Bump wpilib to beta-3 (#998)

Disable setting first video mode on boot. Resolution is actually set immediately after

.gitattributes

@@ -0,0 +1,37 @@
+# Set default behavior to automatically normalize line endings (LF on check-in).
+* text=auto
+
+# Force batch scripts to always use CRLF line endings so that if a repo is accessed
+# in Windows via a file share from Linux, the scripts will work.
+*.{cmd,[cC][mM][dD]} text eol=crlf
+*.{bat,[bB][aA][tT]} text eol=crlf
+*.{ics,[iI][cC][sS]} text eol=crlf
+
+# Force bash scripts to always use LF line endings so that if a repo is accessed
+# in Unix via a file share from Windows, the scripts will work.
+*.sh text eol=lf
+
+# Ensure Spotless does not try to use CRLF line endings on Windows in the local repo.
+*.gradle text eol=lf
+*.java text eol=lf
+*.json text eol=lf
+*.md text eol=lf
+*.xml text eol=lf
+*.h text eol=lf
+*.hpp text eol=lf
+*.inc text eol=lf
+*.inl text eol=lf
+*.cpp text eol=lf
+
+# Frontend Files
+*.js text eol=lf
+*.vue text eol=lf
+
+# Denote all files that are truly binary and should not be modified.
+*.png binary
+*.jpg binary
+*.jpeg binary
+*.gif binary
+*.so binary
+*.dll binary
+*.webp binary

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,31 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is and what the expected behavior should have been.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Screenshots / Videos**
+If applicable, add screenshots to help explain your problem. Additionally, provide journalctl logs and settings zip export.
+
+**Platform:**
+ - Hardware Platform (ex. Raspberry Pi 4, Windows x64):
+ - Network Configuration (Connection between the Radio and any devices in between, such as a Network Switch):
+ - PhotonVision Version:
+ - Browser (with Version) (Chrome, Edge, Firefox, etc.):
+ - Camera(s) Used:
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/workflows/build.yml

@@ -0,0 +1,324 @@
+name: Build
+
+on:
+  push:
+    branches: [ master ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build-client:
+    name: "PhotonClient Build"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: 18
+      - name: Install Dependencies
+        run: npm ci
+      - name: Build Production Client
+        run: npm run build
+      - uses: actions/upload-artifact@master
+        with:
+          name: built-client
+          path: photon-client/dist/
+  build-examples:
+    name: "Build Examples"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      # Need to publish to maven local first, so that C++ sim can pick it up
+      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
+      - name: Publish photonlib to maven local
+        run: |
+          chmod +x gradlew
+          ./gradlew publishtomavenlocal -x check
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+  build-gradle:
+    name: "Gradle Build"
+    runs-on: ubuntu-22.04
+    steps:
+      # Checkout code.
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - name: Gradle Build
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-server:build photon-lib:build -x check --max-workers 2
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport --max-workers 1
+      - name: Publish Coverage Report
+        uses: codecov/codecov-action@v3
+        with:
+          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v3
+        with:
+          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+  build-offline-docs:
+    name: "Build Offline Docs"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          repository: 'PhotonVision/photonvision-docs.git'
+          ref: master
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.9'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
+          pip install -r requirements.txt
+      - name: Build the docs
+        run: |
+          make html
+      - uses: actions/upload-artifact@master
+        with:
+          name: built-docs
+          path: build/html
+  build-photonlib-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 11
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64
+            architecture: x64
+          - os: macos-12
+            artifact-name: macOS
+            architecture: x64
+          - os: ubuntu-22.04
+            artifact-name: Linux
+
+    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: git fetch --tags --force
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  build-photonlib-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: Athena
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Raspbian
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Aarch64
+
+    runs-on: ubuntu-22.04
+    container: ${{ matrix.container }}
+    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: Config Git
+        run: |
+          git config --global --add safe.directory /__w/photonvision/photonvision
+      - name: Build PhotonLib
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - name: Publish
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  build-package:
+    needs: [build-client, build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            architecture: x64
+            arch-override: none
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+            arch-override: none
+          - os: ubuntu-latest
+            artifact-name: Linux
+            architecture: x64
+            arch-override: none
+          - os: macos-latest
+            artifact-name: macOSArm
+            architecture: x64
+            arch-override: macarm64
+          - os: ubuntu-latest
+            artifact-name: LinuxArm32
+            architecture: x64
+            arch-override: linuxarm32
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            architecture: x64
+            arch-override: linuxarm64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: |
+          rm -rf photon-server/src/main/resources/web/*
+          mkdir -p photon-server/src/main/resources/web/docs
+        if: ${{ (matrix.os) != 'windows-latest' }}
+      - run: |
+          del photon-server\src\main\resources\web\*.*
+          mkdir photon-server\src\main\resources\web\docs
+        if: ${{ (matrix.os) == 'windows-latest' }}
+      - uses: actions/download-artifact@v3
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+      - uses: actions/download-artifact@v3
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
+        if: ${{ (matrix.arch-override != 'none') }}
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2
+        if: ${{ (matrix.arch-override == 'none') }}
+      - uses: actions/upload-artifact@v3
+        with:
+          name: jar-${{ matrix.artifact-name }}
+          path: photon-server/build/libs
+  build-image:
+    needs: [build-package]
+
+    if: ${{ github.event_name != 'pull_request' }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: RaspberryPi
+            image_url: https://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.1.3_arm64
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: limelight2
+            image_url: https://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.2.2_limelight-arm64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build image - ${{ matrix.image_url }}"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - uses: actions/download-artifact@v2
+        with:
+          name: jar-${{ matrix.artifact-name }}
+      - name: Generate image
+        run: |
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+      - uses: actions/upload-artifact@v3
+        name: Upload image
+        with:
+          name: image-${{ matrix.image_suffix }}
+          path: photonvision*.xz
+  release:
+    needs: [build-package, build-image]
+    runs-on: ubuntu-22.04
+    steps:
+      # Download literally every single artifact. This also downloads client and docs,
+      # but the filtering below won't pick these up (I hope)
+      - uses: actions/download-artifact@v2
+      - run: find
+      # Push to dev release
+      - uses: pyTooling/Actions/releaser@r0
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            **/*.xz
+            **/*.jar
+        if: github.event_name == 'push'
+      # Upload all jars and xz archives
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: |
+            **/*.xz
+            **/*.jar
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/lint-format.yml

@@ -0,0 +1,88 @@
+name: Lint and Format
+
+on:
+  push:
+    branches: [ master ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ master ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.8
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v3
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
+  javaformat:
+    name: "Java Formatting"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: |
+          chmod +x gradlew
+          ./gradlew spotlessCheck
+
+  client-lint-format:
+    name: "PhotonClient Lint and Formatting"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: 18
+      - name: Install Dependencies
+        run: npm ci
+      - name: Check Linting
+        run: npm run lint-ci
+      - name: Check Formatting
+        run: npm run format-ci
+  server-index:
+    name: "Check server index.html not changed"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Check index.html not changed
+        run: git --no-pager diff --exit-code origin/master photon-server/src/main/resources/web/index.html

.github/workflows/main.yml

@@ -1,337 +0,0 @@
-# This workflow builds the client (UI), the server, builds the JAR.
-
-name: CI
-
-# Controls when the action will run. Triggers the workflow on push or pull request
-# events but only for the master branch
-on:
-  push:
-    branches: [ master ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  # This job builds the client (web view).
-  photonclient-build:
-
-    # Let all steps run within the photon-client dir.
-    defaults:
-      run:
-        working-directory: photon-client
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    # Grab the docker container.
-    container:
-      image: docker://node:10
-
-    steps:
-    # Checkout code.
-    - uses: actions/checkout@v1
-
-    # Setup Node.js
-    - name: Setup Node.js
-      uses: actions/setup-node@v1
-      with:
-        node-version: 10
-
-    # Run npm
-    - run: |
-        npm ci
-        npm run build --if-present
-
-    # Upload client artifact.
-    - uses: actions/upload-artifact@master
-      with:
-        name: built-client
-        path: photon-client/dist/
-
-  photon-build-all:
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v1
-
-      # Fetch tags.
-      - name: Fetch tags
-        run: git fetch --tags --force
-
-      # Install Java 11.
-      - name: Install Java 11
-        uses: actions/setup-java@v1
-        with:
-          java-version: 11
-
-      # Run Gradle build.
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 1
-
-      # Run Gradle Tests.
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1
-
-      # Generate Coverage Report.
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-
-      # Publish Coverage Report.
-      - name: Publish Server Coverage Report
-        uses: codecov/codecov-action@v1
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v1
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
-
-  photonserver-build-offline-docs:
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout docs.
-      - uses: actions/checkout@v2
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-
-      # Install Python.
-      - uses: actions/setup-python@v2
-        with:
-          python-version: '3.6'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-
-      - name: Check the docs
-        run: |
-          make linkcheck
-          make lint
-
-      - name: Build the docs
-        run: |
-          make html
-
-      # Upload docs artifact.
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
-
-  photonserver-check-lint:
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout code.
-      - uses: actions/checkout@v1
-
-      # Install Java 11.
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-
-      # Check server code with Spotless.
-      - run: |
-          chmod +x gradlew
-          ./gradlew spotlessCheck
-
-
-
-  #  Building photonlib
-  photonlib-build-host:
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 10.14
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-latest
-            artifact-name: Win64
-          - os: macos-latest
-            artifact-name: macOS
-          - os: ubuntu-latest
-            artifact-name: Linux
-
-    runs-on: ${{ matrix.os }}
-    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
-    steps:
-      - uses: actions/checkout@v2.3.4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-      - run: git fetch --tags --force
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      - run: ./gradlew photon-lib:publish photon-targeting:publish
-        name: Publish
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
-
-  photonlib-build-docker:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - container: wpilib/roborio-cross-ubuntu:2022-18.04
-            artifact-name: Athena
-          - container: wpilib/raspbian-cross-ubuntu:10-18.04
-            artifact-name: Raspbian
-          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
-            artifact-name: Aarch64
-
-    runs-on: ubuntu-latest
-    container: ${{ matrix.container }}
-    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
-    steps:
-      - uses: actions/checkout@v2.3.4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:publish
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
-
-  photonlib-wpiformat:
-    name: "wpiformat"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f master origin/master
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v2
-        with:
-          python-version: 3.8
-      - name: Install clang-format
-        run: |
-          sudo sh -c "echo 'deb http://archive.ubuntu.com/ubuntu/ $(lsb_release -cs)-proposed restricted main multiverse universe' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-12
-      - name: Install wpiformat
-        run: pip3 install wpiformat
-      - name: Run
-        run: wpiformat -clang 12
-      - name: Check Output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v2
-        with:
-          name: wpiformat fixes
-          path: wpiformat-fixes.patch
-        if: ${{ failure() }}
-
-  photon-build-package:
-    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs, photonlib-build-host, photonlib-build-docker]
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout code.
-      - uses: actions/checkout@v1
-
-      # Install Java 11.
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-
-      # Clear any existing web resources.
-      - run: |
-          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p photon-server/src/main/resources/web/docs
-
-      # Download client artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-
-      # Download docs artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-
-      # Build fat jar for both pi and everything
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 1
-          ./gradlew photon-server:shadowJar --max-workers 1 -Ppionly
-
-      # The image will only pull the Pi JAR in
-      - name: Generate image
-        if: github.event_name != 'pull_request'
-        run: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh
-
-      # Upload final fat jar as artifact.
-      - uses: actions/upload-artifact@master
-        with:
-          name: jar
-          path: photon-server/build/libs
-      - uses: actions/upload-artifact@master
-        with:
-          name: image
-          path: photonvision*.zip
-
-      - uses: pyTooling/Actions/releaser@r0
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            photon-server/build/libs/*.jar
-            photonvision*.zip
-        if: github.event_name == 'push'
-
-  photon-release:
-    if: startsWith(github.ref, 'refs/tags/v')
-    needs: [photon-build-package]
-    runs-on: ubuntu-latest
-    steps:
-      # This *should* pull in fat and pi-only jars
-      - uses: actions/download-artifact@v2
-        with:
-          name: jar
-
-      # And the image we made previously
-      - uses: actions/download-artifact@v2
-        with:
-          name: image
-
-      # All we've downloaded (ideally) is the fat jar, pi jar, and image. So just upload it all
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: '**/*'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -10,6 +10,8 @@ Python/app/handlers/__pycache__/
 
 \.vscode/
 
+/.vs
+
 backend/settings/
 /.vscode/
 # Compiled class file
@@ -30,6 +32,7 @@ backend/settings/
 *.nar
 *.ear
 *.zip
+*.xz
 *.tar.gz
 *.rar
 
@@ -111,7 +114,6 @@ fabric.properties
 **/.settings
 **/.classpath
 **/.project
-**/settings
 **/dependency-reduced-pom.xml
 # photon-server/photon-vision.iml
 
@@ -142,5 +144,21 @@ build/spotlessJava
 build/*
 build
 photon-lib/src/main/java/org/photonvision/PhotonVersion.java
+photon-lib/bin/main/images/*
 /photonlib-java-examples/bin/
 photon-lib/src/generate/native/include/PhotonVersion.h
+.gitattributes
+lib/*
+photon-server/lib/libapriltag.so
+photon-server/bin/main/nativelibraries/apriltag/*
+photon-server/src/main/resources/nativelibraries/apriltag/*
+
+photonlib-java-examples/*/vendordeps/*
+photonlib-cpp-examples/*/vendordeps/*
+
+*/networktables.json
+*/networktables.json.bck
+photonlib-cpp-examples/*/networktables.json.bck
+photonlib-java-examples/*/networktables.json.bck
+*.sqlite
+photon-server/src/main/resources/web/index.html

.styleguide

@@ -11,8 +11,14 @@ cppSrcFileInclude {
 
 modifiableFileExclude {
   \.jpg$
+  \.jpeg$
   \.png$
+  \.gif$
   \.so$
+  \.dll$
+  \.webp$
+  \.ico$
+  gradlew
 }
 
 includeProject {

README.md

@@ -6,7 +6,7 @@ PhotonVision is the free, fast, and easy-to-use computer vision solution for the
 
 A copy of the latest Raspberry Pi image is available [here](https://github.com/PhotonVision/photon-pi-gen/releases). A copy of the latest standalone JAR is available [here](https://github.com/PhotonVision/photonvision/releases). If you are a Gloworm user you can find the latest Gloworm image [here](https://github.com/gloworm-vision/pi-gen/releases).
 
-If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/other/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
+If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
 
 ## Authors
 
@@ -18,10 +18,48 @@ If you are interested in contributing code or documentation to the project, plea
 
 Note that these are case sensitive!
 
