Disable Roborio finder (#450)

Rio finder has been linked to weird crashes after Autonomous

.github/workflows/main.yml

@@ -151,6 +151,8 @@ jobs:
 
   #  Building photonlib
   photonlib-build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 10.14
     strategy:
       fail-fast: false
       matrix:

.gitignore

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

.styleguide

@@ -25,7 +25,3 @@ includeOtherLibs {
   ^units/
   ^wpi/
 }
-
-licenseUpdateExclude {
-  \.java$
-}

LicenseHeader.txt

@@ -1,16 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */

build.gradle

@@ -47,7 +47,6 @@ spotless {
     }
     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")
     }

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="$store.state.settings.networkSettings.runNTServer">mdi-server</v-icon>
+              <v-icon v-if="$store.state.settings.networkSettings.runNTServer">
-              <img v-else-if="$store.state.ntConnectionInfo.connected" src="@/assets/robot.svg" alt="">
+                mdi-server
-              <img v-else class="pulse" style="border-radius: 100%" src="@/assets/robot-off.svg" alt="">
+              </v-icon>
+              <img
+                v-else-if="$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="$store.state.settings.networkSettings.runNTServer">
+              <v-list-item-title
-                NetworkTables server running for {{$store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero'}} clients!
+                v-if="$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 && $store.state.backendConnected">
+              <v-list-item-title
-                Robot connected! {{$store.state.ntConnectionInfo.address}}
+                v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected"
+                class="text-wrap"
+              >
+                Robot connected! {{ $store.state.ntConnectionInfo.address }}
               </v-list-item-title>
-              <v-list-item-title class="text-wrap" v-else>
+              <v-list-item-title
+                v-else
+                class="text-wrap"
+              >
                 Not connected to robot!
               </v-list-item-title>
-              <a
+              <router-link
-                  href="/#/settings"
+                v-if="!$store.state.settings.networkSettings.runNTServer"
-                  style="color:#FFD843"
+                to="settings"
-              >{{"Team: " + $store.state.settings.networkSettings.teamNumber}}</a>
+                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
+                v-else
-                  class="pulse"
+                class="pulse"
-                  style="border-radius: 100%;"
+                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"
+      v-model="needsTeamNumberSet"
-        width="500"
+      width="500"
-        dark
+      dark
-        persistent
+      persistent
     >
       <v-card
-          dark
+        dark
-          color="primary"
+        color="primary"
-          flat
+        flat
       >
         <v-card-title>No team number set!</v-card-title>
         <v-card-text>
           PhotonVision cannot connect to your robot! Please
-          <a
+          <router-link
-              href="/#/settings"
+            to="settings"
-              style="color:#FFD843"
+            class="accent--text"
-          >head to the settings page</a> and set your team number.
+            @click="switchToSettingsTab"
+          >
+            vist the settings tab
+          </router-link>
+          and set your team number.
         </v-card-text>
       </v-card>
     </v-dialog>
@@ -219,12 +247,6 @@ export default {
                     localStorage.setItem("compactMode", value);
                 },
             },
-            // ...mapState({
-              // ntServerMode: state => state.settings.networkSettings.runNTServer,
-              // ntClients: state => state.ntConnectionInfo.clients,
-              // ntConnected: state => state.ntConnectionInfo.connected,
-              // backendConnected: state => state.backendConnected
-            // })
         },
         created() {
             document.addEventListener("keydown", e => {
@@ -319,8 +341,7 @@ export default {
                 }
               }
               this.previouslySelectedIndices = null;
-            }
+            },
-,
             switchToSettingsTab() {
                 this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
             }

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

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

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

@@ -1,28 +1,46 @@
 <template>
   <div>
-    <v-radio-group
+    <v-row
-      v-model="localValue"
+      dense
-      row
+      align="center"
-      dark
-      :mandatory="true"
     >
-      <v-radio
+      <v-col :cols="12 - (inputCols || 8)">
-        v-for="(name,index) in list"
+        <tooltipped-label
-        :key="index"
+          :tooltip="tooltip"
-        color="#ffd843"
+          :text="name"
-        :label="name"
+        />
-        :value="index"
+      </v-col>
-        :disabled="disabled"
+      <v-col :cols="inputCols || 8">
-      />
+        <v-radio-group
-    </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/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"
+        no-gutters
+        class="pa-0"
       >
         <CVselect
           v-model="currentPipelineType"
           name="Type"
-          :list="['Reflective', 'Shape']"
+          tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
+          :list="['Reflective Tape', 'Colored Shape']"
           @input="e => showTypeDialog(e)"
         />
       </v-col>
@@ -176,12 +183,6 @@
             name="Name"
             :error-message="checkPipelineName"
           />
-<!--          <CVselect-->
-<!--            v-model="currentPipelineType"-->
-<!--            name="Pipeline Type"-->
-<!--            :list="['Reflective', 'Shape']"-->
-<!--            :disabled="true"-->
-<!--          />-->
         </v-card-text>
         <v-divider />
         <v-card-actions>
@@ -276,12 +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 "";
@@ -384,7 +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/plugins/ColorPicker.js

@@ -6,8 +6,10 @@ function initColorPicker() {
         canvas = document.createElement('canvas');
 
     image = document.querySelector('#normal-stream');
-    canvas.width = image.width;
+    if (image !== null) {
-    canvas.height = image.height;
+      canvas.width = image.width;
+      canvas.height = image.height;
+    }
 }
 
