalFOV'] = 2 * Math.atan2(it.width/2,calib.intrinsics[0]) * (180/Math.PI);
+                            it['verticalFOV'] = 2 * Math.atan2(it.height/2,calib.intrinsics[4]) * (180/Math.PI);
+                            it['diagonalFOV'] = 2 * Math.atan2(Math.sqrt(it.width**2 + (it.height/(calib.intrinsics[4]/calib.intrinsics[0]))**2)/2,calib.intrinsics[0]) * (180/Math.PI);
                         }
                         filtered.push(it);
                     }
@@ -391,13 +433,11 @@ export default {
                 return filtered
             }
         },
-
         stringResolutionList: {
             get() {
                 return this.filteredResolutionList.map(res => `${res['width']} X ${res['height']}`);
             }
         },
-
         cameraSettings: {
             get() {
                 return this.$store.getters.currentCameraSettings;
@@ -406,7 +446,6 @@ export default {
                 this.$store.commit('cameraSettings', value);
             }
         },
-
         boardType: {
             get() {
                 return this.calibrationData.boardType
@@ -588,8 +627,7 @@ export default {
             this.axios.post("http://" + this.$address + "/api/settings/camera", {
                 "settings": this.cameraSettings,
                 "index": this.$store.state.currentCameraIndex
-            }).then(
-                function (response) {
+            }).then(response => {
                     if (response.status === 200) {
                         this.$store.state.saveBar = true;
                     }
@@ -610,13 +648,14 @@ export default {
             if (this.isCalibrating === true) {
                 data['takeCalibrationSnapshot'] = true
             } else {
+                // This store prevents an edge case of a user not selecting a different resolution, which causes the set logic to not be called
+                this.$store.commit('mutateCalibrationState', {['videoModeIndex']: this.filteredResolutionList[this.selectedFilteredResIndex].index});
                 const calData = this.calibrationData;
                 calData.isCalibrating = true;
                 data['startPnpCalibration'] = calData;
-
                 console.log("starting calibration with index " + calData.videoModeIndex);
             }
-
+            this.$store.commit('currentPipelineIndex', -2);
             this.$socket.send(this.$msgPack.encode(data));
         },
         sendCalibrationFinish() {

photon-client/src/views/PipelineView.vue

@@ -30,20 +30,13 @@
                 :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($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
-                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 100) }} ms latency</span>
+                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
                 <span v-else-if="!$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>
-                {{ $store.state.settings.networkSettings.runNTServer ?
-                    "NetworkTables Server Enabled! Photonlib may not work" :
-                    "NetworkTables not connected!" }}
-                </span>
+                <span v-else>stop viewing the raw stream for better performance</span>
               </v-chip>
               <v-switch
                 v-model="driverMode"
@@ -65,15 +58,16 @@
               >
                 <div style="position: relative; width: 100%; height: 100%;">
                   <cv-image
-                    :id="idx === 0 ? 'normal-stream' : ''"
+                    :id="idx === 0 ? 'raw-stream' : 'processed-stream'"
                     ref="streams"
-                    :address="$store.getters.streamAddress[idx]"
+                    :idx=idx
                     :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"
+                    :alt="'Stream ' + idx"
                     :color-picking="$store.state.colorPicking && idx === 0"
                     @click="onImageClick"
                   />
@@ -90,23 +84,18 @@
         >
           <v-card
             color="primary"
-            class="mt-3"
           >
-            <!--            <v-btn @click="onCamNameChange">-->
-            <!--              Reload-->
-            <!--            </v-btn>-->
-            <camera-and-pipeline-select @camera-name-changed="reloadStreams" />
+            <camera-and-pipeline-select />
           </v-card>
           <v-card
             :disabled="$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:
@@ -147,15 +136,15 @@
                     color="secondary"
                     class="fill"
                   >
-                    <v-icon>mdi-palette</v-icon>
-                    <span>Normal</span>
+                    <v-icon>mdi-import</v-icon>
+                    <span>Raw</span>
                   </v-btn>
                   <v-btn
                     color="secondary"
                     class="fill"
                   >
-                    <v-icon>mdi-compare</v-icon>
-                    <span>Threshold</span>
+                    <v-icon>mdi-export</v-icon>
+                    <span>Processed</span>
                   </v-btn>
                 </v-btn-toggle>
               </v-col>
@@ -186,7 +175,7 @@
               slider-color="accent"
             >
               <v-tab
-                v-for="(tab, i) in tabs.filter(it => it.name !== '3D' || $store.getters.currentPipelineSettings.solvePNPEnabled)"
+                v-for="(tab, i) in tabs"
                 :key="i"
               >
                 {{ tab.name }}
@@ -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
@@ -269,7 +261,9 @@ import ThresholdTab from './PipelineViews/ThresholdTab';
 import ContoursTab from './PipelineViews/ContoursTab';
 import OutputTab from './PipelineViews/OutputTab';
 import TargetsTab from "./PipelineViews/TargetsTab";
+import Map3DTab from './PipelineViews/Map3DTab';
 import PnPTab from './PipelineViews/PnPTab';
+import AprilTagTab from './PipelineViews/AprilTagTab';
 
 export default {
     name: 'Pipeline',
@@ -281,15 +275,17 @@ export default {
         ContoursTab,
         OutputTab,
         TargetsTab,
+        Map3DTab,
         PnPTab,
+        AprilTagTab,
     },
     data() {
         return {
             selectedTabsData: [0, 0, 0, 0],
-            snackbar: false,
             counterData: 0,
             dialog: false,
-            processingModeOverride: false
+            processingModeOverride: false,
+            hideNTWarning: false,
         }
     },
     computed: {
@@ -316,20 +312,33 @@ export default {
                         name: "Contours",
                         component: "ContoursTab",
                     },
+                    apriltag: {
+                        name: "AprilTag",
+                        component: "AprilTagTab",
+                    },
                     output: {
                         name: "Output",
                         component: "OutputTab",
                     },
                     targets: {
-                        name: "Target Info",
+                        name: "Targets",
                         component: "TargetsTab",
                     },
                     pnp: {
-                        name: "3D",
+                        name: "PnP",
                         component: "PnPTab",
+                    },
+                    map3d: {
+                        name: "3D",
+                        component: "Map3DTab",
                     }
                 };
 