-* `-Ppionly`: only builds for `linuxraspbian`, which reduces JAR size. The JAR name will have "-raspi" appended.
-- `-PtgtIp`: deploys (builds and copies the JAR) to the coprocessor at the specified IP
+* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
+    * linuxathena
+    * linuxarm32
+    * linuxarm64
+    * arm32
+    * arm64
+    * x86-64
+    * x86
+- `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
 
+## Building
+
+Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html?highlight=npm%20install#compiling-instructions).
+
+You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the `photonlib-java-examples` and `photonlib-cpp-examples` subdirectories, respectively. The projects currently available include:
+
+- photonlib-java-examples:
+  - aimandrange:simulateJava
+  - aimattarget:simulateJava
+  - getinrange:simulateJava
+  - simaimandrange:simulateJava
+  - simposeest:simulateJava
+- photonlib-cpp-examples:
+  - aimandrange:simulateNative
+  - getinrange:simulateNative
+
+To run them, use the commands listed below. Photonlib must first be published to your local maven repository, then the `copyPhotonlib` task will copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though unsupported.
+
+```
+~/photonvision$ ./gradlew publishToMavenLocal
+
+~/photonvision$ cd photonlib-java-examples
+~/photonvision/photonlib-java-examples$ ./gradlew copyPhotonlib
+~/photonvision/photonlib-java-examples$ ./gradlew <example-name>:simulateJava
+
+~/photonvision$ cd photonlib-cpp-examples
+~/photonvision/photonlib-cpp-examples$ ./gradlew copyPhotonlib
+~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
+```
+
+
 ## Acknowledgments
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
 

build.gradle

@@ -1,17 +1,15 @@
 plugins {
-    id "com.diffplug.spotless" version "6.1.2"
-    id "com.github.johnrengelman.shadow" version "7.1.2"
-    id "com.github.node-gradle.node" version "3.1.1" apply false
-    id "edu.wpi.first.GradleJni" version "1.0.0"
-    id "edu.wpi.first.GradleVsCode" version "1.1.0"
-    id "edu.wpi.first.NativeUtils" version "2022.8.1" apply false
+    id "com.diffplug.spotless" version "6.22.0"
+    id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "org.hidetake.ssh" version "2.10.1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
 allprojects {
     repositories {
-        jcenter()
+        mavenCentral()
+        mavenLocal()
         maven { url = "https://maven.photonvision.org/repository/internal/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
@@ -22,21 +20,38 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2022.1.1"
-    opencvVersion = "4.5.2-1"
+    wpilibVersion = "2024.1.1-beta-3"
+    openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
+    javalinVersion = "5.6.2"
+    frcYear = "2024"
+
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
 
-
-    jniPlatforms = project.hasProperty('pionly') ? ['linuxraspbian']
-        : ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
-
-    println("Building for archs " + jniPlatforms)
+    // A list, for legacy reasons, with only the current platform contained
+    String nativeName = wpilibTools.platformMapper.currentPlatform.platformName;
+    if (nativeName == "linuxx64") nativeName = "linuxx86-64";
+    if (nativeName == "winx64") nativeName = "windowsx86-64";
+    if (nativeName == "macx64") nativeName = "osxx86-64";
+    if (nativeName == "macarm64") nativeName = "osxarm64";
+    jniPlatform = nativeName
+    println("Building for platform " + jniPlatform)
 }
 
+wpilibTools.deps.wpilibVersion = wpilibVersion
+
+// Tell gradlerio what version of things to use (that we care about)
+// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
+wpi.getVersions().getOpencvVersion().convention(openCVversion);
+wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
+
 spotless {
     java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**', "photon-core\\src\\main\\java\\org\\photonvision\\PhotonVersion.java", "photon-lib\\src\\main\\java\\org\\photonvision\\PhotonVersion.java"
+        }
         toggleOffOn()
         googleJavaFormat()
         indentWithTabs(2)
@@ -45,9 +60,37 @@ spotless {
         trimTrailingWhitespace()
         endWithNewline()
     }
-    java {
-        target "**/*.java"
-        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
-        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'xml', {
+        target fileTree('.') {
+            include '**/*.xml'
+            exclude '**/build/**', '**/build-*/**', "**/.idea/**"
+        }
+        eclipseWtp('xml')
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
     }
 }
+
+wrapper {
+    gradleVersion '8.4'
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists

gradlew

@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,67 +17,99 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
 
-APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
@@ -87,9 +119,9 @@ CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -98,88 +130,120 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
-    # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
-        fi
-        i=`expr $i + 1`
-    done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"

gradlew.bat

@@ -1,89 +1,92 @@
-@rem
-@rem Copyright 2015 the original author or authors.
-@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
-@rem you may not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
-@rem
-@rem      https://www.apache.org/licenses/LICENSE-2.0
-@rem
-@rem Unless required by applicable law or agreed to in writing, software
-@rem distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
-@rem
-
-@if "%DEBUG%" == "" @echo off
-@rem ##########################################################################
-@rem
-@rem  Gradle startup script for Windows
-@rem
-@rem ##########################################################################
-
-@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal
-
-set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
-set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
-
-@rem Resolve any "." and ".." in APP_HOME to make it shorter.
-for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
-
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
-
-@rem Find java.exe
-if defined JAVA_HOME goto findJavaFromJavaHome
-
-set JAVA_EXE=java.exe
-%JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
-
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:findJavaFromJavaHome
-set JAVA_HOME=%JAVA_HOME:"=%
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-
-if exist "%JAVA_EXE%" goto execute
-
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:execute
-@rem Setup the command line
-
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-
-
-@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
-
-:end
-@rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
-
-:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

photon-client/.browserslistrc

@@ -1,2 +0,0 @@
-> 1%
-last 2 versions

photon-client/.eslintrc.js

@@ -1,17 +0,0 @@
-module.exports = {
-  root: true,
-  env: {
-    node: true
-  },
-  'extends': [
-    'plugin:vue/recommended',
-    'eslint:recommended'
-  ],
-  rules: {
-    'no-console': 'off',
-    'no-debugger': process.env.NODE_ENV === 'production' ? 'error' : 'off'
-  },
-  parserOptions: {
-    parser: 'babel-eslint'
-  }
-};

photon-client/.eslintrc.json

@@ -0,0 +1,21 @@
+{
+  "root": true,
+  "extends": [
+    "plugin:vue/vue3-recommended",
+    "eslint:recommended",
+    "@vue/eslint-config-typescript",
+    "@vue/eslint-config-prettier/skip-formatting"
+  ],
+  "rules": {
+    "quotes": ["error", "double"],
+    "comma-dangle": ["error", "never"],
+    "comma-spacing": ["error", { "before": false, "after": true }],
+    "semi": ["error", "always"],
+    "eol-last": "error",
+    "object-curly-spacing": ["error", "always"],
+    "quote-props": ["error", "as-needed"],
+    "no-case-declarations": "off",
+    "vue/require-default-prop": "off",
+    "vue/v-on-event-hyphenation": "off"
+  }
+}

photon-client/.gitignore

@@ -1,21 +1,28 @@
-.DS_Store
-node_modules
-/dist
-
-# local env files
-.env.local
-.env.*.local
-
-# Log files
+# Logs
+logs
+*.log
 npm-debug.log*
 yarn-debug.log*
 yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
+node_modules
+.DS_Store
+dist
+dist-ssr
+*.local
+
+/cypress/videos/
+/cypress/screenshots/
 
 # Editor directories and files
-.idea
 .vscode
+!.vscode/extensions.json
+.idea
 *.suo
 *.ntvs*
 *.njsproj
 *.sln
 *.sw?
+components.d.ts

photon-client/.prettierignore

@@ -0,0 +1 @@
+src/assets/fonts/PromptRegular.ts

photon-client/.prettierrc.json

@@ -0,0 +1,8 @@
+{
+  "$schema": "https://json.schemastore.org/prettierrc",
+  "semi": true,
+  "tabWidth": 2,
+  "singleQuote": false,
+  "printWidth": 120,
+  "trailingComma": "none"
+}

photon-client/README.md

@@ -1,37 +0,0 @@
-# PhotonVision Client UI
-
-## Install Node.js
-
-Follow [this](https://nodejs.org/en/) link.
-
-## Project setup
-Run this one time, this command downloades the packages the UI uses and it might take a short while
-
-```
-npm install
-```
-
-### Compiles and hot-reloads for development
-Run this every development session, this command auto-builds the UI after every change you make
-
-```
-npm run serve
-```
-
-### Compiles and minifies for production
-```
-npm run build
-```
-
-### Run your tests
-```
-npm run test
-```
-
-### Lints and fixes files
-```
-npm run lint
-```
-
-### Customize configuration
-See Node.js' [Configuration Reference](https://cli.vuejs.org/config/).

photon-client/babel.config.js

@@ -1,5 +0,0 @@
-module.exports = {
-  presets: [
-    '@vue/app'
-  ]
-};

photon-client/env.d.ts

@@ -0,0 +1 @@
+/// <reference types="vite/client" />

photon-client/index.html

@@ -0,0 +1,13 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <link rel="icon" href="/favicon.ico" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Photon Client</title>
+  </head>
+  <body>
+    <div id="app"></div>
+    <script type="module" src="/src/main.ts"></script>
+  </body>
+</html>

photon-client/package.json

@@ -1,41 +1,47 @@
 {
-  "name": "photon-client",
-  "version": "3.0.0",
+  "name": "photonclient",
+  "version": "0.0.0",
   "private": true,
   "scripts": {
-    "serve": "vue-cli-service serve",
-    "build": "vue-cli-service build",
-    "lint": "vue-cli-service lint"
+    "dev": "vite",
+    "build": "run-p build-only",
+    "preview": "vite preview --port 4173",
+    "build-only": "vite build",
+    "lint": "eslint . --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore",
+    "format": "prettier --write src/",
+    "lint-ci": "eslint . --max-warnings 0 --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore",
+    "format-ci": "prettier --check src/"
   },
   "dependencies": {
-    "@femessage/log-viewer": "^1.4.2",
-    "@vue/eslint-config-prettier": "^6.0.0",
-    "axios": "^0.19.2",
-    "core-js": "^2.6.11",
-    "downloadjs": "^1.4.7",
-    "jspdf": "^2.4.0",
-    "material-design-icons-iconfont": "^5.0.1",
-    "msgpack5": "^4.2.1",
-    "vue": "^2.6.12",
-    "vue-axios": "^2.1.5",
-    "vue-native-websocket": "git+https://github.com/PhotonVision/vue-native-websocket.git#7a32791",
-    "vue-router": "^3.4.3",
-    "vuetify": "^2.3.10",
-    "vuex": "^3.5.1"
+    "@fontsource/prompt": "^5.0.5",
+    "@mdi/font": "^7.2.96",
+    "@msgpack/msgpack": "^3.0.0-beta2",
+    "axios": "^1.4.0",
+    "jspdf": "^2.5.1",
+    "pinia": "^2.1.4",
+    "three": "^0.154.0",
+    "vue": "^2.7.14",
+    "vue-router": "^3.6.5",
+    "vuetify": "^2.6.15"
   },
   "devDependencies": {
-    "@mdi/font": "^4.9.95",
-    "@vue/cli-plugin-babel": "^3.12.1",
-    "@vue/cli-plugin-eslint": "^4.5.4",
-    "@vue/cli-service": "^4.5.4",
-    "babel-eslint": "^10.1.0",
-    "eslint": "^5.16.0",
-    "eslint-plugin-vue": "^5.0.0",
-    "papaparse": "^5.3.0",
-    "sass": "^1.26.10",
-    "sass-loader": "^7.1.0",
-    "vue-cli-plugin-vuetify": "^0.6.3",
-    "vue-template-compiler": "^2.6.12",
-    "vuetify-loader": "^1.6.0"
+    "@rushstack/eslint-patch": "^1.3.2",
+    "@vue/eslint-config-prettier": "^8.0.0",
+    "@vue/eslint-config-typescript": "^11.0.3",
+    "prettier": "^3.0.0",
+    "@types/node": "^16.11.45",
+    "@types/three": "^0.154.0",
+    "@vitejs/plugin-vue2": "^2.2.0",
+    "@vue/tsconfig": "^0.1.3",
+    "deepmerge": "^4.3.1",
+    "eslint": "^8.45.0",
+    "eslint-plugin-vue": "^9.0.0",
+    "npm-run-all": "^4.1.5",
+    "sass": "~1.32",
+    "sass-loader": "^13.3.2",
+    "terser": "^5.14.2",
+    "typescript": "~4.7.4",
+    "unplugin-vue-components": "^0.25.1",
+    "vite": "^4.3.9"
   }
 }

photon-client/postcss.config.js

@@ -1,5 +0,0 @@
-module.exports = {
-  plugins: {
-    autoprefixer: {}
-  }
-};

photon-client/public/index.html

@@ -1,20 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-
-<head>
-    <meta charset="utf-8">
-    <meta http-equiv="X-UA-Compatible" content="IE=edge">
-    <meta name="viewport" content="width=device-width,initial-scale=1.0">
-    <link rel="icon" href="<%= BASE_URL %>favicon.png">
-    <title>PhotonVision</title>
-</head>
-
-<body>
-    <noscript>
-      <strong>We're sorry but PhotonVision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong>
-    </noscript>
-    <div id="app"></div>
-    <!-- built files will be auto injected -->
-</body>
-
-</html>

photon-client/src/App.vue

@@ -1,429 +1,85 @@
+<script setup lang="ts">
+import { useStateStore } from "@/stores/StateStore";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { AutoReconnectingWebsocket } from "@/lib/AutoReconnectingWebsocket";
+import { inject } from "vue";
+import PhotonSidebar from "@/components/app/photon-sidebar.vue";
+import PhotonLogView from "@/components/app/photon-log-view.vue";
+import PhotonErrorSnackbar from "@/components/app/photon-error-snackbar.vue";
+
+const websocket = new AutoReconnectingWebsocket(
+  `ws://${inject("backendHost")}/websocket_data`,
+  () => {
+    useStateStore().$patch({ backendConnected: true });
+  },
+  (data) => {
+    if (data.log !== undefined) {
+      useStateStore().addLogFromWebsocket(data.log);
+    }
+    if (data.settings !== undefined) {
+      useSettingsStore().updateGeneralSettingsFromWebsocket(data.settings);
+    }
+    if (data.cameraSettings !== undefined) {
+      useCameraSettingsStore().updateCameraSettingsFromWebsocket(data.cameraSettings);
+    }
+    if (data.ntConnectionInfo !== undefined) {
+      useStateStore().updateNTConnectionStatusFromWebsocket(data.ntConnectionInfo);
+    }
+    if (data.metrics !== undefined) {
+      useSettingsStore().updateMetricsFromWebsocket(data.metrics);
+    }
+    if (data.updatePipelineResult !== undefined) {
+      useStateStore().updateBackendResultsFromWebsocket(data.updatePipelineResult);
+    }
+    if (data.mutatePipelineSettings !== undefined && data.cameraIndex !== undefined) {
+      useCameraSettingsStore().changePipelineSettingsInStore(data.mutatePipelineSettings, data.cameraIndex);
+    }
+    if (data.calibrationData !== undefined) {
+      useStateStore().updateCalibrationStateValuesFromWebsocket(data.calibrationData);
+    }
+  },
+  () => {
+    useStateStore().$patch({ backendConnected: false });
+  }
+);
+
+useStateStore().$patch({ websocket: websocket });
+</script>
+
 <template>
   <v-app>
-    <!-- Although most of the app runs with the "light" theme, the navigation drawer needs to have white text and icons so it uses the dark theme-->
-    <v-navigation-drawer
-      dark
-      app
-      permanent
-      :mini-variant="compact"
-      color="primary"
-    >
-      <v-list>
-        <!-- List item for the heading; note that there are some tricks in setting padding and image width make things look right -->
-        <v-list-item :class="compact ? 'pr-0 pl-0' : ''">
-          <v-list-item-icon class="mr-0">
-            <img
-              v-if="!compact"
-              class="logo"
-              src="./assets/logoLarge.png"
-            >
-            <img
-              v-else
-              class="logo"
-              src="./assets/logoSmall.png"
-            >
-          </v-list-item-icon>
-        </v-list-item>
-
-        <v-list-item
-          link
-          to="dashboard"
-          @click="rollbackPipelineIndex()"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-view-dashboard</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Dashboard</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          ref="camerasTabOpener"
-          link
-          to="cameras"
-          @click="switchToDriverMode()"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-camera</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Cameras</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          link
-          to="settings"
-          @click="switchToSettingsTab()"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-settings</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Settings</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          link
-          to="docs"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-bookshelf</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Documentation</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          v-if="this.$vuetify.breakpoint.mdAndUp"
-          link
-          @click.stop="toggleCompactMode"
-        >
-          <v-list-item-icon>
-            <v-icon v-if="compact">
-              mdi-chevron-right
-            </v-icon>
-            <v-icon v-else>
-              mdi-chevron-left
-            </v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Compact Mode</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-
-        <div style="position: absolute; bottom: 0; left: 0;">
-          <v-list-item>
-            <v-list-item-icon>
-              <v-icon v-if="$store.state.settings.networkSettings.runNTServer">
-                mdi-server
-              </v-icon>
-              <img
-                v-else-if="$store.state.ntConnectionInfo.connected"
-                src="@/assets/robot.svg"
-                alt=""
-              >
-              <img
-                v-else
-                class="pulse"
-                style="border-radius: 100%"
-                src="@/assets/robot-off.svg"
-                alt=""
-              >
-            </v-list-item-icon>
-            <v-list-item-content>
-              <v-list-item-title
-                v-if="$store.state.settings.networkSettings.runNTServer"
-                class="text-wrap"
-              >
-                NetworkTables server running for {{ $store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero' }} clients!
-              </v-list-item-title>
-              <v-list-item-title
-                v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected"
-                class="text-wrap"
-              >
-                Robot connected! {{ $store.state.ntConnectionInfo.address }}
-              </v-list-item-title>
-              <v-list-item-title
-                v-else
-                class="text-wrap"
-              >
-                Not connected to robot!
-              </v-list-item-title>
-              <router-link
-                v-if="!$store.state.settings.networkSettings.runNTServer"
-                to="settings"
-                class="accent--text"
-                @click="switchToSettingsTab"
-              >
-                Team number is {{ $store.state.settings.networkSettings.teamNumber }}
-              </router-link>
-            </v-list-item-content>
-          </v-list-item>
-
-          <v-list-item>
-            <v-list-item-icon>
-              <v-icon v-if="$store.state.backendConnected">
-                mdi-wifi
-              </v-icon>
-              <v-icon
-                v-else
-                class="pulse"
-                style="border-radius: 100%;"
-              >
-                mdi-wifi-off
-              </v-icon>
-            </v-list-item-icon>
-            <v-list-item-content>
-              <v-list-item-title class="text-wrap">
-                {{ $store.state.backendConnected ? "Backend Connected" : "Trying to connect..." }}
-              </v-list-item-title>
-            </v-list-item-content>
-          </v-list-item>
-        </div>
-      </v-list>
-    </v-navigation-drawer>
+    <photon-sidebar />
     <v-main>
-      <v-container
-        fluid
-        fill-height
-      >
+      <v-container class="main-container" fluid fill-height>
         <v-layout>
           <v-flex>
-            <router-view @switch-to-cameras="switchToDriverMode" />
+            <router-view />
           </v-flex>
         </v-layout>
       </v-container>
     </v-main>
 