 //Called on click of the image,

photon-client/src/store/index.js

@@ -19,6 +19,8 @@ export default new Vuex.Store({
             connected: false,
             address: "",
             clients: 0,
+        },
+        networkInfo: {
             possibleRios: ["Loading..."],
             deviceips: ["Loading..."],
         },
@@ -55,7 +57,8 @@ export default new Vuex.Store({
                     // Settings that apply to all pipeline types
                     cameraExposure: 1,
                     cameraBrightness: 2,
-                    cameraGain: 3,
+                    cameraRedGain: 3,
+                    cameraBlueGain: 4,
                     inputImageRotationMode: 0,
                     cameraVideoModeIndex: 0,
                     streamingFrameDivisor: 0,
@@ -64,10 +67,13 @@ export default new Vuex.Store({
                     hsvHue: [0, 15],
                     hsvSaturation: [0, 15],
                     hsvValue: [0, 25],
+                    hueInverted: false,
                     contourArea: [0, 12],
                     contourRatio: [0, 12],
                     contourFullness: [0, 12],
                     contourSpecklePercentage: 5,
+                    contourFilterRangeX: 5,
+                    contourFilterRangeY: 5,
                     contourGroupingMode: 0,
                     contourIntersection: 0,
                     contourSortMode: 0,
@@ -151,6 +157,7 @@ export default new Vuex.Store({
         calibrationData: set('calibrationData'),
         metrics: set('metrics'),
         ntConnectionInfo: set('ntConnectionInfo'),
+        networkInfo: set('networkInfo'),
         backendConnected: set('backendConnected'),
         logString: (state, newStr) => {
             const str = state.logMessages;

photon-client/src/views/CamerasView.vue

@@ -20,8 +20,8 @@
               v-model="currentCameraIndex"
               name="Camera"
               :list="$store.getters.cameraList"
-              @input="handleInput('currentCamera',currentCameraIndex)"
               :select-cols="$vuetify.breakpoint.mdAndUp ? 10 : 7"
+              @input="handleInput('currentCamera',currentCameraIndex)"
             />
             <CVnumberinput
               v-model="cameraSettings.fov"
@@ -196,13 +196,24 @@
                   @input="e => handlePipelineUpdate('cameraBrightness', e)"
                 />
                 <CVslider
-                  v-if="$store.getters.currentPipelineSettings.cameraGain !== -1"
+                  v-if="$store.getters.currentPipelineSettings.cameraRedGain !== -1"
-                  v-model="$store.getters.currentPipelineSettings.cameraGain"
+                  v-model="$store.getters.currentPipelineSettings.cameraRedGain"
-                  name="Gain"
+                  name="Red AWB Gain"
-                  :min="0"
+                  min="0"
-                  :max="100"
+                  max="100"
-                  slider-cols="8"
+                  tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
-                  @input="e => handlePipelineUpdate('cameraGain', e)"
+                  :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>

photon-client/src/views/PipelineView.vue

@@ -30,7 +30,7 @@
                 :class="fpsTooLow ? 'ml-2 mt-1' : 'mt-2'"
                 x-small
                 label
-                :color="fpsTooLow ? 'red' : 'transparent'"
+                :color="fpsTooLow ? 'error' : 'transparent'"
                 :text-color="fpsTooLow ? 'white' : 'grey'"
               >
                 <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
@@ -38,13 +38,6 @@
                 <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
                 <span v-else>stop viewing the color stream for better performance</span>
               </v-chip>
-              <v-chip small label color="red" text-color="white" v-if="!$store.state.ntConnectionInfo.connected || $store.state.settings.networkSettings.runNTServer">
-                <span>
-                {{ $store.state.settings.networkSettings.runNTServer ?
-                    "NetworkTables Server Enabled! Photonlib may not work" :
-                    "NetworkTables not connected!" }}
-                </span>
-              </v-chip>
               <v-switch
                 v-model="driverMode"
                 label="Driver Mode"
@@ -71,7 +64,8 @@
                     :disconnected="!$store.state.backendConnected"
                     scale="100"
                     :max-height="$store.getters.isDriverMode ? '40vh' : '300px'"
-                    :max-height-md="$store.getters.isDriverMode ? '50vh' : '320px'"
+                    :max-height-md="$store.getters.isDriverMode ? '50vh' : '380px'"
+                    :max-height-lg="$store.getters.isDriverMode ? '55vh' : '390px'"
                     :max-height-xl="$store.getters.isDriverMode ? '60vh' : '450px'"
                     :alt="'Stream' + idx"
                     :color-picking="$store.state.colorPicking && idx === 0"
@@ -90,23 +84,18 @@
         >
           <v-card
             color="primary"
-            class="mt-3"
           >
-            <!--            <v-btn @click="onCamNameChange">-->
-            <!--              Reload-->
-            <!--            </v-btn>-->
             <camera-and-pipeline-select @camera-name-changed="reloadStreams" />
           </v-card>
           <v-card
             :disabled="$store.getters.isDriverMode || $store.state.colorPicking"
-            class="mt-6 mb-3"
+            class="mt-3"
             color="primary"
           >
             <v-row
               align="center"
               class="pl-3 pr-3"
             >
-              <!--  -->
               <v-col lg="12">
                 <p style="color: white;">
                   Processing mode:
@@ -206,21 +195,24 @@
         </v-col>
       </v-row>
     </v-container>
-    <!-- snack bar and modal -->
+
     <v-snackbar
-      v-model="snackbar"
+      v-model="showNTWarning"
-      :timeout="3000"
-      top
       color="error"
+      timeout="-1"
+      top
     >
-      <span style="color:#000">Can not remove the only pipeline!</span>
+      {{ $store.state.settings.networkSettings.runNTServer ?
-      <v-btn
+        "NetworkTables server enabled! PhotonLib may not work." :
-        color="black"
+        "NetworkTables not connected! Are you on a network with a robot?" }}
-        text
+      <template v-slot:action>
-        @click="snackbar = false"
+        <v-btn
-      >
+          text
-        Close
+          @click="hideNTWarning = true"
-      </v-btn>
+        >
+          Hide
+        </v-btn>
+      </template>
     </v-snackbar>
 