+                // If not in 3d, name "3D" is illegal
+                const allow3d = this.$store.getters.currentPipelineSettings.solvePNPEnabled;
+                // If in apriltag, "Threshold" and "Contours" are illegal -- otherwise "AprilTag" is
+                const isAprilTag = (this.$store.getters.currentPipelineSettings.pipelineType - 2) === 2;
+
                 // 2D array of tab names and component names; each sub-array is a separate tab group
                 let ret = [];
                 if (this.$vuetify.breakpoint.smAndDown || this.$store.getters.isDriverMode || (this.$vuetify.breakpoint.mdAndDown && !this.$store.state.compactMode)) {
@@ -337,22 +346,37 @@ export default {
                     ret[0] = Object.values(tabs);
                 } else if (this.$vuetify.breakpoint.mdAndDown || !this.$store.state.compactMode) {
                     // Two tab groups, one with "input, threshold, contours, output" and the other with "target info, 3D"
-                    ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.output];
-                    ret[1] = [tabs.targets, tabs.pnp];
+                    ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
+                    ret[1] = [tabs.targets, tabs.pnp, tabs.map3d];
                 } else if (this.$vuetify.breakpoint.lgAndDown) {
                     // Three tab groups, one with "input", one with "threshold, contours, output", and the other with "target info, 3D"
                     ret[0] = [tabs.input];
-                    ret[1] = [tabs.threshold, tabs.contours, tabs.output];
-                    ret[2] = [tabs.targets, tabs.pnp];
+                    ret[1] = [tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
+                    ret[2] = [tabs.targets, tabs.pnp, tabs.map3d];
                 } else if (this.$vuetify.breakpoint.xl) {
                     // Three tab groups, one with "input", one with "threshold, contours", and the other with "output, target info, 3D"
                     ret[0] = [tabs.input];
                     ret[1] = [tabs.threshold];
-                    ret[2] = [tabs.contours, tabs.output];
-                    ret[3] = [tabs.targets, tabs.pnp];
+                    ret[2] = [tabs.contours, tabs.apriltag, tabs.output];
+                    ret[3] = [tabs.targets, tabs.pnp, tabs.map3d];
                 }
 
-                return ret;
+                for(let i = 0; i < ret.length; i++) {
+                  const group = ret[i];
+
+                  // All the tabs we allow
+                  const filteredGroup = group.filter(it =>
+                          !(!allow3d && it.name === "3D") //Filter out 3D tab any time 3D isn't calibrated
+                       && !((!allow3d || isAprilTag) && it.name === "PnP") //Filter out the PnP config tab if 3D isn't available, or we're doing Apriltags
+                       && !(isAprilTag && (it.name === "Threshold")) //Filter out threshold tab if we're doing apriltags
+                       && !(isAprilTag && (it.name === "Contours")) //Filter out contours if we're doing Apriltag
+                       && !(!isAprilTag && it.name === "AprilTag") //Filter out apriltag unless we actually are doing Apriltags
+                      );
+                  ret[i] = filteredGroup;
+                }
+
+                // One last filter to remove empty lists
+                return ret.filter(it => it !== undefined && it.length > 0);
             }
         },
         processingMode: {
@@ -434,7 +458,12 @@ 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)

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

@@ -0,0 +1,136 @@
+<template>
+  <div>
+    <v-select
+      v-model="selectedFamily"
+      dark
+      color="accent"
+      item-color="secondary"
+      label="Select target family"
+      :items="familyList"
+      @input="handlePipelineUpdate('tagFamily', targetList.indexOf(selectedModel))"
+    />
+    <CVslider
+      v-model="decimate"
+      class="pt-2"
+      slider-cols="8"
+      name="Decimate"
+      min="0"
+      max="3"
+      step=".5"
+      tooltip="Increases FPS at the expense of range by reducing image resolution initially"
+      @input="handlePipelineData('decimate')"
+    />
+    <CVslider
+      v-model="blur"
+      class="pt-2"
+      slider-cols="8"
+      name="Blur"
+      min="0"
+      max="5"
+      step=".01"
+      tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
+      @input="handlePipelineData('blur')"
+    />
+    <CVslider
+      v-model="threads"
+      class="pt-2"
+      slider-cols="8"
+      name="Threads"
+      min="1"
+      max="8"
+      step="1"
+      tooltip="Number of threads spawned by the AprilTag detector"
+      @input="handlePipelineData('threads')"
+    />
+    <CVswitch
+      v-model="refineEdges"
+      class="pt-2"
+      slider-cols="8"
+      name="Refine Edges"
+      tooltip="Further refines the apriltag corner position initial estimate, suggested left on"
+      @input="handlePipelineData('refineEdges')"
+    />
+    <CVslider
+      v-model="numIterations"
+      class="pt-2 pb-4"
+      slider-cols="8"
+      name="Pose Estimation Iterations"
+      min="0"
+      max="500"
+      step="1"
+      tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
+      @input="handlePipelineData('numIterations')"
+    />
+  </div>
+</template>
+
+<script>
+    import CVslider from '../../components/common/cv-slider'
+    import CVswitch from '../../components/common/cv-switch'
+
+    export default {
+        name: "AprilTag",
+        components: {
+          CVslider,
+          CVswitch,
+        },
+        data() {
+            return {
+              familyList: ["tag36h11"],
+            }
+        },
+        computed: {
+          selectedFamily: {
+            get() {
+                let ret = this.$store.getters.currentPipelineSettings.tagFamily
+                return this.familyList[ret];
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"tagFamily": this.familyList.indexOf(val)})
+            }
+          },
+          decimate: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.decimate
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"decimate": val});
+            }
+          },
+          numIterations: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.numIterations
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"numIterations": val});
+            }
+          },
+          blur: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.blur
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"blur": val});
+            }
+          },
+          threads: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.threads
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"threads": val});
+            }
+          },
+          refineEdges: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.refineEdges
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"refineEdges": val});
+            }
+          },
+        },
+        methods: {
+        }
+    }
+</script>