-    <v-dialog
-      v-model="$store.state.logsOverlay"
-      width="1500"
-      dark
-    >
-      <logs />
-    </v-dialog>
-    <v-dialog
-      v-model="needsTeamNumberSet"
-      width="500"
-      dark
-      persistent
-    >
-      <v-card
-        dark
-        color="primary"
-        flat
-      >
-        <v-card-title>No team number set!</v-card-title>
-        <v-card-text>
-          PhotonVision cannot connect to your robot! Please
-          <router-link
-            to="settings"
-            class="accent--text"
-            @click="switchToSettingsTab"
-          >
-            vist the settings tab
-          </router-link>
-          and set your team number.
-        </v-card-text>
-      </v-card>
-    </v-dialog>
+    <photon-log-view />
+    <photon-error-snackbar />
   </v-app>
 </template>
 
-<script>
-import Logs from "./views/LogsView"
-// import {mapState} from "vuex";
-
-export default {
-        name: 'App',
-        components: {
-            Logs
-        },
-        data: () => ({
-            // Used so that we can switch back to the previously selected pipeline after camera calibration
-            previouslySelectedIndices: [],
-            timer: undefined,
-            teamNumberDialog: true
-        }),
-        computed: {
-            needsTeamNumberSet: {
-              get() {
-                return this.$store.state.settings.networkSettings.teamNumber < 1
-                    && this.teamNumberDialog && this.$store.state.backendConnected
-                    && !this.$route.name.toLowerCase().includes("settings");
-              }
-            },
-            compact: {
-                get() {
-                    if (this.$store.state.compactMode === undefined) {
-                        return this.$vuetify.breakpoint.smAndDown;
-                    } else {
-                        return this.$store.state.compactMode || this.$vuetify.breakpoint.smAndDown;
-                    }
-                },
-                set(value) {
-                    // compactMode is the user's preference for compact mode; it overrides screen size
-                    this.$store.commit("compactMode", value);
-                    localStorage.setItem("compactMode", value);
-                },
-            },
-        },
-        created() {
-            document.addEventListener("keydown", e => {
-                switch (e.key) {
-                    case "`":
-                        this.$store.state.logsOverlay = !this.$store.state.logsOverlay;
-                        break;
-                    case "z":
-                        if (e.ctrlKey && this.$store.getters.canUndo) {
-                            this.$store.dispatch('undo', {vm: this});
-                        }
-                        break;
-                    case "y":
-                        if (e.ctrlKey && this.$store.getters.canRedo) {
-                            this.$store.dispatch('redo', {vm: this});
-                        }
-                        break;
-
-                }
-            });
-
-            this.$options.sockets.onmessage = (data) => {
-                try {
-                    let message = this.$msgPack.decode(data.data);
-                    for (let prop in message) {
-                        if (message.hasOwnProperty(prop)) {
-                            this.handleMessage(prop, message[prop]);
-                        }
-                    }
-                } catch (error) {
-                    console.error('error: ' + JSON.stringify(data.data) + " , " + error);
-                }
-            };
-            this.$options.sockets.onopen = () => {
-                this.$store.commit("backendConnected", true)
-                this.$store.state.connectedCallbacks.forEach(it => it())
-            };
-
-            let closed = () => {
-              this.$store.commit("backendConnected", false)
-            };
-            this.$options.sockets.onclose = closed;
-            this.$options.sockets.onerror = closed;
-
-            this.$connect();
-        },
-        methods: {
-            handleMessage(key, value) {
-                if (key === "logMessage") {
-                    this.logMessage(value["logMessage"], value["logLevel"]);
-                } else if(key === "log"){
-                    this.logMessage(value["logMessage"]["logMessage"], value["logMessage"]["logLevel"]);
-                } else if (key === "updatePipelineResult") {
-                    this.$store.commit('mutatePipelineResults', value)
-                } else if (this.$store.state.hasOwnProperty(key)) {
-                    this.$store.commit(key, value);
-                } else if (this.$store.getters.currentPipelineSettings.hasOwnProperty(key)) {
-                    this.$store.commit('mutatePipeline', {[key]: value});
-                } else if (this.$store.state.settings.hasOwnProperty(key)) {
-                    this.$store.commit('mutateSettings', {[key]: value});
-                } else {
-                    switch (key) {
-                        default: {
-                            console.error("Unknown message from backend: " + value);
-                        }
-                    }
-                }
-            },
-            toggleCompactMode() {
-                this.compact = !this.compact;
-            },
-            // eslint-disable-next-line no-unused-vars
-            logMessage(message, levelInt) {
-                this.$store.commit('logString', {
-                    ['level']: levelInt,
-                    ['message']: message
-                })
-            },
-            switchToDriverMode() {
-                if (!this.previouslySelectedIndices) this.previouslySelectedIndices = [];
-
-                for (const [i, cameraSettings] of this.$store.state.cameraSettings.entries()) {
-                  this.previouslySelectedIndices[i] = cameraSettings.currentPipelineIndex;
-                  this.handleInputWithIndex('currentPipeline', -1, i);
-                }
-            },
-            rollbackPipelineIndex()
-            {
-              if (this.previouslySelectedIndices !== null) {
-                for (const [i] of this.$store.state.cameraSettings.entries()) {
-                  this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndices[i] || 0, i);
-                }
-              }
-              this.previouslySelectedIndices = null;
-            },
-            switchToSettingsTab() {
-                this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
-            }
-        }
-    };
-</script>
-
-<style lang="sass">
-    @import "./scss/variables.scss"
-</style>
-
-<style>
-    .pulse {
-        animation: pulse-animation 2s infinite;
-    }
-
-    @keyframes pulse-animation {
-        0% {
-            box-shadow: 0 0 0 0px rgba(0, 0, 0, 0.2);
-            background-color: rgba(0, 0, 0, 0.2);
-        }
-        100% {
-            box-shadow: 0 0 0 20px rgba(0, 0, 0, 0);
-            background-color: rgba(0, 0, 0, 0);
-        }
-    }
-
-    .logo {
-        width: 100%;
-        height: 70px;
-        object-fit: contain;
-    }
-
-    ::-webkit-scrollbar {
-        width: 0.5em;
-        border-radius: 5px;
-    }
-
-    ::-webkit-scrollbar-track {
-        -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
-        border-radius: 10px;
-    }
-
-
-    ::-webkit-scrollbar-thumb {
-        background-color: #ffd843;
-        border-radius: 10px;
-    }
-
-    .container {
-        background-color: #232c37;
-        padding: 0 !important;
-    }
-
-    #title {
-        color: #ffd843;
-    }
-</style>
-
-<style>
-  /* Hacks */
-
-  .v-divider {
-    border-color: white !important;
-  }
-
-  .v-input {
-      font-size: 1rem !important;
-  }
-
-  /* This is unfortunately the only way to override table background color */
-  .theme--dark.v-data-table > .v-data-table__wrapper > table > tbody > tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
-    background: #005281 !important;
-  }
-</style>
-
 <style lang="scss">
-    @import '~vuetify/src/styles/settings/_variables';
+@import "vuetify/src/styles/settings/_variables";
 
-    @media #{map-get($display-breakpoints, 'md-and-down')} {
-        html {
-            font-size: 14px !important;
-        }
-    }
+@media #{map-get($display-breakpoints, 'md-and-down')} {
+  html {
+    font-size: 14px !important;
+  }
+}
+
+.main-container {
+  background-color: #232c37;
+  padding: 0 !important;
+}
+
+#title {
+  color: #ffd843;
+}
 </style>

photon-client/src/assets/eyedropper.svg

@@ -1,68 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   version="1.1"
-   width="24"
-   height="24"
-   viewBox="0 0 24 24"
-   id="svg865"
-   sodipodi:docname="eyedropper.svg"
-   inkscape:version="0.92.4 (unknown)">
-  <metadata
-     id="metadata871">
-    <rdf:RDF>
-      <cc:Work
-         rdf:about="">
-        <dc:format>image/svg+xml</dc:format>
-        <dc:type
-           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-      </cc:Work>
-    </rdf:RDF>
-  </metadata>
-  <defs
-     id="defs869" />
-  <sodipodi:namedview
-     pagecolor="#ffffff"
-     bordercolor="#666666"
-     borderopacity="1"
-     objecttolerance="10"
-     gridtolerance="10"
-     guidetolerance="10"
-     inkscape:pageopacity="0"
-     inkscape:pageshadow="2"
-     inkscape:window-width="1916"
-     inkscape:window-height="1040"
-     id="namedview867"
-     showgrid="false"
-     inkscape:zoom="35.541667"
-     inkscape:cx="12.112544"
-     inkscape:cy="10.171169"
-     inkscape:window-x="0"
-     inkscape:window-y="1458"
-     inkscape:window-maximized="0"
-     inkscape:current-layer="svg865" />
-  <g
-     id="g905"
-     inkscape:export-xdpi="77.2733"
-     inkscape:export-ydpi="77.2733">
-    <path
-       inkscape:connector-curvature="0"
-       id="path863"
-       d="m 12.28,19.4725 -2.13,-2.13 1.42,-1.41 -7.71,-7.71 -1.86,-4.6 1.5,-1.5 4.6,1.86 7.71,7.71 1.41,-1.42 2.13,2.13 -7.07,7.07 m 8.72,-2.59 c 1.17,1.17 1.17,3.07 0,4.24 -1.17,1.17 -3.07,1.17 -4.24,0 l -1.92,-1.92 4.24,-4.24 1.92,1.92 m -14.03,-11.2 -2.47,-1.06 1.06,2.47 7.44,7.43 1.4,-1.4 z" />
-    <path
-       inkscape:export-ydpi="161.91951"
-       inkscape:export-xdpi="161.91951"
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-       id="path889"
-       style="fill:#ffffff;stroke-width:21.16535378;stroke-miterlimit:4;stroke-dasharray:none"
-       inkscape:original="M 3.5 2.1230469 L 2 3.6230469 L 3.859375 8.2226562 L 11.570312 15.931641 L 10.150391 17.341797 L 12.279297 19.472656 L 19.349609 12.402344 L 17.220703 10.273438 L 15.810547 11.693359 L 8.0996094 3.9824219 L 3.5 2.1230469 z M 4.5 4.6230469 L 6.9707031 5.6816406 L 14.400391 13.123047 L 13 14.523438 L 5.5605469 7.0917969 L 4.5 4.6230469 z M 19.080078 14.962891 L 14.839844 19.203125 L 16.759766 21.123047 C 17.929766 22.293047 19.83 22.293047 21 21.123047 C 22.17 19.953047 22.17 18.052813 21 16.882812 L 19.080078 14.962891 z "
-       inkscape:radius="-0.41779816"
-       sodipodi:type="inkscape:offset" />
-  </g>
-</svg>

photon-client/src/assets/images/loading.svg

@@ -0,0 +1,40 @@
+<svg xmlns="http://www.w3.org/2000/svg" style="margin: auto; background: rgb(255, 216, 68); display: block;"
+     width="600px" height="412px" viewBox="0 0 100 100" preserveAspectRatio="xMidYMid">
+<circle cx="75" cy="50" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.9166666666666666s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.9166666666666666s"></animate>
+</circle><circle cx="71.65063509461098" cy="62.5" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.8333333333333334s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.8333333333333334s"></animate>
+</circle><circle cx="62.5" cy="71.65063509461096" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.75s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.75s"></animate>
+</circle><circle cx="50" cy="75" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.6666666666666666s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.6666666666666666s"></animate>
+</circle><circle cx="37.50000000000001" cy="71.65063509461098" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.5833333333333334s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.5833333333333334s"></animate>
+</circle><circle cx="28.34936490538903" cy="62.5" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.5s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.5s"></animate>
+</circle><circle cx="25" cy="50" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.4166666666666667s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.4166666666666667s"></animate>
+</circle><circle cx="28.34936490538903" cy="37.50000000000001" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.3333333333333333s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.3333333333333333s"></animate>
+</circle><circle cx="37.499999999999986" cy="28.349364905389038" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.25s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.25s"></animate>
+</circle><circle cx="49.99999999999999" cy="25" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.16666666666666666s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.16666666666666666s"></animate>
+</circle><circle cx="62.5" cy="28.349364905389034" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.08333333333333333s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.08333333333333333s"></animate>
+</circle><circle cx="71.65063509461096" cy="37.499999999999986" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="0s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="0s"></animate>
+</circle>
+</svg>