     <v-dialog
@@ -286,10 +278,10 @@ export default {
     data() {
         return {
             selectedTabsData: [0, 0, 0, 0],
-            snackbar: false,
             counterData: 0,
             dialog: false,
-            processingModeOverride: false
+            processingModeOverride: false,
+            hideNTWarning: false,
         }
     },
     computed: {
@@ -434,7 +426,12 @@ export default {
             // return this.$store.state.ntConnectionInfo.connected && this.$store.state.backendConnected;
             return true;
           }
-        }
+        },
+        showNTWarning: {
+          get() {
+            return (!this.$store.state.ntConnectionInfo.connected || this.$store.state.settings.networkSettings.runNTServer) && this.$store.state.settings.networkSettings.teamNumber > 0 && this.$store.state.backendConnected && !this.hideNTWarning;
+          }
+        },
     },
     created() {
         this.$store.state.connectedCallbacks.push(this.reloadStreams)

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

@@ -1,140 +1,169 @@
 <template>
   <div>
     <CVrangeSlider
-        v-model="contourArea"
+      v-model="contourArea"
-        name="Area"
+      name="Area"
-        min="0"
+      min="0"
-        max="100"
+      max="100"
-        step="0.1"
+      step="0.01"
-        @input="handlePipelineData('contourArea')"
+      @input="handlePipelineData('contourArea')"
     />
     <CVrangeSlider
-        v-model="contourRatio"
+      v-if="currentPipelineType() !== 3"
-        v-if="currentPipelineType() !== 3"
+      v-model="contourRatio"
-        name="Ratio (W/H)"
+      name="Ratio (W/H)"
-        tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
+      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
-        min="0"
+      min="0"
-        max="100"
+      max="100"
-        step="0.1"
+      step="0.1"
-        @input="handlePipelineData('contourRatio')"
+      @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"
-        v-if="currentPipelineType() !== 3"
+      v-model="contourFullness"
-        name="Fullness"
+      name="Fullness"
-        tooltip="Min and max ratio between a contour's area and its bounding rectangle"
+      tooltip="Min and max ratio between a contour's area and its bounding rectangle"
-        min="0"
+      min="0"
-        max="100"
+      max="100"
-        @input="handlePipelineData('contourFullness')"
+      @input="handlePipelineData('contourFullness')"
     />
     <CVrangeSlider
-        v-model="contourPerimeter"
+      v-if="currentPipelineType() === 3"
-        v-if="currentPipelineType() === 3"
+      v-model="contourPerimeter"
-        name="Perimeter"
+      name="Perimeter"
-        tooltip="Min and max perimeter of the shape, in pixels"
+      tooltip="Min and max perimeter of the shape, in pixels"
-        min="0"
+      min="0"
-        max="4000"
+      max="4000"
-        @input="handlePipelineData('contourPerimeter')"
+      @input="handlePipelineData('contourPerimeter')"
     />
     <CVslider
-        v-model="contourSpecklePercentage"
+      v-model="contourSpecklePercentage"
-        name="Speckle Rejection"
+      name="Speckle Rejection"
-        tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
+      tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
-        min="0"
+      min="0"
-        max="100"
+      max="100"
-        :slider-cols="largeBox"
+      :slider-cols="largeBox"
-        @input="handlePipelineData('contourSpecklePercentage')"
+      @input="handlePipelineData('contourSpecklePercentage')"
     />
     <template v-if="currentPipelineType() !== 3">
-      <CVselect
+      <CVslider
-          v-model="contourGroupingMode"
+        v-model="contourFilterRangeX"
-          name="Target Grouping"
+        name="X filter tightness"
-          tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
+        tooltip="Rejects contours whose center X is further than X standard deviations above/below the mean X location"
-          :select-cols="largeBox"
+        min="0.1"
-          :list="['Single','Dual','2orMore']"
+        max="4"
-          @input="handlePipelineData('contourGroupingMode')"
+        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"
+        v-model="contourGroupingMode"
-          name="Target Intersection"
+        name="Target Grouping"
-          tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
+        tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
-          :select-cols="largeBox"
+        :select-cols="largeBox"
-          :list="['None','Up','Down','Left','Right']"
+        :list="['Single','Dual','2orMore']"
-          :disabled="contourGroupingMode === 0"
+        @input="handlePipelineData('contourGroupingMode')"
-          @input="handlePipelineData('contourIntersection')"
+      />
+      <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"
+        v-model="contourShape"
-          name="Target Shape"
+        name="Target Shape"
-          tooltip="The shape of targets to look for"
+        tooltip="The shape of targets to look for"
-          :select-cols="largeBox"
+        :select-cols="largeBox"
-          :list="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
+        :list="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
-          @input="handlePipelineData('contourShape')"
+        @input="handlePipelineData('contourShape')"
       />
 