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

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

@@ -2,11 +2,12 @@
   <div>
     <CVslider
       v-model="cameraExposure"
+      :disabled="cameraAutoExposure"
       name="Exposure"
       min="0"
       max="100"
       step="0.1"
-      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects brightness"
+      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
       :slider-cols="largeBox"
       @input="handlePipelineData('cameraExposure')"
       @rollback="e => rollback('cameraExposure', e)"
@@ -21,17 +22,46 @@
       @input="handlePipelineData('cameraBrightness')"
       @rollback="e => rollback('cameraBrightness', e)"
     />
+    <CVswitch
+      v-model="cameraAutoExposure"
+      class="pt-2"
+      name="Auto Exposure"
+      tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+      @input="handlePipelineData('cameraAutoExposure')"
+    />
     <CVslider
-      v-if="cameraGain !== -1"
+      v-if="cameraGain >= 0"
       v-model="cameraGain"
-      name="Gain"
+      name="Camera Gain"
       min="0"
       max="100"
-      tooltip="Controls automatic white balance gain, which affects how the camera captures colors in different conditions"
+      tooltip="Controls camera gain, similar to brightness"
       :slider-cols="largeBox"
       @input="handlePipelineData('cameraGain')"
       @rollback="e => rollback('cameraGain', e)"
     />
+    <CVslider
+      v-if="cameraRedGain !== -1"
+      v-model="cameraRedGain"
+      name="Red Balance"
+      min="0"
+      max="100"
+      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+      :slider-cols="largeBox"
+      @input="handlePipelineData('cameraRedGain')"
+      @rollback="e => rollback('cameraRedGain', e)"
+    />
+    <CVslider
+      v-if="cameraBlueGain !== -1"
+      v-model="cameraBlueGain"
+      name="Blue Balance"
+      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"
       name="Orientation"
@@ -64,6 +94,7 @@
 <script>
     import CVslider from '../../components/common/cv-slider'
     import CVselect from '../../components/common/cv-select'
+    import CVswitch from '../../components/common/cv-switch'
 
     const unfilteredStreamDivisors = [1, 2, 4, 6];
 
@@ -72,6 +103,7 @@
         components: {
             CVslider,
             CVselect,
+            CVswitch,
         },
         // eslint-disable-next-line vue/require-prop-types
         props: ['value'],
@@ -97,6 +129,14 @@
                     this.$store.commit("mutatePipeline", {"cameraExposure": parseFloat(val)});
                 }
             },
+            cameraAutoExposure: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.cameraAutoExposure;
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraAutoExposure": val});
+                }
+            },
             cameraBrightness: {
                 get() {
                     return parseInt(this.$store.getters.currentPipelineSettings.cameraBrightness)
@@ -113,6 +153,22 @@
                     this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
                 }
             },
+            cameraRedGain: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraRedGain)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraRedGain": parseInt(val)});
+                }
+            },
+            cameraBlueGain: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraBlueGain)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraBlueGain": parseInt(val)});
+                }
+            },
             inputImageRotationMode: {
                 get() {
                     return this.$store.getters.currentPipelineSettings.inputImageRotationMode
@@ -170,7 +226,11 @@
             // It would probably be cleaner if this checked that we're on the Raspi 3 instead of checking for GPU accel status
             const width = this.$store.getters.videoFormatList[
                     this.$store.getters.currentCameraSettings.currentPipelineSettings.cameraVideoModeIndex]['width'];
-            return unfilteredStreamDivisors.filter((x) => !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
+
+            // If GPU acceleration is enabled, the  downsized width must be below 400px
+            // This check should be skipped if we're currently in driver mode
+            return unfilteredStreamDivisors.filter((x) => this.$store.getters.isDriverMode
+                    || !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
           },
           getNumSkippedStreamDivisors() {
             return unfilteredStreamDivisors.length - this.getRawStreamDivisors().length;

photon-client/src/views/PipelineViews/Map3DTab.vue

@@ -0,0 +1,53 @@
+<template>
+  <div>
+    <mini-map
+      class="miniMapClass"
+      :targets="targets"
+      :horizontal-f-o-v="horizontalFOV"
+    />
+  </div>
+</template>
+
+<script>
+    import miniMap from '../../components/pipeline/3D/MiniMap';
+
+    export default {
+        name: "Map3D",
+        components: {
+            miniMap
+        },
+        data() {
+            return {
+            }
+        },
+        computed: {
+            targets: {
+                get() {
+                    return this.$store.getters.currentPipelineResults.targets;
+                }
+            },
+            horizontalFOV: {
+                get() {
+                    let index = this.$store.getters.currentPipelineSettings.cameraVideoModeIndex;
+                    let FOV = this.$store.getters.currentCameraSettings.fov;
+                    let resolution = this.$store.getters.videoFormatList[index];
+                    let diagonalView = FOV * (Math.PI / 180);
+                    let diagonalAspect = Math.hypot(resolution.width, resolution.height);
+                    return Math.atan(Math.tan(diagonalView / 2) * (resolution.width / diagonalAspect)) * 2 * (180 / Math.PI)
+                }
+            },
+        },
+        methods: {
+        }
+    }
+</script>
+
+<style scoped>
+    .miniMapClass {
+        width: 400px !important;
+        height: 100% !important;
+
+        margin-left: auto;
+        margin-right: auto;
+    }
+</style>

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"

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

@@ -6,7 +6,6 @@
       type="file"
       accept=".csv"
       style="display: none;"
-
       @change="readFile"
     >
 
@@ -32,11 +31,7 @@
       @input="handlePipelineData('cornerDetectionAccuracyPercentage')"
       @rollback="e => rollback('cornerDetectionAccuracyPercentage', e)"
     />
-    <mini-map
-      class="miniMapClass"
-      :targets="targets"
-      :horizontal-f-o-v="horizontalFOV"
-    />
+
     <v-snackbar
       v-model="snack"
       top
@@ -49,18 +44,16 @@
 