photon-client/src/assets/images/logoLarge.svg

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg width="100%" height="100%" viewBox="0 0 1920 680" version="1.1" xmlns="http://www.w3.org/2000/svg"
+     xml:space="preserve"
+     style="fill-rule:evenodd;clip-rule:evenodd;stroke-linejoin:round;stroke-miterlimit:2;">
+    <g transform="matrix(1,0,0,1,-1986,-1146)">
+        <g id="PhotonVision-Header-noBG" transform="matrix(1,0,0,0.62963,-0.666667,1146)">
+            <rect x="1986.67" y="0" width="1920" height="1080" style="fill:none;"/>
+            <g transform="matrix(1.87463,0,0,2.97735,-2372.42,-4617.27)">
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+            </g>
+            <g transform="matrix(1.47838,0,0,2.34801,-955.236,-8562.95)">
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+            </g>
+            <g transform="matrix(1.47838,0,0,2.34801,-955.236,-3103.7)">
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+        </g>
+    </g>
+</svg>

photon-client/src/assets/images/logoSmall.svg

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg width="100%" height="100%" viewBox="0 0 508 507" version="1.1" xmlns="http://www.w3.org/2000/svg"
+     xml:space="preserve"
+     style="fill-rule:evenodd;clip-rule:evenodd;stroke-linejoin:round;stroke-miterlimit:2;">
+    <g transform="matrix(1,0,0,1,-1279,0)">
+        <g id="PhotonVision-Icon-BG" transform="matrix(0.264062,0,0,0.469444,1279.5,0)">
+            <rect x="0" y="0" width="1920" height="1080" style="fill:none;"/>
+            <clipPath id="_clip1">
+                <rect x="0" y="0" width="1920" height="1080"/>
+            </clipPath>
+            <g clip-path="url(#_clip1)">
+                <g transform="matrix(4.27015,0,0,2.40196,-20444.8,-3235.56)">
+                    <circle cx="5012.55" cy="1571.77" r="224.918" style="fill:rgb(0,100,146);"/>
+                </g>
+                <g transform="matrix(4.95901,0,0,2.78944,-13955,-10313.5)">
+                    <path d="M3055.09,3977.51C3050.3,3984.25 3045,3990.56 3039.21,3996.35C2987.91,4047.65 2917.1,4038.77 2881.16,3976.54C2845.23,3914.3 2857.71,3822.13 2909.01,3770.83C2960.31,3719.53 3031.13,3728.41 3067.06,3790.64C3069.85,3795.48 3072.35,3800.49 3074.56,3805.67L3039.78,3811.64C3012.82,3769.64 2962.9,3764.58 2926.45,3801.04C2888.89,3838.59 2879.76,3906.07 2906.07,3951.63C2932.37,3997.19 2984.22,4003.69 3021.77,3966.14L3021.89,3966.01L3055.09,3977.51ZM3085.02,3841.47C3090.86,3875.56 3086.6,3912.35 3073.22,3944.57L3043.91,3934.42C3056.74,3907.59 3060.53,3875.54 3054.13,3846.78L3085.02,3841.47Z" style="fill:white;"/>
+                </g>
+                <g transform="matrix(4.95901,0,0,2.78944,-13955,-3827.86)">
+                    <path d="M2906.78,1571.77L3111.02,1642.48L3116.61,1626.34L3147.2,1664.74L3099.42,1675.99L3105,1659.86L2910.03,1592.35C2908.25,1585.69 2907.18,1578.77 2906.78,1571.77ZM2917.45,1517.07L3114.77,1483.17L3111.88,1466.34L3157.2,1485.21L3120.78,1518.13L3117.88,1501.3L2910.22,1536.97C2911.99,1530.09 2914.41,1523.4 2917.45,1517.07Z" style="fill:rgb(255,216,67);"/>
+                </g>
+            </g>
+        </g>
+    </g>
+</svg>

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

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photon-client/src/assets/robot.svg

@@ -1 +0,0 @@
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photon-client/src/assets/styles/variables.scss

@@ -0,0 +1,9 @@
+@import "@fontsource/prompt";
+
+$default-font: "Prompt", sans-serif !default;
+$body-font-family: $default-font;
+$heading-font-family: $default-font;
+
+.v-application {
+  font-family: $default-font !important;
+}

photon-client/src/components/app/photon-3d-visualizer.vue

@@ -0,0 +1,206 @@
+<script setup lang="ts">
+import type { PhotonTarget } from "@/types/PhotonTrackingTypes";
+import { onBeforeUnmount, onMounted, watchEffect } from "vue";
+import {
+  ArrowHelper,
+  BoxGeometry,
+  Color,
+  ConeGeometry,
+  Mesh,
+  MeshNormalMaterial,
+  type Object3D,
+  PerspectiveCamera,
+  Quaternion,
+  Scene,
+  Vector3,
+  WebGLRenderer
+} from "three";
+import { TrackballControls } from "three/examples/jsm/controls/TrackballControls";
+
+const props = defineProps<{
+  targets: PhotonTarget[];
+}>();
+
+let scene: Scene | undefined;
+let camera: PerspectiveCamera | undefined;
+let renderer: WebGLRenderer | undefined;
+let controls: TrackballControls | undefined;
+
+let previousTargets: Object3D[] = [];
+const drawTargets = (targets: PhotonTarget[]) => {
+  // Check here, since if we check in watchEffect this never gets called
+  if (scene === undefined || camera === undefined || renderer === undefined || controls === undefined) {
+    return;
+  }
+
+  scene.remove(...previousTargets);
+  previousTargets = [];
+
+  targets.forEach((target) => {
+    if (target.pose === undefined) return;
+
+    const geometry = new BoxGeometry(0.3 / 5, 0.2, 0.2);
+    const material = new MeshNormalMaterial();
+
+    const quaternion = new Quaternion(target.pose.qx, target.pose.qy, target.pose.qz, target.pose.qw);
+
+    const cube = new Mesh(geometry, material);
+    cube.position.set(target.pose.x, target.pose.y, target.pose.z);
+    cube.rotation.setFromQuaternion(quaternion);
+    previousTargets.push(cube);
+
+    let arrow = new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0xff0000, 0.1, 0.1);
+    arrow.rotation.setFromQuaternion(quaternion);
+    arrow.rotateZ(-Math.PI / 2);
+    arrow.position.set(target.pose.x, target.pose.y, target.pose.z);
+    previousTargets.push(arrow);
+
+    arrow = new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0x00ff00, 0.1, 0.1);
+    arrow.rotation.setFromQuaternion(quaternion);
+    arrow.position.set(target.pose.x, target.pose.y, target.pose.z);
+    previousTargets.push(arrow);
+
+    arrow = new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0x0000ff, 0.1, 0.1);
+    arrow.setRotationFromQuaternion(quaternion);
+    arrow.rotateX(Math.PI / 2);
+    arrow.position.set(target.pose.x, target.pose.y, target.pose.z);
+    previousTargets.push(arrow);
+  });
+
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+const onWindowResize = () => {
+  const container = document.getElementById("container");
+  const canvas = document.getElementById("view");
+
+  if (container === null || canvas === null || camera === undefined || renderer === undefined) {
+    return;
+  }
+
+  canvas.style.width = container.clientWidth * 0.75 + "px";
+  canvas.style.height = container.clientWidth * 0.35 + "px";
+  camera.aspect = canvas.clientWidth / canvas.clientHeight;
+  camera.updateProjectionMatrix();
+  renderer.setSize(canvas.clientWidth, canvas.clientHeight);
+};
+const resetCamFirstPerson = () => {
+  if (scene === undefined || camera === undefined || controls === undefined) {
+    return;
+  }
+
+  controls.reset();
+  camera.position.set(0.2, 0, 0);
+  camera.up.set(0, 0, 1);
+  controls.target.set(4.0, 0.0, 0.0);
+  controls.update();
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+const resetCamThirdPerson = () => {
+  if (scene === undefined || camera === undefined || controls === undefined) {
+    return;
+  }
+
+  controls.reset();
+  camera.position.set(-1.39, -1.09, 1.17);
+  camera.up.set(0, 0, 1);
+  controls.target.set(4.0, 0.0, 0.0);
+  controls.update();
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+
+onMounted(() => {
+  scene = new Scene();
+  camera = new PerspectiveCamera(75, 800 / 800, 0.1, 1000);
+
+  const canvas = document.getElementById("view");
+  if (canvas === null) return;
+  renderer = new WebGLRenderer({ canvas: canvas });
+
+  scene.background = new Color(0xa9a9a9);
+
+  onWindowResize();
+  window.addEventListener("resize", onWindowResize);
+
+  const referenceFrameCues: Object3D[] = [];
+  referenceFrameCues.push(
+    new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0xff0000, 0.1, 0.1)
+  );
+  referenceFrameCues.push(
+    new ArrowHelper(new Vector3(0, 1, 0).normalize(), new Vector3(0, 0, 0), 1, 0x00ff00, 0.1, 0.1)
+  );
+  referenceFrameCues.push(
+    new ArrowHelper(new Vector3(0, 0, 1).normalize(), new Vector3(0, 0, 0), 1, 0x0000ff, 0.1, 0.1)
+  );
+
+  // Draw the Camera Body
+  const camSize = 0.2;
+  const camBodyGeometry = new BoxGeometry(camSize, camSize, camSize);
+  const camLensGeometry = new ConeGeometry(camSize * 0.4, camSize * 0.8, 30);
+  const camMaterial = new MeshNormalMaterial();
+  const camBody = new Mesh(camBodyGeometry, camMaterial);
+  const camLens = new Mesh(camLensGeometry, camMaterial);
+  camBody.position.set(0, 0, 0);
+  camLens.rotateZ(Math.PI / 2);
+  camLens.position.set(camSize * 0.8, 0, 0);
+  referenceFrameCues.push(camBody);
+  referenceFrameCues.push(camLens);
+
+  controls = new TrackballControls(camera, renderer.domElement);
+  controls.rotateSpeed = 1.0;
+  controls.zoomSpeed = 1.2;
+  controls.panSpeed = 0.8;
+  controls.noZoom = false;
+  controls.noPan = false;
+  controls.staticMoving = true;
+  controls.dynamicDampingFactor = 0.3;
+
+  scene.add(...referenceFrameCues);
+  resetCamThirdPerson();
+
+  controls.update();
+
+  const animate = () => {
+    if (scene === undefined || camera === undefined || renderer === undefined || controls === undefined) {
+      return;
+    }
+
+    requestAnimationFrame(animate);
+
+    controls.update();
+    renderer.render(scene, camera);
+  };
+
+  drawTargets(props.targets);
+  animate();
+});
+onBeforeUnmount(() => {
+  window.removeEventListener("resize", onWindowResize);
+});
+watchEffect(() => {
+  drawTargets(props.targets);
+});
+</script>
+
+<template>
+  <div id="container" style="width: 100%">
+    <v-row>
+      <v-col align-self="stretch" style="display: flex; justify-content: center">
+        <canvas id="view" />
+      </v-col>
+    </v-row>
+    <v-row style="margin-bottom: 24px">
+      <v-col style="display: flex; justify-content: center">
+        <v-btn color="secondary" @click="resetCamFirstPerson"> First Person </v-btn>
+      </v-col>
+      <v-col style="display: flex; justify-content: center">
+        <v-btn color="secondary" @click="resetCamThirdPerson"> Third Person </v-btn>
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/app/photon-camera-stream.vue

@@ -0,0 +1,94 @@
+<script setup lang="ts">
+import { computed, inject } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import loadingImage from "@/assets/images/loading.svg";
+import type { StyleValue } from "vue/types/jsx";
+import PvIcon from "@/components/common/pv-icon.vue";
+
+const props = defineProps<{
+  streamType: "Raw" | "Processed";
+  id?: string;
+}>();
+
+const streamSrc = computed<string>(() => {
+  const port =
+    useCameraSettingsStore().currentCameraSettings.stream[props.streamType === "Raw" ? "inputPort" : "outputPort"];
+
+  if (!useStateStore().backendConnected || port === 0) {
+    return loadingImage;
+  }
+
+  return `http://${inject("backendHostname")}:${port}/stream.mjpg`;
+});
+const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
+const streamStyle = computed<StyleValue>(() => {
+  if (useStateStore().colorPickingMode) {
+    return { width: "100%", cursor: "crosshair" };
+  } else if (streamSrc.value !== loadingImage) {
+    return { width: "100%", cursor: "pointer" };
+  }
+
+  return { width: "100%" };
+});
+
+const overlayStyle = computed<StyleValue>(() => {
+  if (useStateStore().colorPickingMode || streamSrc.value == loadingImage) {
+    return { display: "none" };
+  } else {
+    return {};
+  }
+});
+
+const handleStreamClick = () => {
+  if (!useStateStore().colorPickingMode && streamSrc.value !== loadingImage) {
+    window.open(streamSrc.value);
+  }
+};
+const handleCaptureClick = () => {
+  if (props.streamType === "Raw") {
+    useCameraSettingsStore().saveInputSnapshot();
+  } else {
+    useCameraSettingsStore().saveOutputSnapshot();
+  }
+};
+</script>
+
+<template>
+  <div class="stream-container">
+    <img
+      :id="id"
+      crossorigin="anonymous"
+      :src="streamSrc"
+      :alt="streamDesc"
+      :style="streamStyle"
+      @click="handleStreamClick"
+    />
+    <div class="stream-overlay" :style="overlayStyle">
+      <pv-icon
+        icon-name="mdi-camera-image"
+        tooltip="Capture and save a frame of this stream"
+        class="ma-1 mr-2"
+        @click="handleCaptureClick"
+      />
+    </div>
+  </div>
+</template>
+
+<style scoped>
+.stream-container {
+  position: relative;
+}
+
+.stream-overlay {
+  opacity: 0;
+  transition: 0.1s ease;
+  position: absolute;
+  top: 0;
+  right: 0;
+}
+
+.stream-container:hover .stream-overlay {
+  opacity: 1;
+}
+</style>

photon-client/src/components/app/photon-error-snackbar.vue

@@ -0,0 +1,16 @@
+<script setup lang="ts">
+import { useStateStore } from "@/stores/StateStore";
+</script>
+
+<template>
+  <v-snackbar
+    v-model="useStateStore().snackbarData.show"
+    top
+    :color="useStateStore().snackbarData.color"
+    :timeout="useStateStore().snackbarData.timeout"
+  >
+    <p style="padding: 0; margin: 0; text-align: center">
+      {{ useStateStore().snackbarData.message }}
+    </p>
+  </v-snackbar>
+</template>