       <!-- Accuracy % is only for polygons-->
       <CVslider
-          v-model="accuracyPercentage"
+        v-model="accuracyPercentage"
-          :disabled="currentPipelineSettings().contourShape < 1"
+        :disabled="currentPipelineSettings().contourShape < 1"
-          name="Shape Simplification"
+        name="Shape Simplification"
-          tooltip="How much we should simply the input contour before checking how many sides it has"
+        tooltip="How much we should simply the input contour before checking how many sides it has"
-          min="0"
+        min="0"
-          max="100"
+        max="100"
-          :slider-cols="largeBox"
+        :slider-cols="largeBox"
-          @input="handlePipelineData('accuracyPercentage')"
+        @input="handlePipelineData('accuracyPercentage')"
       />
       <!-- Similarly, the threshold is only for circles -->
       <CVslider
-          v-model="circleDetectThreshold"
+        v-model="circleDetectThreshold"
-          :disabled="currentPipelineSettings().contourShape !== 0"
+        :disabled="currentPipelineSettings().contourShape !== 0"
-          name="Circle match distance"
+        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"
+        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"
+        min="1"
-          max="100"
+        max="100"
-          :slider-cols="largeBox"
+        :slider-cols="largeBox"
-          @input="handlePipelineData('circleDetectThreshold')"
+        @input="handlePipelineData('circleDetectThreshold')"
       />
       <CVrangeSlider
-          v-model="contourRadius"
+        v-model="contourRadius"
-          :disabled="currentPipelineSettings().contourShape !== 0"
+        :disabled="currentPipelineSettings().contourShape !== 0"
-          name="Radius"
+        name="Radius"
-          min="0"
+        min="0"
-          max="100"
+        max="100"
-          step="1"
+        step="1"
-          @input="handlePipelineData('contourRadius')"
+        label-cols="3"
+        @input="handlePipelineData('contourRadius')"
       />
       <CVslider
-          v-model="maxCannyThresh"
+        v-model="maxCannyThresh"
-          :disabled="currentPipelineSettings().contourShape !== 0"
+        :disabled="currentPipelineSettings().contourShape !== 0"
-          name="Max Canny Threshold"
+        name="Max Canny Threshold"
-          min="1"
+        min="1"
-          max="100"
+        max="100"
-          :slider-cols="largeBox"
+        :slider-cols="largeBox"
-          @input="handlePipelineData('maxCannyThresh')"
+        @input="handlePipelineData('maxCannyThresh')"
       />
       <CVslider
-          v-model="circleAccuracy"
+        v-model="circleAccuracy"
-          :disabled="currentPipelineSettings().contourShape !== 0"
+        :disabled="currentPipelineSettings().contourShape !== 0"
-          name="Circle Accuracy"
+        name="Circle Accuracy"
-          min="0"
+        min="1"
-          max="100"
+        max="100"
-          :slider-cols="largeBox"
+        :slider-cols="largeBox"
-          @input="handlePipelineData('circleAccuracy')"
+        @input="handlePipelineData('circleAccuracy')"
       />
-      <v-divider class="mt-3"/>
+      <v-divider class="mt-3" />
     </template>
     <CVselect
-        v-model="contourSortMode"
+      v-model="contourSortMode"
-        name="Target Sort"
+      name="Target Sort"
-        tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
+      tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
-        :select-cols="largeBox"
+      :select-cols="largeBox"
-        :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
+      :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']"
-        @input="handlePipelineData('contourSortMode')"
+      @input="handlePipelineData('contourSortMode')"
-        @rollback="e => rollback('contourSortMode', e)"
+      @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

@@ -22,15 +22,26 @@
       @rollback="e => rollback('cameraBrightness', e)"
     />
     <CVslider
-      v-if="cameraGain !== -1"
+      v-if="cameraRedGain !== -1"
-      v-model="cameraGain"
+      v-model="cameraRedGain"
-      name="Gain"
+      name="Red AWB Gain"
       min="0"
       max="100"
-      tooltip="Controls automatic white balance gain, which affects how the camera captures colors in different conditions"
+      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
       :slider-cols="largeBox"
-      @input="handlePipelineData('cameraGain')"
+      @input="handlePipelineData('cameraRedGain')"
-      @rollback="e => rollback('cameraGain', e)"
+      @rollback="e => rollback('cameraRedGain', e)"
+    />
+    <CVslider
+      v-if="cameraBlueGain !== -1"
+      v-model="cameraBlueGain"
+      name="Blue AWB Gain"
+      min="0"
+      max="100"
+      tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+      :slider-cols="largeBox"
+      @input="handlePipelineData('cameraBlueGain')"
+      @rollback="e => rollback('cameraBlueGain', e)"
     />
     <CVselect
       v-model="inputImageRotationMode"
@@ -105,12 +116,20 @@
                     this.$store.commit("mutatePipeline", {"cameraBrightness": parseInt(val)});
                 }
             },
-            cameraGain: {
+            cameraRedGain: {
                 get() {
-                    return parseInt(this.$store.getters.currentPipelineSettings.cameraGain)
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraRedGain)
                 },
                 set(val) {
-                    this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
+                    this.$store.commit("mutatePipeline", {"cameraRedGain": parseInt(val)});
+                }
+            },
+            cameraBlueGain: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraBlueGain)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraBlueGain": parseInt(val)});
                 }
             },
             inputImageRotationMode: {