 <script>
     import Papa from 'papaparse';
-    import miniMap from '../../components/pipeline/3D/MiniMap';
     import CVslider from '../../components/common/cv-slider'
 
     export default {
         name: "PnP",
         components: {
-            CVslider,
-            miniMap
+            CVslider
         },
         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: ""
@@ -87,21 +80,6 @@
                     this.$store.commit("mutatePipeline", {"cornerDetectionAccuracyPercentage": val});
                 }
             },
-            targets: {
-                get() {
-                    return this.$store.getters.currentPipelineResults.targets;
-                }
-            },
-            horizontalFOV: {
-                get() {
-                    let index = this.$store.getters.currentPipelineSettings.cameraVideoModeIndex;
-                    let FOV = this.$store.getters.currentCameraSettings.fov;
-                    let resolution = this.$store.getters.videoFormatList[index];
-                    let diagonalView = FOV * (Math.PI / 180);
-                    let diagonalAspect = Math.hypot(resolution.width, resolution.height);
-                    return Math.atan(Math.tan(diagonalView / 2) * (resolution.width / diagonalAspect)) * 2 * (180 / Math.PI)
-                }
-            },
         },
         methods: {
             readFile(event) {

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

@@ -18,29 +18,40 @@
               <th class="text-center">
                 Target
               </th>
+              <th
+                v-if="$store.getters.pipelineType === 4"
+                class="text-center"
+              >
+                Fiducial ID
+              </th>
               <template v-if="!$store.getters.currentPipelineSettings.solvePNPEnabled">
                 <th class="text-center">
-                  Pitch
+                  Pitch,&nbsp;&deg;
                 </th>
                 <th class="text-center">
-                  Yaw
+                  Yaw,&nbsp;&deg;
                 </th>
                 <th class="text-center">
-                  Skew
+                  Skew,&nbsp;&deg;
+                </th>
+                <th class="text-center">
+                  Area, %
                 </th>
               </template>
-              <th class="text-center">
-                Area
-              </th>
-              <template v-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
+              <template v-else>
                 <th class="text-center">
-                  X
+                  X,&nbsp;m
                 </th>
                 <th class="text-center">
-                  Y
+                  Y,&nbsp;m
                 </th>
                 <th class="text-center">
-                  Angle
+                  Z Angle,&nbsp;&deg;
+                </th>
+              </template>
+              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
+                <th class="text-center">
+                  Ambiguity
                 </th>
               </template>
             </tr>
@@ -51,17 +62,29 @@
               :key="index"
             >
               <td>{{ index }}</td>
+              <td v-if="$store.getters.pipelineType === 4">
+                {{ parseInt(value.fiducialId) }}
+              </td>
               <template v-if="!$store.getters.currentPipelineSettings.solvePNPEnabled">
                 <td>{{ parseFloat(value.pitch).toFixed(2) }}</td>
                 <td>{{ parseFloat(value.yaw).toFixed(2) }}</td>
                 <td>{{ parseFloat(value.skew).toFixed(2) }}</td>
+                <td>{{ parseFloat(value.area).toFixed(2) }}</td>
               </template>
-              <td>{{ parseFloat(value.area).toFixed(2) }}</td>
-              <template v-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
-                <!-- TODO: Make sure that units are correct -->
+              <template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled && $store.getters.pipelineType === 4">
                 <td>{{ parseFloat(value.pose.x).toFixed(2) }}&nbsp;m</td>
                 <td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
-                <td>{{ parseFloat(value.pose.rot).toFixed(2) }}&deg;</td>
+                <td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
+              </template>
+              <template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
+                <td>{{ parseFloat(value.pose.x).toFixed(2) }}&nbsp;m</td>
+                <td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
+                <td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
+              </template>
+              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
+                <td>
+                  {{ parseFloat(value.ambiguity).toFixed(2) }}
+                </td>
               </template>
             </tr>
           </tbody>

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>

photon-client/src/views/SettingsView.vue

@@ -49,6 +49,7 @@
             return {
                 selectedTab: 0,
                 snack: false,
+                calibrationInProgress: false,
                 snackbar: {
                   color: "accent",
                   text: ""