photon-client/src/components/app/photon-log-view.vue

@@ -0,0 +1,105 @@
+<script setup lang="ts">
+import { computed, inject, ref } from "vue";
+import { LogLevel, type LogMessage } from "@/types/SettingTypes";
+import { useStateStore } from "@/stores/StateStore";
+
+const selectedLogLevels = ref<LogLevel[]>([LogLevel.ERROR, LogLevel.WARN, LogLevel.INFO]);
+
+const logs = computed<LogMessage[]>(() =>
+  useStateStore().logMessages.filter((message) => selectedLogLevels.value.includes(message.level))
+);
+
+const backendHost = inject<string>("backendHost");
+
+const getLogColor = (level: LogLevel): string => {
+  switch (level) {
+    case LogLevel.ERROR:
+      return "red";
+    case LogLevel.WARN:
+      return "yellow";
+    case LogLevel.INFO:
+      return "green";
+    case LogLevel.DEBUG:
+      return "white";
+  }
+  return "";
+};
+
+const getLogLevelFromIndex = (index: number): string => {
+  return LogLevel[index];
+};
+
+const exportLogFile = ref();
+
+const handleLogExport = () => {
+  exportLogFile.value.click();
+};
+
+document.addEventListener("keydown", (e) => {
+  switch (e.key) {
+    case "`":
+      useStateStore().$patch((state) => (state.showLogModal = !state.showLogModal));
+      break;
+  }
+});
+</script>
+
+<template>
+  <v-dialog v-model="useStateStore().showLogModal" width="1500" dark>
+    <v-card dark class="pt-3" color="primary" flat>
+      <v-card-title>
+        View Program Logs
+        <v-btn color="secondary" style="margin-left: auto" depressed @click="handleLogExport">
+          <v-icon left> mdi-download </v-icon>
+          Download Current Log
+
+          <!-- Special hidden link that gets 'clicked' when the user exports journalctl logs -->
+          <a
+            ref="exportLogFile"
+            style="color: black; text-decoration: none; display: none"
+            :href="`http://${backendHost}/api/utils/photonvision-journalctl.txt`"
+            download="photonvision-journalctl.txt"
+            target="_blank"
+          />
+        </v-btn>
+      </v-card-title>
+
+      <div class="pr-6 pl-6">
+        <v-btn-toggle v-model="selectedLogLevels" dark multiple class="fill mb-4">
+          <v-btn v-for="level in [0, 1, 2, 3]" :key="level" color="secondary" class="fill">
+            {{ getLogLevelFromIndex(level) }}
+          </v-btn>
+        </v-btn-toggle>
+        <v-card-text v-if="logs.length === 0" style="font-size: 18px; font-weight: 600">
+          There are no logs to show
+        </v-card-text>
+        <v-virtual-scroll v-else :items="logs" item-height="50" height="600">
+          <template #default="{ item }">
+            <div :class="[getLogColor(item.level) + '--text', 'log-item']">
+              {{ item.message }}
+            </div>
+          </template>
+        </v-virtual-scroll>
+      </div>
+
+      <v-divider />
+
+      <v-card-actions>
+        <v-spacer />
+        <v-btn color="white" text @click="() => (useStateStore().showLogModal = false)"> Close </v-btn>
+      </v-card-actions>
+    </v-card>
+  </v-dialog>
+</template>
+
+<style scoped>
+.v-btn-toggle.fill {
+  width: 100%;
+  height: 100%;
+}
+
+.v-btn-toggle.fill > .v-btn {
+  width: 25%;
+  height: 100%;
+}
+</style>

photon-client/src/components/app/photon-sidebar.vue

@@ -0,0 +1,122 @@
+<script setup lang="ts">
+import { computed, getCurrentInstance } from "vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+
+const compact = computed<boolean>({
+  get: () => {
+    return useStateStore().sidebarFolded;
+  },
+  set: (val) => {
+    useStateStore().setSidebarFolded(val);
+  }
+});
+
+// Vuetify2 doesn't yet support the useDisplay API so this is required to access the prop when using the Composition API
+const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndUp || false);
+</script>
+
+<template>
+  <v-navigation-drawer dark app permanent :mini-variant="compact || !mdAndUp" color="primary">
+    <v-list>
+      <!-- List item for the heading; note that there are some tricks in setting padding and image width make things look right -->
+      <v-list-item :class="compact || !mdAndUp ? 'pr-0 pl-0' : ''" style="display: flex; justify-content: center">
+        <v-list-item-icon class="mr-0">
+          <img v-if="!(compact || !mdAndUp)" class="logo" src="@/assets/images/logoLarge.svg" alt="large logo" />
+          <img v-else class="logo" src="@/assets/images/logoSmall.svg" alt="small logo" />
+        </v-list-item-icon>
+      </v-list-item>
+
+      <v-list-item link to="/dashboard">
+        <v-list-item-icon>
+          <v-icon>mdi-view-dashboard</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Dashboard</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item ref="camerasTabOpener" link to="/cameras">
+        <v-list-item-icon>
+          <v-icon>mdi-camera</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Cameras</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item link to="/settings">
+        <v-list-item-icon>
+          <v-icon>mdi-cog</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Settings</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item link to="/docs">
+        <v-list-item-icon>
+          <v-icon>mdi-bookshelf</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Documentation</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item v-if="mdAndUp" link @click="() => (compact = !compact)">
+        <v-list-item-icon>
+          <v-icon v-if="compact || !mdAndUp"> mdi-chevron-right </v-icon>
+          <v-icon v-else> mdi-chevron-left </v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <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="useSettingsStore().network.runNTServer"> mdi-server </v-icon>
+            <v-icon v-else-if="useStateStore().ntConnectionStatus.connected"> mdi-robot </v-icon>
+            <v-icon v-else style="border-radius: 100%"> mdi-robot-off </v-icon>
+          </v-list-item-icon>
+          <v-list-item-content>
+            <v-list-item-title v-if="useSettingsStore().network.runNTServer" class="text-wrap">
+              NetworkTables server running for
+              <span class="accent--text">{{ useStateStore().ntConnectionStatus.clients || 0 }}</span> clients
+            </v-list-item-title>
+            <v-list-item-title
+              v-else-if="useStateStore().ntConnectionStatus.connected && useStateStore().backendConnected"
+              class="text-wrap"
+              style="flex-direction: column; display: flex"
+            >
+              NetworkTables Server Connected!
+              <span class="accent--text">
+                {{ useStateStore().ntConnectionStatus.address }}
+              </span>
+            </v-list-item-title>
+            <v-list-item-title v-else class="text-wrap" style="flex-direction: column; display: flex">
+              Not connected to NetworkTables Server!
+            </v-list-item-title>
+          </v-list-item-content>
+        </v-list-item>
+
+        <v-list-item>
+          <v-list-item-icon>
+            <v-icon v-if="useStateStore().backendConnected"> mdi-server-network </v-icon>
+            <v-icon v-else style="border-radius: 100%"> mdi-server-network-off </v-icon>
+          </v-list-item-icon>
+          <v-list-item-content>
+            <v-list-item-title class="text-wrap">
+              {{ useStateStore().backendConnected ? "Backend connected" : "Trying to connect to backend" }}
+            </v-list-item-title>
+          </v-list-item-content>
+        </v-list-item>
+      </div>
+    </v-list>
+  </v-navigation-drawer>
+</template>
+
+<style scoped>
+.logo {
+  width: 100%;
+  height: 70px;
+  object-fit: contain;
+}
+</style>

photon-client/src/components/cameras/CameraCalibrationCard.vue

@@ -0,0 +1,512 @@
+<script setup lang="ts">
+import { computed, ref } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { CalibrationBoardTypes, type Resolution, type VideoFormat } from "@/types/SettingTypes";
+import JsPDF from "jspdf";
+import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
+import MonoLogo from "@/assets/images/logoMono.png";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { useStateStore } from "@/stores/StateStore";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import PvNumberInput from "@/components/common/pv-number-input.vue";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+
+const settingsValid = ref(true);
+
+const getCalibrationCoeffs = (resolution: Resolution) => {
+  return useCameraSettingsStore().currentCameraSettings.completeCalibrations.find(
+    (cal) => cal.resolution.width === resolution.width && cal.resolution.height === resolution.height
+  );
+};
+const getUniqueVideoResolutions = (): VideoFormat[] => {
+  const uniqueResolutions: VideoFormat[] = [];
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format, index) => {
+    if (
+      !uniqueResolutions.some(
+        (v) => v.resolution.width === format.resolution.width && v.resolution.height === format.resolution.height
+      )
+    ) {
+      format.index = index;
+
+      const calib = getCalibrationCoeffs(format.resolution);
+      if (calib !== undefined) {
+        format.standardDeviation = calib.standardDeviation;
+        format.mean = calib.perViewErrors.reduce((a, b) => a + b) / calib.perViewErrors.length;
+        format.horizontalFOV = 2 * Math.atan2(format.resolution.width / 2, calib.intrinsics[0]) * (180 / Math.PI);
+        format.verticalFOV = 2 * Math.atan2(format.resolution.height / 2, calib.intrinsics[4]) * (180 / Math.PI);
+        format.diagonalFOV =
+          2 *
+          Math.atan2(
+            Math.sqrt(
+              format.resolution.width ** 2 +
+                (format.resolution.height / (calib.intrinsics[4] / calib.intrinsics[0])) ** 2
+            ) / 2,
+            calib.intrinsics[0]
+          ) *
+          (180 / Math.PI);
+      }
+      uniqueResolutions.push(format);
+    }
+  });
+  uniqueResolutions.sort(
+    (a, b) => b.resolution.width + b.resolution.height - (a.resolution.width + a.resolution.height)
+  );
+  return uniqueResolutions;
+};
+const getUniqueVideoResolutionStrings = () =>
+  getUniqueVideoResolutions().map<{ name: string; value: number }>((f) => ({
+    name: `${f.resolution.width} X ${f.resolution.height}`,
+    // Index won't ever be undefined
+    value: f.index || 0
+  }));
+const calibrationDivisors = computed(() =>
+  [1, 2, 4].filter((v) => {
+    const currentRes = useCameraSettingsStore().currentVideoFormat.resolution;
+    return (currentRes.width / v >= 300 && currentRes.height / v >= 220) || v === 1;
+  })
+);
+
+const squareSizeIn = ref(1);
+const patternWidth = ref(8);
+const patternHeight = ref(8);
+const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Chessboard);
+
+const downloadCalibBoard = () => {
+  const doc = new JsPDF({ unit: "in", format: "letter" });
+
+  doc.addFileToVFS("Prompt-Regular.tff", PromptRegular);
+  doc.addFont("Prompt-Regular.tff", "Prompt-Regular", "normal");
+  doc.setFont("Prompt-Regular");
+  doc.setFontSize(12);
+
+  const paperWidth = 8.5;
+  const paperHeight = 11.0;
+
+  switch (boardType.value) {
+    case CalibrationBoardTypes.Chessboard:
+      // eslint-disable-next-line no-case-declarations
+      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn.value) / 2;
+      // eslint-disable-next-line no-case-declarations
+      const chessboardStartY = (paperHeight - patternWidth.value * squareSizeIn.value) / 2;
+
+      for (let squareY = 0; squareY < patternHeight.value; squareY++) {
+        for (let squareX = 0; squareX < patternWidth.value; squareX++) {
+          const xPos = chessboardStartX + squareX * squareSizeIn.value;
+          const yPos = chessboardStartY + squareY * squareSizeIn.value;
+
+          // Only draw the odd squares to create the chessboard pattern
+          if ((xPos + yPos + 0.25) % 2 === 0) {
+            doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
+          }
+        }
+      }
+      break;
+    case CalibrationBoardTypes.DotBoard:
+      // eslint-disable-next-line no-case-declarations
+      const dotgridStartX =
+        (paperWidth - (2 * (patternWidth.value - 1) + ((patternHeight.value - 1) % 2)) * squareSizeIn.value) / 2.0;
+      // eslint-disable-next-line no-case-declarations
+      const dotgridStartY = (paperHeight - (patternHeight.value - squareSizeIn.value)) / 2;
+
+      for (let squareY = 0; squareY < patternHeight.value; squareY++) {
+        for (let squareX = 0; squareX < patternWidth.value; squareX++) {
+          const xPos = dotgridStartX + (2 * squareX + (squareY % 2)) * squareSizeIn.value;
+          const yPos = dotgridStartY + squareY * squareSizeIn.value;
+
+          doc.circle(xPos, yPos, squareSizeIn.value / 4, "F");
+        }
+      }
+      break;
+  }
+
+  // Draw ruler pattern
+  const lineStartX = 1.0;
+  const lineEndX = paperWidth - lineStartX;
+  const lineY = paperHeight - 1.0;
+
+  doc.setLineWidth(0.01);
+  doc.line(lineStartX, lineY, lineEndX, lineY);
+
+  for (let tickX = lineStartX; tickX <= lineEndX; tickX++) {
+    doc.line(tickX, lineY, tickX, lineY + 0.25);
+    doc.text(`${tickX - 1}${tickX - 1 === 0 ? " in" : ""}`, tickX + 0.1, lineY + 0.25);
+  }
+
+  // Add branding
+  const logoImage = new Image();
+  logoImage.src = MonoLogo;
+  doc.addImage(logoImage, "PNG", 1.0, 0.75, 1.4, 0.5);
+
+  doc.text(`${patternWidth.value} x ${patternHeight.value} | ${squareSizeIn.value}in`, paperWidth - 1, 1.0, {
+    maxWidth: (paperWidth - 2.0) / 2,
+    align: "right"
+  });
+
+  doc.save(`calibrationTarget-${CalibrationBoardTypes[boardType.value]}.pdf`);
+};
+
+const importCalibrationFromCalibDB = ref();
+const openCalibUploadPrompt = () => {
+  importCalibrationFromCalibDB.value.click();
+};
+const readImportedCalibration = (payload: Event) => {
+  if (payload.target == null || !payload.target?.files) return;
+  const files: FileList = payload.target.files as FileList;
+
+  files[0].text().then((text) => {
+    useCameraSettingsStore()
+      .importCalibDB({ payload: text, filename: files[0].name })
+      .then((response) => {
+        useStateStore().showSnackbarMessage({
+          message: response.data.text || response.data,
+          color: response.status === 200 ? "success" : "error"
+        });
+      })
+      .catch((err) => {
+        if (err.request) {
+          useStateStore().showSnackbarMessage({
+            message: "Error while uploading calibration file! The backend didn't respond to the upload attempt.",
+            color: "error"
+          });
+        } else {
+          useStateStore().showSnackbarMessage({
+            message: "Error while uploading calibration file!",
+            color: "error"
+          });
+        }
+      });
+  });
+};
+
+const isCalibrating = ref(false);
+const startCalibration = () => {
+  useCameraSettingsStore().startPnPCalibration({
+    squareSizeIn: squareSizeIn.value,
+    patternHeight: patternHeight.value,
+    patternWidth: patternWidth.value,
+    boardType: boardType.value
+  });
+  // The Start PnP method already handles updating the backend so only a store update is required
+  useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
+  isCalibrating.value = true;
+  calibCanceled.value = false;
+};
+const showCalibEndDialog = ref(false);
+const calibCanceled = ref(false);
+const calibSuccess = ref<boolean | undefined>(undefined);
+const endCalibration = () => {
+  if (!useStateStore().calibrationData.hasEnoughImages) {
+    calibCanceled.value = true;
+  }
+
+  showCalibEndDialog.value = true;
+  // Check if calibration finished cleanly or was canceled
+  useCameraSettingsStore()
+    .endPnPCalibration()
+    .then(() => {
+      calibSuccess.value = true;
+    })
+    .catch(() => {
+      calibSuccess.value = false;
+    })
+    .finally(() => {
+      isCalibrating.value = false;
+    });
+};
+</script>
+
+<template>
+  <div>
+    <v-card class="pr-6 pb-3" color="primary" dark>
+      <v-card-title>Camera Calibration</v-card-title>
+      <div class="ml-5">
+        <v-row>
+          <v-col cols="12" md="6">
+            <v-form ref="form" v-model="settingsValid">
+              <pv-select
+                v-model="useStateStore().calibrationData.videoFormatIndex"
+                label="Resolution"
+                :select-cols="7"
+                :disabled="isCalibrating"
+                tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
+                :items="getUniqueVideoResolutionStrings()"
+              />
+              <pv-select
+                v-show="isCalibrating"
+                v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
+                label="Decimation"
+                tooltip="Resolution to which camera frames are downscaled for detection. Calibration still uses full-res"
+                :items="calibrationDivisors"
+                :select-cols="7"
+                @input="
+                  (v) => useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: v }, false)
+                "
+              />
+              <pv-select
+                v-model="boardType"
+                label="Board Type"
+                tooltip="Calibration board pattern to use"
+                :select-cols="7"
+                :items="['Chessboard', 'Dotboard']"
+                :disabled="isCalibrating"
+              />
+              <pv-number-input
+                v-model="squareSizeIn"
+                label="Pattern Spacing (in)"
+                tooltip="Spacing between pattern features in inches"
+                :disabled="isCalibrating"
+                :rules="[(v) => v > 0 || 'Size must be positive']"
+                :label-cols="5"
+              />
+              <pv-number-input
+                v-model="patternWidth"
+                label="Board Width (in)"
+                tooltip="Width of the board in dots or chessboard squares"
+                :disabled="isCalibrating"
+                :rules="[(v) => v >= 4 || 'Width must be at least 4']"
+                :label-cols="5"
+              />
+              <pv-number-input
+                v-model="patternHeight"
+                label="Board Height (in)"
+                tooltip="Height of the board in dots or chessboard squares"
+                :disabled="isCalibrating"
+                :rules="[(v) => v >= 4 || 'Height must be at least 4']"
+                :label-cols="5"
+              />
+            </v-form>
+          </v-col>
+          <v-col cols="12" md="6">
+            <v-row align="start" class="pb-4 pt-2">
+              <v-simple-table fixed-header height="100%" dense>
+                <thead>
+                  <tr>
+                    <th>Resolution</th>
+                    <th>Mean Error</th>
+                    <th>Standard Deviation</th>
+                    <th>Horizontal FOV</th>
+                    <th>Vertical FOV</th>
+                    <th>Diagonal FOV</th>
+                  </tr>
+                </thead>
+                <tbody>
+                  <tr v-for="(value, index) in getUniqueVideoResolutions()" :key="index">
+                    <td>{{ value.resolution.width }} X {{ value.resolution.height }}</td>
+                    <td>{{ value.mean !== undefined ? value.mean.toFixed(2) + "px" : "-" }}</td>
+                    <td>
+                      {{ value.standardDeviation !== undefined ? value.standardDeviation.toFixed(2) + "px" : "-" }}
+                    </td>
+                    <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
+                    <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
+                    <td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
+                  </tr>
+                </tbody>
+              </v-simple-table>
+            </v-row>
+            <v-row justify="center">
+              <v-chip
+                v-show="isCalibrating"
+                label
+                :color="useStateStore().calibrationData.hasEnoughImages ? 'secondary' : 'gray'"
+              >
+                Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
+                {{ useStateStore().calibrationData.minimumImageCount }}
+              </v-chip>
+            </v-row>
+          </v-col>
+        </v-row>
+        <v-row v-if="isCalibrating">
+          <v-col cols="12" class="pt-0">
+            <pv-slider
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+              :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
+              label="Exposure"
+              tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
+              :min="0"
+              :max="100"
+              :slider-cols="8"
+              :step="0.1"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+            />
+            <pv-slider
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
+              label="Brightness"
+              :min="0"
+              :max="100"
+              :slider-cols="8"
+              @input="
+                (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBrightness: args }, false)
+              "
+            />
+            <pv-switch
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraAutoExposure"
+              class="pt-2"
+              label="Auto Exposure"
+              :label-cols="4"
+              tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+              @input="
+                (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraAutoExposure: args }, false)
+              "
+            />
+            <pv-slider
+              v-if="useCameraSettingsStore().currentPipelineSettings.cameraGain >= 0"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraGain"
+              label="Camera Gain"
+              tooltip="Controls camera gain, similar to brightness"
+              :min="0"
+              :max="100"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraGain: args }, false)"
+            />
+            <pv-slider
+              v-if="useCameraSettingsStore().currentPipelineSettings.cameraRedGain !== -1"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraRedGain"
+              label="Red AWB Gain"
+              :min="0"
+              :max="100"
+              tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraRedGain: args }, false)"
+            />
+            <pv-slider
+              v-if="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain !== -1"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain"
+              label="Blue AWB Gain"
+              :min="0"
+              :max="100"
+              tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)"
+            />
+          </v-col>
+        </v-row>
+        <v-row>
+          <v-col :cols="6">
+            <v-btn
+              small
+              color="secondary"
+              style="width: 100%"
+              :disabled="!settingsValid"
+              @click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
+            >
+              {{ isCalibrating ? "Take Snapshot" : "Start Calibration" }}
+            </v-btn>
+          </v-col>
+          <v-col :cols="6">
+            <v-btn
+              small
+              :color="useStateStore().calibrationData.hasEnoughImages ? 'accent' : 'red'"
+              :class="useStateStore().calibrationData.hasEnoughImages ? 'black--text' : 'white---text'"
+              style="width: 100%"
+              :disabled="!isCalibrating || !settingsValid"
+              @click="endCalibration"
+            >
+              {{ useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration" }}
+            </v-btn>
+          </v-col>
+        </v-row>
+        <v-row>
+          <v-col :cols="6">
+            <v-btn
+              color="accent"
+              small
+              outlined
+              style="width: 100%"
+              :disabled="!settingsValid"
+              @click="downloadCalibBoard"
+            >
+              <v-icon left> mdi-download </v-icon>
+              Generate Board
+            </v-btn>
+          </v-col>
+          <v-col :cols="6">
+            <v-btn color="secondary" :disabled="isCalibrating" small style="width: 100%" @click="openCalibUploadPrompt">
+              <v-icon left> mdi-upload </v-icon>
+              Import From CalibDB
+            </v-btn>
+            <input
+              ref="importCalibrationFromCalibDB"
+              type="file"
+              accept=".json"
+              style="display: none"
+              @change="readImportedCalibration"
+            />
+          </v-col>
+        </v-row>
+      </div>
+    </v-card>
+    <v-dialog v-model="showCalibEndDialog" width="500px" :persistent="true">
+      <v-card color="primary" dark>
+        <v-card-title class="pb-8"> Camera Calibration </v-card-title>
+        <div class="ml-3">
+          <v-col style="text-align: center">
+            <template v-if="calibCanceled">
+              <v-icon color="blue" size="70"> mdi-cancel </v-icon>
+              <v-card-text
+                >Camera Calibration has been Canceled, the backend is attempting to cleanly cancel the calibration
+                process.</v-card-text
+              >
+            </template>
+            <template v-else-if="isCalibrating">
+              <v-progress-circular indeterminate :size="70" :width="8" color="accent" />
+              <v-card-text>Camera is being calibrated. This process may take several minutes...</v-card-text>
+            </template>
+            <template v-else-if="calibSuccess">
+              <v-icon color="green" size="70"> mdi-check-bold </v-icon>
+              <v-card-text>
+                Camera has been successfully calibrated for
+                {{
+                  getUniqueVideoResolutionStrings().find(
+                    (v) => v.value === useStateStore().calibrationData.videoFormatIndex
+                  ).name
+                }}!
+              </v-card-text>
+            </template>
+            <template v-else>
+              <v-icon color="red" size="70"> mdi-close </v-icon>
+              <v-card-text
+                >Camera calibration failed! Make sure that the photos are taken such that the rainbow grid circles align
+                with the corners of the chessboard, and try again. More information is available in the program
+                logs.</v-card-text
+              >
+            </template>
+          </v-col>
+        </div>
+        <v-card-actions>
+          <v-spacer />
+          <v-btn v-if="!isCalibrating" color="white" text @click="showCalibEndDialog = false"> OK </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+  </div>
+</template>
+
+<style scoped lang="scss">
+.v-data-table {
+  text-align: center;
+
+  th,
+  td {
+    background-color: #006492 !important;
+    font-size: 1rem !important;
+  }
+
+  tbody :hover td {
+    background-color: #005281 !important;
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+</style>