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 />
-    <v-divider class="mt-2" />
     <CVselect
       v-model="offsetRobotOffsetMode"
       name="Robot Offset Mode"

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

@@ -60,7 +60,7 @@
         },
         data() {
             return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal'], //Keep in sync with TargetModel.java
                 snackbar: {
                     color: "Success",
                     text: ""

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

@@ -1,66 +1,79 @@
 <template>
-  <div>
+  <div :style="{'--averageHue': averageHue}">
     <CVrangeSlider
-        v-model="hsvHue"
+      id="hue-slider"
-        name="Hue"
+      v-model="hsvHue"
-        tooltip="Describes color"
+      :class="hueInverted ? 'inverted-slider' : 'normal-slider'"
-        :min="0"
+      name="Hue"
-        :max="180"
+      tooltip="Describes color"
-        @input="handlePipelineData('hsvHue')"
+      :min="0"
-        @rollback="e => rollback('hue',e)"
+      :max="180"
+      :inverted="hueInverted"
+      @input="handlePipelineData('hsvHue')"
+      @rollback="e => rollback('hue',e)"
     />
     <CVrangeSlider
-        v-model="hsvSaturation"
+      id="sat-slider"
-        name="Saturation"
+      v-model="hsvSaturation"
-        tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
+      class="normal-slider"
-        :min="0"
+      name="Saturation"
-        :max="255"
+      tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
-        @input="handlePipelineData('hsvSaturation')"
+      :min="0"
-        @rollback="e => rollback('saturation',e)"
+      :max="255"
+      @input="handlePipelineData('hsvSaturation')"
+      @rollback="e => rollback('saturation',e)"
     />
     <CVrangeSlider
-        v-model="hsvValue"
+      id="value-slider"
-        name="Value"
+      v-model="hsvValue"
-        tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
+      class="normal-slider"
-        :min="0"
+      name="Value"
-        :max="255"
+      tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
-        @input="handlePipelineData('hsvValue')"
+      :min="0"
-        @rollback="e => rollback('value',e)"
+      :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"
+        v-model="erode"
-          name="Erode"
+        name="Erode"
-          tooltip="Removes pixels around the edges of white areas in the thresholded image"
+        tooltip="Removes pixels around the edges of white areas in the thresholded image"
-          @input="handlePipelineData('erode')"
+        @input="handlePipelineData('erode')"
-          @rollback="e => rollback('erode',e)"
+        @rollback="e => rollback('erode',e)"
       />
       <CVSwitch
-          v-model="dilate"
+        v-model="dilate"
-          class="mb-0"
+        class="mb-0"
-          name="Dilate"
+        name="Dilate"
-          tooltip="Adds pixels around the edges of white areas in the thresholded image"
+        tooltip="Adds pixels around the edges of white areas in the thresholded image"
-          @input="handlePipelineData('dilate')"
+        @input="handlePipelineData('dilate')"
-          @rollback="e => rollback('dilate',e)"
+        @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"
+      justify="center"
-        class="mt-3 mb-3"
+      class="mt-3 mb-3"
     >
       <template v-if="!$store.state.colorPicking">
         <v-btn
-            color="accent"
+          color="accent"
-            class="ma-2 black--text"
+          class="ma-2 black--text"
-            small
+          small
-            @click="setFunction(3)"
+          @click="setFunction(hueInverted ? 2 : 3)"
         >
           <v-icon left>
             mdi-minus
@@ -68,21 +81,21 @@
           Shrink Range
         </v-btn>
         <v-btn
-            color="accent"
+          color="accent"
-            class="ma-2 black--text"
+          class="ma-2 black--text"
-            small
+          small
-            @click="setFunction(1)"
+          @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"
+          color="accent"
-            class="ma-2 black--text"
+          class="ma-2 black--text"
-            small
+          small
-            @click="setFunction(2)"
+          @click="setFunction(hueInverted ? 3: 2)"
         >
           <v-icon left>
             mdi-plus
@@ -92,16 +105,17 @@
       </template>
       <template v-else>
         <v-btn
-            color="accent"
+          color="accent"
-            class="ma-2 black--text"
+          class="ma-2 black--text"
-            style="width: 30%;"
+          style="width: 30%;"
-            small
+          small
-            @click="setFunction(0)"
+          @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/SettingsViews/General.vue

@@ -143,7 +143,7 @@
           <v-icon left>
             mdi-restart
           </v-icon>
-          Restart Photon
+          Restart PhotonVision
         </v-btn>
       </v-col>
       <v-col
@@ -155,7 +155,7 @@
           @click="restartDevice()"
         >
           <v-icon left>
-            mdi-restart
+            mdi-restart-alert
           </v-icon>
           Restart Device
         </v-btn>