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

@@ -49,22 +49,46 @@
           <th class="infoElem">
             Disk Usage
           </th>
+          <th class="infoElem">
+            <v-tooltip top>
+              <template v-slot:activator="{ on, attrs }">
+                <span
+                  v-bind="attrs"
+                  v-on="on"
+                >
+                ⓘ CPU Throttling
+                </span>
+              </template>
+              <span>
+                    Current or Previous Reason for the cpu being held back from maximum performance.
+              </span>
+            </v-tooltip>
+          </th>
+          <th class="infoElem">
+            CPU Uptime
+          </th>
         </tr>
         <tr v-if="metrics.cpuUtil !== 'N/A'">
           <td class="infoElem">
-            {{ metrics.cpuUtil.replace(" ", "") }}%
+            {{ metrics.cpuUtil }}%
           </td>
           <td class="infoElem">
             {{ parseInt(metrics.cpuTemp) }}&deg;&nbsp;C
           </td>
           <td class="infoElem">
-            {{ metrics.ramUtil.replace(" ", "") }}MB of {{ metrics.cpuMem }}MB
+            {{ metrics.ramUtil }}MB of {{ metrics.cpuMem }}MB
           </td>
           <td class="infoElem">
-            {{ metrics.gpuMemUtil.replace(" ", "") }}MB of {{ metrics.gpuMem }}MB
+            {{ metrics.gpuMemUtil }}MB of {{ metrics.gpuMem }}MB
           </td>
           <td class="infoElem">
-            {{ metrics.diskUtilPct.replace(" ", "") }}
+            {{ metrics.diskUtilPct }}
+          </td>
+          <td class="infoElem">
+            {{ metrics.cpuThr }}
+          </td>
+          <td class="infoElem">
+            {{ metrics.cpuUptime }}
           </td>
         </tr>
         <tr v-if="metrics.cpuUtil === 'N/A'">
@@ -83,6 +107,12 @@
           <td class="infoElem">
             ---
           </td>
+          <td class="infoElem">
+            ---
+          </td>
+          <td class="infoElem">
+            ---
+          </td>
         </tr>
       </table>
     </v-row>
@@ -91,7 +121,7 @@
       <v-col
         cols="12"
         sm="6"
-        lg="3"
+        md="4"
       >
         <v-btn
           color="secondary"
@@ -106,7 +136,7 @@
       <v-col
         cols="12"
         sm="6"
-        lg="3"
+        md="4"
       >
         <v-btn
           color="secondary"
@@ -120,7 +150,21 @@
       </v-col>
       <v-col
         cols="12"
-        lg="3"
+        md="4"
+      >
+        <v-btn
+          color="secondary"
+          @click="$refs.offlineUpdate.click()"
+        >
+          <v-icon left>
+            mdi-update
+          </v-icon>
+          Offline Update
+        </v-btn>
+      </v-col>
+      <v-col
+        cols="12"
+        lg="6"
       >
         <v-btn
           color="red"
@@ -129,19 +173,19 @@
           <v-icon left>
             mdi-restart
           </v-icon>
-          Restart Photon
+          Restart PhotonVision
         </v-btn>
       </v-col>
       <v-col
         cols="12"
-        lg="3"
+        lg="6"
       >
         <v-btn
           color="red"
           @click="restartDevice()"
         >
           <v-icon left>
-            mdi-restart
+            mdi-restart-alert
           </v-icon>
           Restart Device
         </v-btn>
@@ -172,6 +216,15 @@
       :href="'http://' + this.$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 +234,7 @@ export default {
     data() {
         return {
             snack: false,
+            uploadPercentage: 0.0,
             snackbar: {
                 color: "success",
                 text: ""
@@ -226,7 +280,7 @@ 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 +303,52 @@ 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 +366,8 @@ export default {
   text-align: left;
   margin-bottom: 10px;
   width: 100%;
+  display: block;
+  overflow-x: auto;
 }
 
 .infoElem {

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"
@@ -58,60 +66,75 @@
     >
       Save
     </v-btn>
-    <v-divider class="mt-4 mb-4"/>
+    <v-snackbar
+      v-model="snack"
+      top
+      :color="snackbar.color"
+      timeout="5000"
+    >
+      <span>{{ snackbar.text }}</span>
+    </v-snackbar>
+    <v-divider class="mt-4 mb-4" />
+    <!-- TEMP - RIO finder is not currently enabled
     <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>
       </v-col>
     </v-row>
+    -->
   </div>
 </template>
 
@@ -148,7 +171,7 @@ export default {
     },
     computed: {
         inputCols() {
-            return this.$vuetify.breakpoint.smAndUp ? 10 : 7;
+            return this.$vuetify.breakpoint.mdAndUp ? 10 : 7;
         },
         isDHCP() {
             return this.settings.connectionType === 0;
@@ -224,7 +247,7 @@ export default {
         },
         sendGeneralSettings() {
             this.axios.post("http://" + this.$address + "/api/settings/general", this.settings).then(
-                function (response) {
+                response => {
                     if (response.status === 200) {
                         this.snackbar = {
                             color: "success",
@@ -233,7 +256,7 @@ export default {
                         this.snack = true;
                     }
                 },
-                function (error) {
+                error => {
                     this.snackbar = {
                         color: "error",
                         text: (error.response || {data: "Couldn't save settings"}).data

photon-core/.gitignore

@@ -9,5 +9,7 @@ build
 build/*
 photonvision/*
 photonvision_config/*
+photon-server/lib/*
+photon-server/package-lock.json
 
 src/main/java/org/photonvision/PhotonVersion.java

photon-core/build.gradle

@@ -5,17 +5,13 @@ apply from: "${rootDir}/shared/common.gradle"
 dependencies {
     implementation project(':photon-targeting')
 
-    implementation 'io.javalin:javalin:3.7.0'
+    implementation 'io.javalin:javalin:4.2.0'
 
-    implementation 'org.msgpack:msgpack-core:0.8.20'
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.8.20'
+    implementation 'org.msgpack:msgpack-core:0.9.0'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
 
     // wpiutil
-    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)
 }
 

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 {

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

@@ -14,12 +14,12 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.logging.LogGroup;
@@ -49,7 +49,6 @@ public class CameraConfiguration {
     public double FOV = 70;
     public final List<CameraCalibrationCoefficients> calibrations;
     public int currentPipelineIndex = 0;
-    public Rotation2d camPitch = new Rotation2d();
 
     public int streamIndex = 0; // 0 index means ports [1181, 1182], 1 means [1183, 1184], etc...
 
@@ -73,6 +72,7 @@ public class CameraConfiguration {
         logger.debug(
                 "Creating USB camera configuration for "
                         + cameraType
+                        + " "
                         + baseName
                         + " (AKA "
                         + nickname
@@ -89,8 +89,7 @@ public class CameraConfiguration {
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
-            @JsonProperty("camPitch") Rotation2d camPitch) {
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.baseName = baseName;
         this.uniqueName = uniqueName;
         this.nickname = nickname;
@@ -99,11 +98,11 @@ public class CameraConfiguration {
         this.cameraType = cameraType;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
         this.currentPipelineIndex = currentPipelineIndex;
-        this.camPitch = camPitch;
 
         logger.debug(
                 "Creating camera configuration for "
                         + cameraType
+                        + " "
                         + baseName
                         + " (AKA "
                         + nickname

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 semaphore", e);
+            }
         }
     }
+
+    public void unloadCameraConfigs() {
+        this.config.getCameraConfigurations().clear();
+    }
 }