photon-client/src/components/cameras/CameraSettingsCard.vue

@@ -0,0 +1,86 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import PvNumberInput from "@/components/common/pv-number-input.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import { ref, watchEffect } from "vue";
+
+const currentFov = ref();
+
+const saveCameraSettings = () => {
+  useCameraSettingsStore()
+    .updateCameraSettings({ fov: currentFov.value }, false)
+    .then((response) => {
+      useCameraSettingsStore().currentCameraSettings.fov.value = currentFov.value;
+      useStateStore().showSnackbarMessage({
+        color: "success",
+        message: response.data.text || response.data
+      });
+    })
+    .catch((error) => {
+      currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+
+watchEffect(() => {
+  currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
+});
+</script>
+
+<template>
+  <v-card class="mb-3 pr-6 pb-3" color="primary" dark>
+    <v-card-title>Camera Settings</v-card-title>
+    <div class="ml-5">
+      <pv-select
+        v-model="useStateStore().currentCameraIndex"
+        label="Camera"
+        :items="useCameraSettingsStore().cameraNames"
+        :select-cols="8"
+        @input="
+          (args) => {
+            currentFov = useCameraSettingsStore().cameras[args].fov.value;
+            useCameraSettingsStore().setCurrentCameraIndex(args);
+          }
+        "
+      />
+      <pv-number-input
+        v-model="currentFov"
+        :tooltip="
+          !useCameraSettingsStore().currentCameraSettings.fov.managedByVendor
+            ? 'Field of view (in degrees) of the camera measured across the diagonal of the frame, in a video mode which covers the whole sensor area.'
+            : 'This setting is managed by a vendor'
+        "
+        label="Maximum Diagonal FOV"
+        :disabled="useCameraSettingsStore().currentCameraSettings.fov.managedByVendor"
+        :label-cols="4"
+      />
+      <br />
+      <v-btn
+        style="margin-top: 10px"
+        small
+        color="secondary"
+        :disabled="currentFov === useCameraSettingsStore().currentCameraSettings.fov.value"
+        @click="saveCameraSettings"
+      >
+        <v-icon left> mdi-content-save </v-icon>
+        Save Changes
+      </v-btn>
+    </div>
+  </v-card>
+</template>

photon-client/src/components/cameras/CamerasView.vue

@@ -0,0 +1,149 @@
+<script setup lang="ts">
+import PhotonCameraStream from "@/components/app/photon-camera-stream.vue";
+import { computed } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import { useStateStore } from "@/stores/StateStore";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+
+const props = defineProps<{
+  // TODO fully update v-model usage in custom components on Vue3 update
+  value: number[];
+}>();
+
+const emit = defineEmits<{
+  (e: "input", value: number[]): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+const driverMode = computed<boolean>({
+  get: () => useCameraSettingsStore().isDriverMode,
+  set: (v) =>
+    useCameraSettingsStore().changeCurrentPipelineIndex(
+      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      true
+    )
+});
+
+const fpsTooLow = computed<boolean>(() => {
+  const currFPS = useStateStore().currentPipelineResults?.fps || 0;
+  const targetFPS = useCameraSettingsStore().currentVideoFormat.fps;
+  const driverMode = useCameraSettingsStore().isDriverMode;
+  const gpuAccel = useSettingsStore().general.gpuAcceleration !== undefined;
+  const isReflective = useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective;
+
+  return currFPS - targetFPS < -5 && currFPS !== 0 && !driverMode && gpuAccel && isReflective;
+});
+</script>
+
+<template>
+  <v-card class="mb-3 pb-3 pa-4" color="primary" dark>
+    <v-card-title
+      class="pb-0 mb-2 pl-4 pt-1"
+      style="min-height: 50px; justify-content: space-between; align-content: center"
+    >
+      <div style="display: flex; flex-wrap: wrap">
+        <div>
+          <span class="mr-4" style="white-space: nowrap"> Cameras </span>
+        </div>
+        <div>
+          <v-chip
+            label
+            :color="fpsTooLow ? 'error' : 'transparent'"
+            :text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
+            style="font-size: 1rem; padding: 0; margin: 0"
+          >
+            <span class="pr-1">
+              {{ Math.round(useStateStore().currentPipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
+              {{ Math.min(Math.round(useStateStore().currentPipelineResults?.latency || 0), 9999) }} ms latency
+            </span>
+          </v-chip>
+        </div>
+      </div>
+
+      <div>
+        <v-switch
+          v-model="driverMode"
+          :disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
+          label="Driver Mode"
+          style="margin-left: auto"
+          color="accent"
+          class="pt-2"
+        />
+      </div>
+    </v-card-title>
+    <div class="stream-container pb-4">
+      <div class="stream">
+        <photon-camera-stream v-show="value.includes(0)" stream-type="Raw" style="max-width: 100%" />
+      </div>
+      <div class="stream">
+        <photon-camera-stream v-show="value.includes(1)" stream-type="Processed" style="max-width: 100%" />
+      </div>
+    </div>
+    <v-divider />
+    <div class="pt-4">
+      <p style="color: white">Stream Display</p>
+      <v-btn-toggle v-model="localValue" :multiple="true" mandatory dark class="fill" style="width: 100%">
+        <v-btn
+          color="secondary"
+          class="fill"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+        >
+          <v-icon>mdi-import</v-icon>
+          <span>Raw</span>
+        </v-btn>
+        <v-btn
+          color="secondary"
+          class="fill"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+        >
+          <v-icon>mdi-export</v-icon>
+          <span>Processed</span>
+        </v-btn>
+      </v-btn-toggle>
+    </div>
+  </v-card>
+</template>
+
+<style scoped>
+.v-btn-toggle.fill {
+  width: 100%;
+  height: 100%;
+}
+.v-btn-toggle.fill > .v-btn {
+  width: 50%;
+  height: 100%;
+}
+th {
+  width: 80px;
+  text-align: center;
+}
+
+.stream-container {
+  display: flex;
+  justify-content: center;
+  flex-wrap: wrap;
+  align-items: center;
+  gap: 12px;
+}
+
+.stream {
+  display: flex;
+  justify-content: center;
+}
+
+@media only screen and (min-width: 512px) and (max-width: 960px) {
+  .stream-container {
+    flex-wrap: nowrap;
+    justify-content: center;
+  }
+
+  .stream {
+    max-width: 50%;
+  }
+}
+</style>

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

@@ -1,54 +0,0 @@
-<template>
-  <div>
-    <v-tooltip
-      :right="right"
-      :bottom="!right"
-      nudge-right="10"
-    >
-      <template v-slot:activator="{ on }">
-        <v-icon
-          :class="hoverClass"
-          :color="color"
-          @click="handleClick"
-          v-on="on"
-        >
-          {{ text }}
-        </v-icon>
-      </template>
-      <span>{{ tooltip }}</span>
-    </v-tooltip>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: 'Icon',
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['color', 'tooltip', 'text', 'right', 'hover'],
-        data() {
-            return {}
-        },
-        computed: {
-            hoverClass: {
-                get() {
-                    if (this.hover !== undefined) {
-                        return "hover";
-                    }
-                    return "";
-                }
-            }
-        },
-        methods: {
-            handleClick() {
-                this.$emit('click');
-            }
-        },
-
-    }
-</script>
-
-<style scoped>
-    .hover:hover {
-        color: white !important;
-    }
-</style>

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

@@ -1,64 +0,0 @@
-<template>
-  <img
-    :id="id"
-    crossOrigin="anonymous"
-    :style="styleObject"
-    :src="src"
-    alt=""
-    @click="e => $emit('click', e)"
-  >
-</template>
-
-<script>
-    export default {
-        name: "CvImage",
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['address', 'scale', 'maxHeight', 'maxHeightMd', 'maxHeightLg', 'maxHeightXl', 'colorPicking', 'id', 'disconnected'],
-        data() {
-            return {
-                seed: 1.0,
-            }
-        },
-        computed: {
-            styleObject: {
-                get() {
-                    let ret = {
-                      "border-radius": "3px",
-                      "display": "block",
-                      "object-fit": "contain",
-                      "object-position": "50% 50%",
-                      "max-width": "100%",
-                      "margin-left": "auto",
-                      "margin-right": "auto",
-                      "max-height": this.maxHeight,
-                      height: `${this.scale}%`,
-                      cursor: (this.colorPicking ? `url(${require("../../assets/eyedropper.svg")}),` : "") + "default",
-                    };
-
-                    if (this.$vuetify.breakpoint.xl) {
-                      ret["max-height"] = this.maxHeightXl;
-                    } else if (this.$vuetify.breakpoint.lg) {
-                      ret["max-height"] = this.maxHeightLg;
-                    } else if (this.$vuetify.breakpoint.md) {
-                      ret["max-height"] = this.maxHeightMd;
-                    }
-
-                    return ret;
-                }
-            },
-            src: {
-              get() {
-                return this.disconnected ? require("../../assets/noStream.jpg") : this.address + "?" + this.seed // This prevents caching
-              },
-            },
-        },
-        mounted() {
-            this.reload(); // Force reload image on creation
-        },
-        methods: {
-            reload() {
-                this.seed = new Date().getTime();
-            }
-        },
-    }
-</script>