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

@@ -10,46 +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="$vuetify.breakpoint.mdAndUp ? undefined : 7"
+        :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 5"
       />
-      <v-chip label color="red" v-bind:style="$vuetify.breakpoint.xsOnly ? 'height: auto;' : ''" text-color="white" v-if="parseInt(teamNumber) < 1 && !runNTServer">
+      <v-banner
-        <span class="text-wrap">
+        v-show="(teamNumber < 1 || teamNumber > 10000) && !runNTServer"
-          Team number not set! NetworkTables cannot connect.
+        rounded
-        </span>
+        color="red"
-      </v-chip>
+        text-color="white"
+      >
+        Team number is unset or invalid. NetworkTables will not be able to connect.
+      </v-banner>
       <CVradio
-          v-model="connectionType"
+        v-show="$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="!$store.state.settings.networkSettings.supported"
       />
-      <template v-if="!isDHCP">
+      <CVinput
-        <CVinput
+        v-if="!isDHCP"
-          v-model="staticIp"
+        v-model="staticIp"
-          :input-cols="inputCols"
+        :input-cols="inputCols"
-          :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
+        :rules="[v => isIPv4(v) || 'Invalid IPv4 address']"
-          name="IP"
+        name="IP"
-        />
+      />
-      </template>
       <CVinput
         v-model="hostname"
         :input-cols="inputCols"
         :rules="[v => isHostname(v) || 'Invalid hostname']"
         name="Hostname"
       />
-      Advanced
-      <v-divider/>
       <CVSwitch
-          v-model="runNTServer"
+        v-model="runNTServer"
-          name="Run NetworkTables Server (Debugging Only!)"
+        name="Run NetworkTables Server (Debugging Only)"
-          tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+        tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
-          class="mt-3 mb-3"
+        class="mt-3 mb-3"
-          :text-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
+        :text-cols="$vuetify.breakpoint.mdAndUp ? undefined : 5"
       />
-      <v-chip label color="red" text-color="white" v-if="runNTServer">
+      <v-banner
-        <span>
+        v-show="runNTServer"
-          Disable this switch if you're on a robot! Photonlib will NOT work.
+        rounded
-        </span>
+        color="red"
-      </v-chip>
+        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"
@@ -60,55 +66,60 @@
     >
       Save
     </v-btn>
-    <v-divider class="mt-4 mb-4"/>
+    <v-divider class="mt-4 mb-4" />
     <v-row>
-      <v-col cols="12" sm="6">
+      <v-col
-
+        cols="12"
+        sm="6"
+      >
         <v-simple-table
-            fixed-header
+          fixed-header
-            height="100%"
+          height="100%"
-            dense
+          dense
         >
           <template v-slot:default>
             <thead style="font-size: 1.25rem;">
-            <tr>
+              <tr>
-              <th>
+                <th>
-                Device IPs
+                  Device IPs
-              </th>
+                </th>
-            </tr>
+              </tr>
             </thead>
             <tbody>
-            <tr
+              <tr
-                v-for="(value, index) in $store.state.ntConnectionInfo.deviceips"
+                v-for="(value, index) in $store.state.networkInfo.deviceips"
                 :key="index"
-            >
+              >
-              <td>{{ value }}</td>
+                <td>{{ value }}</td>
-            </tr>
+              </tr>
             </tbody>
           </template>
         </v-simple-table>
       </v-col>
-      <v-col cols="12" sm="6">
+      <v-col
+        cols="12"
+        sm="6"
+      >
         <v-simple-table
-            fixed-header
+          fixed-header
-            height="100%"
+          height="100%"
-            dense
+          dense
         >
           <template v-slot:default>
             <thead style="font-size: 1.25rem;">
-            <tr>
+              <tr>
-              <th>
+                <th>
-                Possible RoboRIOs
+                  Possible RoboRIOs
-              </th>
+                </th>
-            </tr>
+              </tr>
             </thead>
             <tbody>
-            <tr
+              <tr
-                v-for="(value, index) in $store.state.ntConnectionInfo.possibleRios"
+                v-for="(value, index) in $store.state.networkInfo.possibleRios"
                 :key="index"
-            >
+              >
-              <td>{{ value }}</td>
+                <td>{{ value }}</td>
-            </tr>
+              </tr>
             </tbody>
           </template>
         </v-simple-table>
@@ -150,7 +161,7 @@ export default {
     },
     computed: {
         inputCols() {
-            return this.$vuetify.breakpoint.smAndUp ? 10 : 7;
+            return this.$vuetify.breakpoint.mdAndUp ? 10 : 7;
         },
         isDHCP() {
             return this.settings.connectionType === 0;

photon-core/build.gradle

@@ -25,7 +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

@@ -14,6 +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/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) {
+        while (!Thread.currentThread().isInterrupted()) {
-            saveRequestTimestamp = -1;
+            if (saveRequestTimestamp > 0 && (System.currentTimeMillis() - saveRequestTimestamp) > 1000L) {
-            logger.debug("Saving to disk...");
+                saveRequestTimestamp = -1;
-            saveToDisk();
+                logger.debug("Saving to disk...");
+                saveToDisk();
+            }
+
+            try {
+                Thread.sleep(1000);
+            } catch (InterruptedException e) {
+                logger.error("Exception waiting for settings semaphor", e);
+            }
         }
     }
+
+    public void unloadCameraConfigs() {
+        this.config.getCameraConfigurations().clear();
+    }
 }