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;
@@ -40,6 +41,8 @@ public class HardwareConfig {
     public final String cpuTempCommand;
     public final String cpuMemoryCommand;
     public final String cpuUtilCommand;
+    public final String cpuThrottleReasonCmd;
+    public final String cpuUptimeCommand;
     public final String gpuMemoryCommand;
     public final String ramUtilCommand;
     public final String gpuMemUsageCommand;
@@ -64,6 +67,8 @@ public class HardwareConfig {
         cpuTempCommand = "";
         cpuMemoryCommand = "";
         cpuUtilCommand = "";
+        cpuThrottleReasonCmd = "";
+        cpuUptimeCommand = "";
         gpuMemoryCommand = "";
         ramUtilCommand = "";
         ledBlinkCommand = "";
@@ -90,6 +95,8 @@ public class HardwareConfig {
             String cpuTempCommand,
             String cpuMemoryCommand,
             String cpuUtilCommand,
+            String cpuThrottleReasonCmd,
+            String cpuUptimeCommand,
             String gpuMemoryCommand,
             String ramUtilCommand,
             String gpuMemUsageCommand,
@@ -110,6 +117,8 @@ public class HardwareConfig {
         this.cpuTempCommand = cpuTempCommand;
         this.cpuMemoryCommand = cpuMemoryCommand;
         this.cpuUtilCommand = cpuUtilCommand;
+        this.cpuThrottleReasonCmd = cpuThrottleReasonCmd;
+        this.cpuUptimeCommand = cpuUptimeCommand;
         this.gpuMemoryCommand = gpuMemoryCommand;
         this.ramUtilCommand = ramUtilCommand;
         this.gpuMemUsageCommand = gpuMemUsageCommand;

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 {

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;

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;
@@ -127,7 +128,8 @@ public class PhotonConfiguration {
 
     public static class UICameraConfiguration {
         @SuppressWarnings("unused")
-        public double fov, tiltDegrees;
+        public double fov;
+
         public String nickname;
         public HashMap<String, Object> currentPipelineSettings;
         public int currentPipelineIndex;

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;

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;

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;

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;

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;

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;

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;

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;

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;

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;

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;
 
@@ -186,10 +189,17 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
             targetAreaEntry.forceSetDouble(bestTarget.getArea());
             targetSkewEntry.forceSetDouble(bestTarget.getSkew());
 
-            var poseX = bestTarget.getCameraToTarget().getTranslation().getX();
-            var poseY = bestTarget.getCameraToTarget().getTranslation().getY();
-            var poseRot = bestTarget.getCameraToTarget().getRotation().getDegrees();
-            targetPoseEntry.forceSetDoubleArray(new double[] {poseX, poseY, poseRot});
+            var pose = bestTarget.getBestCameraToTarget3d();
+            targetPoseEntry.forceSetDoubleArray(
+                    new double[] {
+                        pose.getTranslation().getX(),
+                        pose.getTranslation().getY(),
+                        pose.getTranslation().getZ(),
+                        pose.getRotation().getQuaternion().getW(),
+                        pose.getRotation().getQuaternion().getX(),
+                        pose.getRotation().getQuaternion().getY(),
+                        pose.getRotation().getQuaternion().getZ()
+                    });
 
             var targetOffsetPoint = bestTarget.getTargetOffsetPoint();
             bestTargetPosX.forceSetDouble(targetOffsetPoint.x);
@@ -209,9 +219,23 @@ 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.getFiducialId(),
+                            t.getBestCameraToTarget3d(),
+                            t.getAltCameraToTarget3d(),
+                            t.getPoseAmbiguity(),
+                            cornerList));
         }
         return ret;
     }

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

@@ -14,19 +14,13 @@
  * 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;
@@ -44,8 +38,11 @@ public class NetworkTablesManager {
     private final String kRootTableName = "/photonvision";
     public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
 
+    private boolean isRetryingConnection = false;
+
     private NetworkTablesManager() {
         ntInstance.addLogger(new NTLogger(), 0, 255); // to hide error messages
+        TimedTaskManager.getInstance().addTask("NTManager", this::ntTick, 5000);
     }
 
     private static NetworkTablesManager INSTANCE;
@@ -86,6 +83,7 @@ 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 +96,6 @@ 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() {
@@ -182,18 +113,11 @@ public class NetworkTablesManager {
     }
 
     private void setClientMode(int teamNumber) {
-        logger.info("Starting NT Client");
+        if (!isRetryingConnection) 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!");
-        } else {
-            logger.error(
-                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
-        }
         broadcastVersion();
     }
 
@@ -203,4 +127,22 @@ public class NetworkTablesManager {
         ntInstance.startServer();
         broadcastVersion();
     }
+
+    // So it seems like if Photon starts before the robot NT server does, and both aren't static IP,
+    // it'll never connect. This hack works around it by restarting the client/server while the nt
+    // instance
+    // isn't connected, same as clicking the save button in the settings menu (or restarting the
+    // service)
+    private void ntTick() {
+        if (!ntInstance.isConnected()
+                && !ConfigManager.getInstance().getConfig().getNetworkConfig().runNTServer) {
+            setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
+        }
+
+        if (!ntInstance.isConnected() && !isRetryingConnection) {
+            isRetryingConnection = true;
+            logger.error(
+                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
+        }
+    }
 }

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;

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;

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;

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")

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

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.*;

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;

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);

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);
     }

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;

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

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

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

@@ -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;
@@ -45,23 +46,27 @@ 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();
 
-    private static String UnknownPlatformString =
+    // These are queried on init and should never change after
+    public static final Platform currentPlatform = getCurrentPlatform();
+    static final String currentPiVersionStr = getPiVersionString();
+    public static final PiVersion currentPiVersion = PiVersion.getPiVersion();
+
+    private static final String UnknownPlatformString =
             String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
 