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

@@ -1,64 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="12 - (inputCols || 8)">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="inputCols || 8">
-        <v-text-field
-          v-model="localValue"
-          dark
-          dense
-          color="accent"
-          :disabled="disabled"
-          :error-messages="errorMessage"
-          :rules="rules"
-          class="mt-1 pt-2"
-          @keydown="handleKeyboard"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-s
-<script>
-    import TooltippedLabel from "./cv-tooltipped-label";
-
-    export default {
-        name: 'Input',
-        components: {
-          TooltippedLabel
-        },
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['name', 'value', 'disabled', 'errorMessage', 'inputCols', 'rules', 'tooltip'],
-        data() {
-            return {}
-        },
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value);
-                }
-            }
-        },
-        methods: {
-            handleKeyboard(event) {
-                if (event.key === "Enter") {
-                    this.$emit("Enter");
-                }
-            }
-        }
-    }
-</script>
-
-<style lang="css" scoped>
-</style>

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

@@ -1,57 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="labelCols || 2">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col>
-        <v-text-field
-          v-model="localValue"
-          dark
-          class="mt-0 pt-0"
-          hide-details
-          single-line
-          color="accent"
-          type="number"
-          style="width: 70px"
-          :step="step"
-          :disabled="disabled"
-          :rules="rules"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    import TooltippedLabel from "./cv-tooltipped-label";
-
-    export default {
-        name: 'NumberInput',
-        components: {
-            TooltippedLabel,
-        },
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['name', 'value', 'step', 'labelCols', 'rules', 'tooltip', 'disabled'],
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', parseFloat(value));
-                }
-            }
-        }
-    }
-</script>
-
-<style lang="" scoped>
-
-</style>

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

@@ -1,62 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="12 - (inputCols || 8)">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="inputCols || 8">
-        <v-radio-group
-          v-model="localValue"
-          row
-          dark
-          :mandatory="true"
-        >
-          <v-radio
-            v-for="(radioName,index) in list"
-            :key="index"
-            color="#ffd843"
-            :label="radioName"
-            :value="index"
-            :disabled="disabled"
-          />
-        </v-radio-group>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    import TooltippedLabel from "./cv-tooltipped-label";
-
-    export default {
-        name: 'Radio',
-        components: {
-          TooltippedLabel
-        },
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['name', 'value', 'list', 'disabled', 'inputCols', 'tooltip'],
-        data() {
-            return {}
-        },
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value);
-                }
-            }
-        }
-    }
-</script>
-
-<style lang="" scoped>
-
-</style>

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

@@ -1,134 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col cols="2">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col cols="10">
-        <v-range-slider
-          :value="localValue"
-          :max="max"
-          :min="min"
-          :disabled="disabled"
-          hide-details
-          class="align-center"
-          dark
-          :color="inverted ? 'rgba(255, 255, 255, 0.2)' : 'accent'"
-          :track-color="inverted ? 'accent' : undefined"
-          thumb-color="accent"
-          :step="step"
-          @input="handleInput"
-          @mousedown="$emit('rollback', localValue)"
-        >
-          <template v-slot:prepend>
-            <v-text-field
-              dark
-              color="accent"
-              :value="localValue[0]"
-              :max="max"
-              :min="min"
-              class="mt-0 pt-0"
-              hide-details
-              single-line
-              type="number"
-              style="width: 60px"
-              :step="step"
-              @input="handleChange"
-              @focus="prependFocused = true"
-              @blur="prependFocused = false"
-            />
-          </template>
-
-          <template v-slot:append>
-            <v-text-field
-              dark
-              color="accent"
-              :value="localValue[1]"
-              :max="max"
-              :min="min"
-              class="mt-0 pt-0"
-              hide-details
-              single-line
-              type="number"
-              style="width: 60px"
-              :step="step"
-              @input="handleChange"
-              @focus="appendFocused = true"
-              @blur="appendFocused = false"
-            />
-          </template>
-        </v-range-slider>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-export default {
-  name: "RangeSlider",
-  components: {
-    TooltippedLabel,
-  },
-  // eslint-disable-next-line vue/require-prop-types
-  props: ["name", "min", "max", "value", "step", "tooltip", "disabled", "inverted"],
-  data() {
-    return {
-      prependFocused: false,
-      appendFocused: false,
-      currentTempVal: null,
-    };
-  },
-  computed: {
-    localValue: {
-      get() {
-        return Object.values(this.value || [0, 0]);
-      },
-      set(value) {
-        this.$emit("input", value);
-      },
-    },
-  },
-  methods: {
-    delay(ms) {
-      return new Promise((resolve) => setTimeout(resolve, ms));
-    },
-
-    async handleChange(val) {
-      this.currentTempVal = val;
-
-      await this.delay(200).then(() => {
-        let i = 0;
-        if (this.prependFocused === false && this.appendFocused === true) {
-          i = 1;
-        }
-
-        // will get empty string if entry is not a number
-        if (this.currentTempVal !== val || val === "") return;
-
-        let parsed = parseFloat(val);
-        let tmp = this.localValue;
-        tmp[i] = Math.max(this.min, Math.min(parsed, this.max));
-        this.localValue = tmp;
-
-        this.$emit("rollback", this.localValue);
-      });
-    },
-    handleInput(val) {
-      if (!this.prependFocused || !this.appendFocused) {
-        this.localValue = val;
-      }
-    },
-  },
-};
-</script>
-
-<style lang="" scoped>
-</style>

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

@@ -1,65 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="12 - (selectCols || 9)">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="selectCols || 9">
-        <v-select
-          v-model="localValue"
-          :items="indexList"
-          item-text="name"
-          item-value="index"
-          dark
-          color="accent"
-          item-color="secondary"
-          :disabled="disabled"
-          :rules="rules"
-          @change="$emit('rollback', localValue)"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-    export default {
-        name: 'Select',
-        components: {
-            TooltippedLabel,
-        },
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['list', 'name', 'value', 'disabled', 'selectCols', 'rules', 'tooltip'],
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value)
-                }
-            },
-            indexList() {
-                let list = [];
-                for (let i = 0; i < this.list.length; i++) {
-                    list.push({
-                        name: this.list[i],
-                        index: i
-                    });
-                }
-                return list;
-            }
-        }
-    }
-</script>
-
-<style>
-</style>

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

@@ -1,108 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="12 - (sliderCols || 8)">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="sliderCols || 8">
-        <v-slider
-          :value="localValue"
-          dark
-          class="align-center"
-          :max="max"
-          :min="min"
-          hide-details
-          color="accent"
-          :disabled="disabled"
-          :step="step"
-          @start="isClicked = true"
-          @end="isClicked = false"
-          @change="handleClick"
-          @input="handleInput"
-          @mousedown="$emit('rollback', localValue)"
-        >
-          <template v-slot:append>
-            <v-text-field
-              dark
-              color="accent"
-              :max="max"
-              :min="min"
-              :disabled="disabled"
-              :value="localValue"
-              class="mt-0 pt-0"
-              hide-details
-              single-line
-              type="number"
-              style="width: 50px"
-              :step="step"
-              @input="handleChange"
-              @focus="isFocused = true"
-              @blur="isFocused = false"
-            />
-          </template>
-        </v-slider>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-export default {
-  name: "Slider",
-  components: {
-    TooltippedLabel,
-  },
-  // eslint-disable-next-line vue/require-prop-types
-  props: ["min", "max", "name", "value", "step", "sliderCols", "disabled", "tooltip"],
-  data() {
-    return {
-      isFocused: false,
-      isClicked: false,
-      currentBoxVal: null
-    };
-  },
-  computed: {
-    localValue: {
-      get() {
-        return this.value;
-      },
-      set(value) {
-        this.$emit("input", value);
-      }
-    },
-  },
-  methods: {
-    handleChange(val) {
-      this.currentBoxVal = val;
-      setTimeout(() => {
-        if (this.currentBoxVal !== val) return;
-        // if (this.isFocused) {
-        this.localValue = parseFloat(val);
-        this.$emit("rollback", this.localValue);
-        // }
-      }, 200);
-    },
-    handleInput(val) {
-      if (!this.isFocused && this.isClicked) {
-        this.localValue = val;
-      }
-    },
-    handleClick(val) {
-      if (!this.isFocused) {
-        this.localValue = val;
-      }
-    }
-  }
-};
-</script>
-
-<style lang="" scoped>
-</style>

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

@@ -1,51 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="textCols || 2">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="12 - (textCols || 2)">
-        <v-switch
-          v-model="localValue"
-          dark
-          :disabled="disabled"
-          color="#ffd843"
-          @change="$emit('rollback', localValue)"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-export default {
-    name: 'CVSwitch',
-    components: {
-        TooltippedLabel,
-    },
-  // eslint-disable-next-line vue/require-prop-types
-    props: ['name', 'value', 'disabled', 'textCols', 'tooltip'],
-    computed: {
-        localValue: {
-            get() {
-                return this.value;
-            },
-            set(value) {
-                this.$emit('input', value)
-            }
-        }
-    }
-}
-</script>
-
-<style lang="" scoped>
-
-</style>

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

@@ -1,27 +0,0 @@
-<template>
-  <div>
-    <v-tooltip
-      :disabled="tooltip === undefined"
-      right
-      open-delay="300"
-    >
-      <template v-slot:activator="{ on, attrs }">
-        <span
-          style="cursor: text !important;"
-          class="white--text"
-          v-bind="attrs"
-          v-on="on"
-        >{{ text }}</span>
-      </template>
-      <span>{{ tooltip }}</span>
-    </v-tooltip>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: 'TooltippedLabel',
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['text', 'tooltip'],
-    }
-</script>

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

@@ -0,0 +1,49 @@
+<script setup lang="ts">
+const props = withDefaults(
+  defineProps<{
+    iconName: string;
+    disabled?: boolean;
+    color?: string;
+    tooltip?: string;
+    right?: boolean;
+    hover?: boolean;
+  }>(),
+  {
+    right: false,
+    disabled: false,
+    hover: false
+  }
+);
+
+defineEmits<{
+  (e: "click"): void;
+}>();
+
+const hoverClass = props.hover ? "hover" : "";
+</script>
+
+<template>
+  <div>
+    <v-tooltip :right="right" :bottom="!right" nudge-right="10" :disabled="tooltip === undefined">
+      <template #activator="{ on, attrs }">
+        <v-icon
+          :class="hoverClass"
+          :color="color"
+          v-bind="attrs"
+          :disabled="disabled"
+          v-on="on"
+          @click="$emit('click')"
+        >
+          {{ iconName }}
+        </v-icon>
+      </template>
+      <span>{{ tooltip }}</span>
+    </v-tooltip>
+  </div>
+</template>
+
+<style scoped>
+.hover:hover {
+  color: white !important;
+}
+</style>

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

@@ -0,0 +1,73 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: string;
+    disabled?: boolean;
+    errorMessage?: string;
+    placeholder?: string;
+    labelCols?: number;
+    inputCols?: number;
+    rules?: ((v: string) => boolean | string)[];
+  }>(),
+  {
+    disabled: false,
+    inputCols: 8
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: string): void;
+  (e: "onEnter", value: string): void;
+  (e: "onEscape"): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+const handleKeydown = ({ key }) => {
+  switch (key) {
+    case "Enter":
+      // Explicitly check that all rule props return true
+      if (!props.rules?.every((rule) => rule(localValue.value) === true)) return;
+
+      emit("onEnter", localValue.value);
+      break;
+    case "Escape":
+      emit("onEscape");
+      break;
+  }
+};
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="labelCols || 12 - inputCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+
+      <v-col :cols="inputCols">
+        <v-text-field
+          v-model="localValue"
+          dark
+          dense
+          color="accent"
+          :placeholder="placeholder"
+          :disabled="disabled"
+          :error-messages="errorMessage"
+          :rules="rules"
+          class="mt-1 pt-2"
+          @keydown="handleKeydown"
+        />
+      </v-col>
+    </v-row>
+  </div>
+</template>

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

@@ -0,0 +1,56 @@
+<script setup lang="ts">
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+import { computed } from "vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    disabled?: boolean;
+    labelCols?: number;
+    rules?: ((v: number) => boolean | string)[];
+    step?: number;
+  }>(),
+  {
+    disabled: false,
+    labelCols: 2,
+    step: 1
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", parseFloat(v as unknown as string))
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="labelCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col>
+        <v-text-field
+          v-model="localValue"
+          dark
+          class="mt-0 pt-0"
+          hide-details
+          single-line
+          color="accent"
+          type="number"
+          style="width: 70px"
+          :step="step"
+          :disabled="disabled"
+          :rules="rules"
+        />
+      </v-col>
+    </v-row>
+  </div>
+</template>

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

@@ -0,0 +1,51 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    disabled?: boolean;
+    inputCols?: number;
+    list: string[];
+  }>(),
+  {
+    disabled: false,
+    inputCols: 8
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - inputCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="inputCols">
+        <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>

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

@@ -0,0 +1,107 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    // value: [number, number] | WebsocketNumberPair, // Vue doesnt like Union types for the value prop for some reason.
+    value: [number, number];
+    min: number;
+    max: number;
+    step?: number;
+    sliderCols?: number;
+    disabled?: boolean;
+    inverted?: boolean;
+  }>(),
+  {
+    step: 1,
+    disabled: false,
+    inverted: false,
+    sliderCols: 10
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: [number, number]): void;
+}>();
+
+const localValue = computed<[number, number]>({
+  get: (): [number, number] => {
+    return Object.values(props.value) as [number, number];
+  },
+  set: (v) => {
+    for (let i = 0; i < v.length; i++) {
+      v[i] = parseFloat(v[i] as unknown as string);
+    }
+    emit("input", v);
+  }
+});
+
+const changeFromSlot = (v: number, i: number) => {
+  // localValue.value must be replaced for a reactive change to take place
+  const temp = localValue.value;
+  temp[i] = v;
+  localValue.value = temp;
+};
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - sliderCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="sliderCols">
+        <v-range-slider
+          v-model="localValue"
+          :max="max"
+          :min="min"
+          :disabled="disabled"
+          hide-details
+          class="align-center"
+          dark
+          :color="inverted ? 'rgba(255, 255, 255, 0.2)' : 'accent'"
+          :track-color="inverted ? 'accent' : undefined"
+          thumb-color="accent"
+          :step="step"
+        >
+          <template #prepend>
+            <v-text-field
+              :value="localValue[0]"
+              dark
+              color="accent"
+              class="mt-0 pt-0"
+              hide-details
+              single-line
+              :max="max"
+              :min="min"
+              :step="step"
+              type="number"
+              style="width: 60px"
+              @input="(v) => changeFromSlot(v, 0)"
+            />
+          </template>
+          <template #append>
+            <v-text-field
+              :value="localValue[1]"
+              dark
+              color="accent"
+              class="mt-0 pt-0"
+              hide-details
+              single-line
+              :max="max"
+              :min="min"
+              :step="step"
+              type="number"
+              style="width: 60px"
+              @input="(v) => changeFromSlot(v, 1)"
+            />
+          </template>
+        </v-range-slider>
+      </v-col>
+    </v-row>
+  </div>
+</template>