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

@@ -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;

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;

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;

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

@@ -14,22 +14,15 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import java.io.IOException;
-import java.net.InetAddress;
-import java.net.UnknownHostException;
-import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
-import java.util.List;
 import java.util.function.Consumer;
 import org.photonvision.PhotonVersion;
-import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
@@ -86,6 +79,7 @@ public class NetworkTablesManager {
     private void broadcastConnectedStatusImpl() {
         HashMap<String, Object> map = new HashMap<>();
         var subMap = new HashMap<String, Object>();
+
         subMap.put("connected", ntInstance.isConnected());
         if (ntInstance.isConnected()) {
             var connections = getInstance().ntInstance.getConnections();
@@ -98,73 +92,6 @@ public class NetworkTablesManager {
         map.put("ntConnectionInfo", subMap);
         DataChangeService.getInstance()
                 .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
-
-        // Seperate from the above so we don't hold stuff up
-        System.setProperty("java.net.preferIPv4Stack", "true");
-        subMap.put(
-                "deviceips",
-                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
-                        .filter(it -> !it.equals("0.0.0.0"))
-                        .toArray());
-        logger.info("Searching for rios");
-        List<String> possibleRioList = new ArrayList<>();
-        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
-            logger.info("Trying " + ip);
-            var possibleRioAddr = getPossibleRioAddress(ip);
-            if (possibleRioAddr != null) {
-                logger.info("Maybe found " + ip);
-                searchForHost(possibleRioList, possibleRioAddr);
-            } else {
-                logger.info("Didn't match RIO IP");
-            }
-        }
-        String name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.local";
-        searchForHost(possibleRioList, name);
-        name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.lan";
-        searchForHost(possibleRioList, name);
-        name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.frc-field.local";
-        searchForHost(possibleRioList, name);
-        subMap.put("possibleRios", possibleRioList.toArray());
-        DataChangeService.getInstance()
-                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
-    }
-
-    String getPossibleRioAddress(String ip) {
-        try {
-            InetAddress addr = InetAddress.getByName(ip);
-            var address = addr.getAddress();
-            if (address[0] != (byte) (10 & 0xff)) return null;
-            address[3] = (byte) (2 & 0xff);
-            return InetAddress.getByAddress(address).getHostAddress();
-        } catch (UnknownHostException e) {
-            e.printStackTrace();
-        }
-        return null;
-    }
-
-    void searchForHost(List<String> list, String hostname) {
-        try {
-            logger.info("Looking up " + hostname);
-            InetAddress testAddr = InetAddress.getByName(hostname);
-            logger.info("Pinging " + hostname);
-            var canContact = testAddr.isReachable(500);
-            if (canContact) {
-                logger.info("Was able to connect to " + hostname);
-                if (!list.contains(hostname)) list.add(hostname);
-            } else {
-                logger.info("Unable to reach " + hostname);
-            }
-        } catch (IOException ignored) {
-        }
     }
 
     private void broadcastVersion() {

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

@@ -14,6 +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.util.HashMap;

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 {

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.*;

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;

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

@@ -14,13 +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.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 W"),
+    ZERO_2_W("Raspberry Pi Zero 2"),
     PI_3("Pi 3"),
     PI_4("Pi 4"),
     COMPUTE_MODULE_3("Compute Module 3"),

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;

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;

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 {

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;

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;

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.*;

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;

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;

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/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.*;

photon-core/src/main/java/org/photonvision/common/util/TestUtils.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 com.fasterxml.jackson.databind.ObjectMapper;

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

@@ -14,6 +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 java.io.File;

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(

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

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

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

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

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

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

@@ -14,9 +14,12 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.math;
 
 import edu.wpi.first.util.WPIUtilJNI;
+import java.util.Arrays;
+import java.util.List;
 
 public class MathUtils {
     MathUtils() {}
@@ -63,6 +66,58 @@ public class MathUtils {
         return (int) Math.floor(map((double) value, inMin, inMax, outMin, outMax) + 0.5);
     }
 
+    public static long wpiNanoTime() {
+        return microsToNanos(WPIUtilJNI.now());
+    }
+
+    /**
+     * Get the value of the nTh percentile of a list
+     *
+     * @param list The list to evaluate
+     * @param p The percentile, in [0,100]
+     * @return
+     */
+    public static double getPercentile(List<Double> list, double p) {
+        if ((p > 100) || (p <= 0)) {
+            throw new IllegalArgumentException("invalid quantile value: " + p);
+        }
+
+        if (list.size() == 0) {
+            return Double.NaN;
+        }
+        if (list.size() == 1) {
+            return list.get(0); // always return single value for n = 1
+        }
+
+        // Sort array.  We avoid a third copy here by just creating the
+        // list directly.
+        double[] sorted = new double[list.size()];
+        for (int i = 0; i < list.size(); i++) {
+            sorted[i] = list.get(i);
+        }
+        Arrays.sort(sorted);
+
+        return evaluateSorted(sorted, p);
+    }
+
+    private static double evaluateSorted(final double[] sorted, final double p) {
+        double n = sorted.length;
+        double pos = p * (n + 1) / 100;
+        double fpos = Math.floor(pos);
+        int intPos = (int) fpos;
+        double dif = pos - fpos;
+
+        if (pos < 1) {
+            return sorted[0];
+        }
+        if (pos >= n) {
+            return sorted[sorted.length - 1];
+        }
+        double lower = sorted[intPos - 1];
+        double upper = sorted[intPos];
+        return lower + dif * (upper - lower);
+    }
+
     /**
      * Linearly interpolates between two values.
      *
@@ -75,8 +130,4 @@ public class MathUtils {
     public static double lerp(double startValue, double endValue, double t) {
         return startValue + (endValue - startValue) * t;
     }
-
-    public static long wpiNanoTime() {
-        return microsToNanos(WPIUtilJNI.now());
-    }
 }