-    public boolean isWindows() {
-        return this == WINDOWS_64 || this == WINDOWS_32;
+    public static boolean isWindows() {
+        return currentPlatform == WINDOWS_64 || currentPlatform == WINDOWS_32;
     }
 
     public static boolean isLinux() {
-        return getCurrentPlatform() == LINUX_64
-                || getCurrentPlatform() == LINUX_RASPBIAN
-                || getCurrentPlatform() == LINUX_ARM64;
+        return currentPlatform == LINUX_64
+                || currentPlatform == LINUX_RASPBIAN
+                || currentPlatform == LINUX_ARM64;
     }
 
     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 "";
+    }
 }

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;

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;
@@ -84,6 +85,8 @@ public class VisionLED {
                 pigpioSocket.generateAndSendWaveform(pulseLengthMillis, blinkCount, ledPins);
             } catch (PigpioException e) {
                 logger.error("Failed to blink!", e);
+            } catch (NullPointerException e) {
+                logger.error("Failed to blink, pigpio internal issue!", e);
             }
         } else {
             for (GPIOBase led : visionLEDs) {
@@ -99,13 +102,19 @@ public class VisionLED {
                 pigpioSocket.waveTxStop();
             } catch (PigpioException e) {
                 logger.error("Failed to stop blink!", e);
+            } catch (NullPointerException e) {
+                logger.error("Failed to blink, pigpio internal issue!", e);
             }
         }
-        // if the user has set an LED brightness other than 100%, use that instead
-        if (mappedBrightnessPercentage == 100 || !state) {
-            visionLEDs.forEach((led) -> led.setState(state));
-        } else {
-            visionLEDs.forEach((led) -> led.setBrightness(mappedBrightnessPercentage));
+        try {
+            // if the user has set an LED brightness other than 100%, use that instead
+            if (mappedBrightnessPercentage == 100 || !state) {
+                visionLEDs.forEach((led) -> led.setState(state));
+            } else {
+                visionLEDs.forEach((led) -> led.setBrightness(mappedBrightnessPercentage));
+            }
+        } catch (NullPointerException e) {
+            logger.error("Failed to blink, pigpio internal issue!", e);
         }
     }
 

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 {
@@ -39,4 +40,12 @@ public class CPUMetrics extends MetricsBase {
     public String getUtilization() {
         return execute(cpuUtilizationCommand);
     }
+
+    public String getUptime() {
+        return execute(cpuUptimeCommand);
+    }
+
+    public String getThrottleReason() {
+        return execute(cpuThrottleReasonCmd);
+    }
 }

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 {

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 {

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;
@@ -25,7 +26,7 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
 
 public abstract class MetricsBase {
-    private static final Logger logger = new Logger(MetricsBase.class, LogGroup.General);
+    static final Logger logger = new Logger(MetricsBase.class, LogGroup.General);
     // CPU
     public static String cpuMemoryCommand = "vcgencmd get_mem arm | grep -Eo '[0-9]+'";
     public static String cpuTemperatureCommand =
@@ -33,6 +34,15 @@ public abstract class MetricsBase {
     public static String cpuUtilizationCommand =
             "top -bn1 | grep \"Cpu(s)\" | sed \"s/.*, *\\([0-9.]*\\)%* id.*/\\1/\" | awk '{print 100 - $1}'";
 
+    public static String cpuThrottleReasonCmd =
+            "if ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x01 )) != 0x00 )); then echo \"LOW VOLTAGE\"; "
+                    + "elif ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x08 )) != 0x00 )); then echo \"HIGH TEMP\"; "
+                    + "elif ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x10000 )) != 0x00 )); then echo \"Prev. Low Voltage\"; "
+                    + "elif ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x80000 )) != 0x00 )); then echo \"Prev. High Temp\"; "
+                    + " else echo \"None\"; fi";
+
+    public static String cpuUptimeCommand = "uptime -p | cut -c 4-";
+
     // GPU
     public static String gpuMemoryCommand = "vcgencmd get_mem gpu | grep -Eo '[0-9]+'";
     public static String gpuMemUsageCommand = "vcgencmd get_mem malloc | grep -Eo '[0-9]+'";
@@ -50,6 +60,8 @@ public abstract class MetricsBase {
         cpuMemoryCommand = config.cpuMemoryCommand;
         cpuTemperatureCommand = config.cpuTempCommand;
         cpuUtilizationCommand = config.cpuUtilCommand;
+        cpuThrottleReasonCmd = config.cpuThrottleReasonCmd;
+        cpuUptimeCommand = config.cpuUptimeCommand;
 
         gpuMemoryCommand = config.gpuMemoryCommand;
         gpuMemUsageCommand = config.gpuMemUsageCommand;

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;
@@ -59,6 +60,8 @@ public class MetricsPublisher {
         metrics.put("cpuTemp", cpuMetrics.getTemp());
         metrics.put("cpuUtil", cpuMetrics.getUtilization());
         metrics.put("cpuMem", cpuMetrics.getMemory());
+        metrics.put("cpuThr", cpuMetrics.getThrottleReason());
+        metrics.put("cpuUptime", cpuMetrics.getUptime());
         metrics.put("gpuMem", gpuMetrics.getGPUMemorySplit());
         metrics.put("ramUtil", ramMetrics.getUsedRam());
         metrics.put("gpuMemUtil", gpuMetrics.getMallocedMemory());

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 {

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 {

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 {

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);

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;

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;
@@ -45,7 +46,7 @@ public class NetworkManager {
 
         var config = ConfigManager.getInstance().getConfig().getNetworkConfig();
         logger.info("Setting " + config.connectionType + " with team team " + config.teamNumber);
-        if (Platform.isLinux()) {
+        if (Platform.isRaspberryPi()) {
             if (!Platform.isRoot) {
                 logger.error("Cannot manage network without root!");
                 return;