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

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

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

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

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

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

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

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

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

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.raspi;
 
 import java.io.File;
@@ -85,7 +86,7 @@ public class PicamJNI {
 
     public static boolean isSupported() {
         return libraryLoaded
-                && !isVCSMSupported()
+                && isVCSMSupported()
                 && getSensorModel() != SensorModel.Disconnected
                 && Platform.isRaspberryPi()
                 && (Platform.currentPiVersion == PiVersion.PI_3
@@ -133,12 +134,18 @@ public class PicamJNI {
     public static native void setThresholds(
             double hL, double sL, double vL, double hU, double sU, double vU);
 
+    public static native void setInvertHue(boolean shouldInvert);
+
     public static native boolean setExposure(int exposure);
 
     public static native boolean setBrightness(int brightness);
 
+    // This adjusts the analog gain (normalized to 0-100); ignores the digital gain
     public static native boolean setGain(int gain);
 
+    // Adjusts the auto white balance gains, which are normalized 0-100 in the native code
+    public static native boolean setAwbGain(int red, int blue);
+
     public static native boolean setRotation(int rotation);
 
     public static native void setShouldCopyColor(boolean shouldCopyColor);

photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java

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

photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java

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

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

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

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

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

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

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

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

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

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

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

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

@@ -14,9 +14,11 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.math.Pair;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -83,9 +85,10 @@ public class ZeroCopyPicamSource extends VisionSource {
 
     public static class PicamSettables extends VisionSourceSettables {
         private FPSRatedVideoMode currentVideoMode;
-        private double lastExposure;
+        private double lastExposure = 50;
-        private int lastBrightness;
+        private int lastBrightness = 50;
-        private int lastGain;
+        private int lastGain = 50;
+        private Pair<Integer, Integer> lastAwbGains = new Pair(18, 18);
 
         public PicamSettables(CameraConfiguration configuration) {
             super(configuration);
@@ -117,9 +120,9 @@ public class ZeroCopyPicamSource extends VisionSource {
                 videoModes.put(
                         1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
                 videoModes.put(
-                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 60, 1));
+                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
                 videoModes.put(
-                        3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.92));
+                        3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
                 videoModes.put(
                         4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
             }
@@ -136,21 +139,38 @@ public class ZeroCopyPicamSource extends VisionSource {
         public void setExposure(double exposure) {
             lastExposure = exposure;
             var failure = PicamJNI.setExposure((int) Math.round(exposure));
-            if (failure) logger.warn("Couldn't set Pi camera exposure");
+            if (failure) logger.warn("Couldn't set Pi Camera exposure");
         }
 
         @Override
         public void setBrightness(int brightness) {
             lastBrightness = brightness;
             var failure = PicamJNI.setBrightness(brightness);
-            if (failure) logger.warn("Couldn't set Pi camera brightness");
+            if (failure) logger.warn("Couldn't set Pi Camera brightness");
         }
 
         @Override
         public void setGain(int gain) {
             lastGain = gain;
             var failure = PicamJNI.setGain(gain);
-            if (failure) logger.warn("Couldn't set Pi camera gain");
+            if (failure) logger.warn("Couldn't set Pi Camera gain");
+        }
+
+        @Override
+        public void setRedGain(int red) {
+            lastAwbGains = Pair.of(red, lastAwbGains.getSecond());
+            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
+        }
+
+        @Override
+        public void setBlueGain(int blue) {
+            lastAwbGains = Pair.of(lastAwbGains.getFirst(), blue);
+            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
+        }
+
+        public void setAwbGain(int red, int blue) {
+            var failure = PicamJNI.setAwbGain(red, blue);
+            if (failure) logger.warn("Couldn't set Pi Camera AWB gains");
         }
 
         @Override
@@ -164,17 +184,18 @@ public class ZeroCopyPicamSource extends VisionSource {
             var failure = PicamJNI.destroyCamera();
             if (failure)
                 throw new RuntimeException(
-                        "Couldn't destroy a zero copy Pi camera while switching video modes");
+                        "Couldn't destroy a zero copy Pi Camera while switching video modes");
             failure = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
             if (failure)
                 throw new RuntimeException(
-                        "Couldn't create a zero copy Pi camera while switching video modes");
+                        "Couldn't create a zero copy Pi Camera while switching video modes");
 
             // We don't store last settings on the native side, and when you change video mode these get
             // reset on MMAL's end
             setExposure(lastExposure);
             setBrightness(lastBrightness);
             setGain(lastGain);
+            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
 
             currentVideoMode = mode;
         }