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 {

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

@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.networking;
+
+import edu.wpi.first.cscore.CameraServerJNI;
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.List;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class RoborioFinder {
+    private static RoborioFinder instance;
+    private static final Logger logger = new Logger(RoborioFinder.class, LogGroup.General);
+
+    public static RoborioFinder getInstance() {
+        if (instance == null) instance = new RoborioFinder();
+        return instance;
+    }
+
+    public void findRios() {
+        HashMap<String, Object> map = new HashMap<>();
+        var subMap = new HashMap<String, Object>();
+        // Seperate from the above so we don't hold stuff up
+        System.setProperty("java.net.preferIPv4Stack", "true");
+        subMap.put(
+                "deviceips",
+                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
+                        .filter(it -> !it.equals("0.0.0.0"))
+                        .toArray());
+        logger.info("Searching for rios");
+        List<String> possibleRioList = new ArrayList<>();
+        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
+            logger.info("Trying " + ip);
+            var possibleRioAddr = getPossibleRioAddress(ip);
+            if (possibleRioAddr != null) {
+                logger.info("Maybe found " + ip);
+                searchForHost(possibleRioList, possibleRioAddr);
+            } else {
+                logger.info("Didn't match RIO IP");
+            }
+        }
+
+        //        String name =
+        //                "roboRIO-"
+        //                        +
+        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+        //                        + "-FRC.local";
+        //        searchForHost(possibleRioList, name);
+        //        name =
+        //                "roboRIO-"
+        //                        +
+        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+        //                        + "-FRC.lan";
+        //        searchForHost(possibleRioList, name);
+        //        name =
+        //                "roboRIO-"
+        //                        +
+        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+        //                        + "-FRC.frc-field.local";
+        //        searchForHost(possibleRioList, name);
+        //        subMap.put("possibleRios", possibleRioList.toArray());
+
+        subMap.put("possibleRios", possibleRioList.toArray());
+        map.put("networkInfo", subMap);
+        DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("deviceIpInfo", map));
+    }
+
+    String getPossibleRioAddress(String ip) {
+        try {
+            InetAddress addr = InetAddress.getByName(ip);
+            var address = addr.getAddress();
+            if (address[0] != (byte) (10 & 0xff)) return null;
+            address[3] = (byte) (2 & 0xff);
+            return InetAddress.getByAddress(address).getHostAddress();
+        } catch (UnknownHostException e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    void searchForHost(List<String> list, String hostname) {
+        try {
+            logger.info("Looking up " + hostname);
+            InetAddress testAddr = InetAddress.getByName(hostname);
+            logger.info("Pinging " + hostname);
+            var canContact = testAddr.isReachable(500);
+            if (canContact) {
+                logger.info("Was able to connect to " + hostname);
+                if (!list.contains(hostname)) list.add(hostname);
+            } else {
+                logger.info("Unable to reach " + hostname);
+            }
+        } catch (IOException ignored) {
+        }
+    }
+}

photon-core/src/main/java/org/photonvision/common/scripting/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 {

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;

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;

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 {

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());

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.*;

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 {

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

@@ -0,0 +1,40 @@
+/*
+ * 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;
+
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+public class NativeLibHelper {
+    private static NativeLibHelper INSTANCE;
+
+    public static NativeLibHelper getInstance() {
+        if (INSTANCE == null) {
+            INSTANCE = new NativeLibHelper();
+        }
+
+        return INSTANCE;
+    }
+
+    public final Path NativeLibPath;
+
+    private NativeLibHelper() {
+        String home = System.getProperty("user.home");
+        NativeLibPath = Paths.get(home, ".pvlibs", "nativecache");
+    }
+}

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 {

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;

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;
         }

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;
@@ -27,6 +29,15 @@ import org.opencv.highgui.HighGui;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 
 public class TestUtils {
+    public static void loadLibraries() {
+        try {
+            CameraServerCvJNI.forceLoad();
+            //        PicamJNI.forceLoad();
+        } catch (IOException ex) {
+            // ignored
+        }
+    }
+
     @SuppressWarnings("unused")
     public enum WPI2019Image {
         kCargoAngledDark48in(1.2192),
@@ -97,6 +108,26 @@ 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;
 
@@ -132,8 +163,26 @@ public class TestUtils {
         }
     }
 
+    public enum ApriltagTestImages {
+        kRobots,
+        kTag1_640_480;
+
+        public final Path path;
+
+        Path getPath() {
+            // Strip leading k
+            var filename = this.toString().substring(1).toLowerCase();
+            return Path.of("apriltag", filename + ".jpg");
+        }
+
+        ApriltagTestImages() {
+            this.path = getPath();
+        }
+    }
+
     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() {
@@ -145,7 +194,19 @@ public class TestUtils {
     public static Path getTestMode2020ImagePath() {
         return getResourcesFolderPath(true)
                 .resolve("testimages")
-                .resolve(WPI2020Image.kBlueGoal_108in_Center.path);
+                .resolve(WPI2020Image.kBlueGoal_156in_Left.path);
+    }
+
+    public static Path getTestMode2022ImagePath() {
+        return getResourcesFolderPath(true)
+                .resolve("testimages")
+                .resolve(WPI2022Image.kTerminal22ft6in.path);
+    }
+
+    public static Path getTestModeApriltagPath() {
+        return getResourcesFolderPath(true)
+                .resolve("testimages")
+                .resolve(ApriltagTestImages.kRobots.path);
     }
 
     public static Path getTestImagesPath(boolean testMode) {
@@ -172,6 +233,10 @@ public class TestUtils {
         return getTestImagesPath(testMode).resolve(image.path);
     }
 
+    public static Path getApriltagImagePath(ApriltagTestImages image, boolean testMode) {
+        return getTestImagesPath(testMode).resolve(image.path);
+    }
+
     public static Path getPowercellImagePath(PowercellTestImages image, boolean testMode) {
         return getPowercellPath(testMode).resolve(image.path);
     }
@@ -214,12 +279,8 @@ public class TestUtils {
         return getCoeffs(LIFECAM_480P_CAL_FILE, testMode);
     }
 
-    public static void loadLibraries() {
-        try {
-            CameraServerCvJNI.forceLoad();
-        } catch (IOException e) {
-            // ignored
-        }
+    public static CameraCalibrationCoefficients getLaptop() {
+        return getCoeffs("laptop.json", true);
     }
 
     private static int DefaultTimeoutMillis = 5000;

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.*;

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);

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(