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

@@ -0,0 +1,72 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+interface SelectItem {
+  name: string | number;
+  value: string | number;
+  disabled?: boolean;
+}
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    selectCols?: number;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    disabled?: boolean;
+    items: string[] | number[] | SelectItem[];
+  }>(),
+  {
+    selectCols: 9,
+    disabled: false
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+// Computed in case items changes
+const items = computed<SelectItem[]>(() => {
+  // Trivial case for empty list; we have no data
+  if (!props.items.length) {
+    return [];
+  }
+
+  // Check if the prop exists on the object to infer object type
+  if ((props.items[0] as SelectItem).name) {
+    return props.items as SelectItem[];
+  }
+  return props.items.map((v, i) => ({ name: v, value: i }));
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - selectCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="selectCols">
+        <v-select
+          v-model="localValue"
+          :items="items"
+          item-text="name"
+          item-value="value"
+          item-disabled="disabled"
+          dark
+          color="accent"
+          item-color="secondary"
+          :disabled="disabled"
+        />
+      </v-col>
+    </v-row>
+  </div>
+</template>

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

@@ -0,0 +1,72 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    min: number;
+    max: number;
+    step?: number;
+    disabled?: boolean;
+    sliderCols?: number;
+  }>(),
+  {
+    step: 1,
+    disabled: false,
+    sliderCols: 8
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", parseFloat(v as unknown as string))
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - sliderCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="sliderCols">
+        <v-slider
+          v-model="localValue"
+          dark
+          class="align-center"
+          :max="max"
+          :min="min"
+          hide-details
+          color="accent"
+          :disabled="disabled"
+          :step="step"
+        >
+          <template #append>
+            <v-text-field
+              v-model="localValue"
+              dark
+              color="accent"
+              :max="max"
+              :min="min"
+              :disabled="disabled"
+              class="mt-0 pt-0"
+              hide-details
+              single-line
+              type="number"
+              style="width: 50px"
+              :step="step"
+            />
+          </template>
+        </v-slider>
+      </v-col>
+    </v-row>
+  </div>
+</template>

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

@@ -0,0 +1,42 @@
+<script setup lang="ts">
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+import { computed } from "vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: boolean;
+    disabled?: boolean;
+    labelCols?: number;
+    switchCols?: number;
+  }>(),
+  {
+    disabled: false,
+    labelCols: 2
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: boolean): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - switchCols || labelCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="switchCols || 12 - labelCols">
+        <v-switch v-model="localValue" dark :disabled="disabled" color="#ffd843" />
+      </v-col>
+    </v-row>
+  </div>
+</template>

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

@@ -0,0 +1,17 @@
+<script setup lang="ts">
+defineProps<{
+  label?: string;
+  tooltip?: string;
+}>();
+</script>
+
+<template>
+  <div>
+    <v-tooltip :disabled="tooltip === undefined" right open-delay="300">
+      <template #activator="{ on, attrs }">
+        <span style="cursor: text !important" class="white--text" v-bind="attrs" v-on="on">{{ label }}</span>
+      </template>
+      <span>{{ tooltip }}</span>
+    </v-tooltip>
+  </div>
+</template>

photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue

@@ -0,0 +1,406 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import { useStateStore } from "@/stores/StateStore";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+import { computed, ref } from "vue";
+import PvIcon from "@/components/common/pv-icon.vue";
+import PvInput from "@/components/common/pv-input.vue";
+import { PipelineType } from "@/types/PipelineTypes";
+
+const changeCurrentCameraIndex = (index: number) => {
+  useCameraSettingsStore().setCurrentCameraIndex(index, true);
+
+  switch (useCameraSettingsStore().cameras[index].pipelineSettings.pipelineType) {
+    case PipelineType.Reflective:
+      pipelineType.value = WebsocketPipelineType.Reflective;
+      break;
+    case PipelineType.ColoredShape:
+      pipelineType.value = WebsocketPipelineType.ColoredShape;
+      break;
+    case PipelineType.AprilTag:
+      pipelineType.value = WebsocketPipelineType.AprilTag;
+      break;
+    case PipelineType.Aruco:
+      pipelineType.value = WebsocketPipelineType.Aruco;
+      break;
+  }
+};
+
+// Common RegEx used for naming both pipelines and cameras
+const nameChangeRegex = /^[A-Za-z0-9_ \-)(]*[A-Za-z0-9][A-Za-z0-9_ \-)(.]*$/;
+
+// Camera Name Edit
+const isCameraNameEdit = ref(false);
+const currentCameraName = ref(useCameraSettingsStore().currentCameraSettings.nickname);
+const startCameraNameEdit = () => {
+  currentCameraName.value = useCameraSettingsStore().currentCameraSettings.nickname;
+  isCameraNameEdit.value = true;
+};
+const checkCameraName = (name: string): string | boolean => {
+  if (!nameChangeRegex.test(name))
+    return "A camera name can only contain letters, numbers, spaces, underscores, hyphens, parenthesis, and periods";
+  if (useCameraSettingsStore().cameraNames.some((cameraName) => cameraName === name))
+    return "This camera name has already been used";
+
+  return true;
+};
+const saveCameraNameEdit = (newName: string) => {
+  useCameraSettingsStore()
+    .changeCameraNickname(newName, false)
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        color: "success",
+        message: response.data.text || response.data
+      });
+      useCameraSettingsStore().currentCameraSettings.nickname = newName;
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+      currentCameraName.value = useCameraSettingsStore().currentCameraSettings.nickname;
+    })
+    .finally(() => (isCameraNameEdit.value = false));
+};
+const cancelCameraNameEdit = () => {
+  isCameraNameEdit.value = false;
+  currentCameraName.value = useCameraSettingsStore().currentCameraSettings.nickname;
+};
+
+// Pipeline Name Edit
+const pipelineNamesWrapper = computed<{ name: string; value: number }[]>(() => {
+  const pipelineNames = useCameraSettingsStore().pipelineNames.map((name, index) => ({ name: name, value: index }));
+
+  if (useCameraSettingsStore().isDriverMode) {
+    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
+  }
+  if (useCameraSettingsStore().isCalibrationMode) {
+    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
+  }
+
+  return pipelineNames;
+});
+const isPipelineNameEdit = ref(false);
+const currentPipelineName = ref(useCameraSettingsStore().currentPipelineSettings.pipelineNickname);
+const startPipelineNameEdit = () => {
+  currentPipelineName.value = useCameraSettingsStore().currentPipelineSettings.pipelineNickname;
+  isPipelineNameEdit.value = true;
+};
+const checkPipelineName = (name: string): string | boolean => {
+  if (!nameChangeRegex.test(name))
+    return "A pipeline name can only contain letters, numbers, spaces, underscores, hyphens, parenthesis, and periods";
+  if (useCameraSettingsStore().pipelineNames.some((pipelineName) => pipelineName === name))
+    return "This pipeline name has already been used";
+
+  return true;
+};
+const savePipelineNameEdit = (name: string) => {
+  useCameraSettingsStore().changeCurrentPipelineNickname(name);
+  isPipelineNameEdit.value = false;
+};
+const cancelPipelineNameEdit = () => {
+  isPipelineNameEdit.value = false;
+  currentPipelineName.value = useCameraSettingsStore().currentPipelineSettings.pipelineNickname;
+};
+
+// Pipeline Creation
+const showPipelineCreationDialog = ref(false);
+const newPipelineName = ref("");
+const newPipelineType = ref<WebsocketPipelineType>(useCameraSettingsStore().currentWebsocketPipelineType);
+const showCreatePipelineDialog = () => {
+  newPipelineName.value = "";
+  newPipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
+  showPipelineCreationDialog.value = true;
+};
+const createNewPipeline = () => {
+  const type = newPipelineType.value;
+  if (type === WebsocketPipelineType.DriverMode || type === WebsocketPipelineType.Calib3d) return;
+  useCameraSettingsStore().createNewPipeline(newPipelineName.value, type);
+  showPipelineCreationDialog.value = false;
+};
+const cancelPipelineCreation = () => {
+  showPipelineCreationDialog.value = false;
+  newPipelineName.value = "";
+  newPipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
+};
+
+// Pipeline Deletion
+const showPipelineDeletionConfirmationDialog = ref(false);
+const confirmDeleteCurrentPipeline = () => {
+  useCameraSettingsStore().deleteCurrentPipeline();
+  showPipelineDeletionConfirmationDialog.value = false;
+};
+
+// Pipeline Type Change
+const showPipelineTypeChangeDialog = ref(false);
+const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
+  const pipelineTypes = [
+    { name: "Reflective", value: WebsocketPipelineType.Reflective },
+    { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
+    { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
+    { name: "Aruco", value: WebsocketPipelineType.Aruco }
+  ];
+
+  if (useCameraSettingsStore().isDriverMode) {
+    pipelineTypes.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
+  }
+  if (useCameraSettingsStore().isCalibrationMode) {
+    pipelineTypes.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
+  }
+
+  return pipelineTypes;
+});
+const pipelineType = ref<WebsocketPipelineType>(useCameraSettingsStore().currentWebsocketPipelineType);
+const currentPipelineType = computed<WebsocketPipelineType>({
+  get: () => {
+    if (useCameraSettingsStore().isDriverMode) return WebsocketPipelineType.DriverMode;
+    if (useCameraSettingsStore().isCalibrationMode) return WebsocketPipelineType.Calib3d;
+    return pipelineType.value;
+  },
+  set: (v) => {
+    pipelineType.value = v;
+  }
+});
+const confirmChangePipelineType = () => {
+  const type = currentPipelineType.value;
+  if (type === WebsocketPipelineType.DriverMode || type === WebsocketPipelineType.Calib3d) return;
+  useCameraSettingsStore().changeCurrentPipelineType(type);
+  showPipelineTypeChangeDialog.value = false;
+};
+const cancelChangePipelineType = () => {
+  pipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
+  showPipelineTypeChangeDialog.value = false;
+};
+
+// Pipeline duplication'
+const duplicateCurrentPipeline = () => {
+  useCameraSettingsStore().duplicatePipeline(useCameraSettingsStore().currentCameraSettings.currentPipelineIndex);
+};
+
+// Change Props whenever the pipeline settings are changed
+useCameraSettingsStore().$subscribe((mutation, state) => {
+  const currentCameraSettings = state.cameras[useStateStore().currentCameraIndex];
+
+  switch (currentCameraSettings.pipelineSettings.pipelineType) {
+    case PipelineType.Reflective:
+      pipelineType.value = WebsocketPipelineType.Reflective;
+      break;
+    case PipelineType.ColoredShape:
+      pipelineType.value = WebsocketPipelineType.ColoredShape;
+      break;
+    case PipelineType.AprilTag:
+      pipelineType.value = WebsocketPipelineType.AprilTag;
+      break;
+    case PipelineType.Aruco:
+      pipelineType.value = WebsocketPipelineType.Aruco;
+      break;
+  }
+});
+</script>
+
+<template>
+  <v-card color="primary">
+    <v-row style="padding: 12px 12px 0 24px">
+      <v-col cols="10" class="pa-0">
+        <pv-select
+          v-if="!isCameraNameEdit"
+          v-model="useStateStore().currentCameraIndex"
+          label="Camera"
+          :items="useCameraSettingsStore().cameraNames"
+          @input="changeCurrentCameraIndex"
+        />
+        <pv-input
+          v-else
+          v-model="currentCameraName"
+          class="pt-2"
+          :input-cols="12 - 3"
+          :rules="[(v) => checkCameraName(v)]"
+          label="Camera"
+          @onEnter="saveCameraNameEdit"
+          @onEscape="cancelCameraNameEdit"
+        />
+      </v-col>
+      <v-col cols="2" style="display: flex; align-items: center; justify-content: center">
+        <div v-if="isCameraNameEdit" style="display: flex; gap: 14px">
+          <pv-icon
+            icon-name="mdi-content-save"
+            color="#c5c5c5"
+            :disabled="checkCameraName(currentCameraName) !== true"
+            @click="() => saveCameraNameEdit(currentCameraName)"
+          />
+          <pv-icon icon-name="mdi-cancel" color="red darken-2" @click="cancelCameraNameEdit" />
+        </div>
+        <pv-icon
+          v-else
+          color="#c5c5c5"
+          icon-name="mdi-pencil"
+          tooltip="Edit Camera Name"
+          @click="startCameraNameEdit"
+        />
+      </v-col>
+    </v-row>
+    <v-row style="padding: 0 12px 0 24px">
+      <v-col cols="10" class="pa-0">
+        <pv-select
+          v-if="!isPipelineNameEdit"
+          :value="useCameraSettingsStore().currentCameraSettings.currentPipelineIndex"
+          label="Pipeline"
+          tooltip="Each pipeline runs on a camera output and stores a unique set of processing settings"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+          :items="pipelineNamesWrapper"
+          @input="(args) => useCameraSettingsStore().changeCurrentPipelineIndex(args, true)"
+        />
+        <pv-input
+          v-else
+          v-model="currentPipelineName"
+          :input-cols="12 - 3"
+          :rules="[(v) => checkPipelineName(v)]"
+          label="Pipeline"
+          @onEnter="(v) => savePipelineNameEdit(v)"
+          @onEscape="cancelPipelineNameEdit"
+        />
+      </v-col>
+      <v-col cols="2" class="pa-0" style="display: flex; align-items: center; justify-content: center">
+        <div v-if="isPipelineNameEdit" style="display: flex; gap: 14px">
+          <pv-icon
+            icon-name="mdi-content-save"
+            color="#c5c5c5"
+            :disabled="checkPipelineName(currentPipelineName) !== true"
+            @click="() => savePipelineNameEdit(currentPipelineName)"
+          />
+          <pv-icon icon-name="mdi-cancel" color="red darken-2" @click="cancelPipelineNameEdit" />
+        </div>
+        <v-menu v-else-if="!useCameraSettingsStore().isDriverMode" offset-y nudge-bottom="7" auto>
+          <template #activator="{ on }">
+            <v-icon color="#c5c5c5" v-on="on" @click="cancelPipelineNameEdit"> mdi-menu </v-icon>
+          </template>
+          <v-list dark dense color="primary">
+            <v-list-item @click="startPipelineNameEdit">
+              <v-list-item-title>
+                <pv-icon color="#c5c5c5" :right="true" icon-name="mdi-pencil" tooltip="Edit pipeline name" />
+              </v-list-item-title>
+            </v-list-item>
+            <v-list-item @click="showCreatePipelineDialog">
+              <v-list-item-title>
+                <pv-icon color="#c5c5c5" :right="true" icon-name="mdi-plus" tooltip="Add new pipeline" />
+              </v-list-item-title>
+            </v-list-item>
+            <v-list-item @click="showPipelineDeletionConfirmationDialog = true">
+              <v-list-item-title>
+                <pv-icon color="red darken-2" :right="true" icon-name="mdi-delete" tooltip="Delete pipeline" />
+              </v-list-item-title>
+            </v-list-item>
+            <v-list-item @click="duplicateCurrentPipeline">
+              <v-list-item-title>
+                <pv-icon color="#c5c5c5" :right="true" icon-name="mdi-content-copy" tooltip="Duplicate pipeline" />
+              </v-list-item-title>
+            </v-list-item>
+          </v-list>
+        </v-menu>
+        <pv-icon
+          v-else-if="useCameraSettingsStore().isDriverMode && useCameraSettingsStore().pipelineNames.length === 0"
+          color="#c5c5c5"
+          :right="true"
+          icon-name="mdi-plus"
+          tooltip="Add new pipeline"
+          @click="showCreatePipelineDialog"
+        />
+      </v-col>
+    </v-row>
+    <v-row style="padding: 0 12px 12px 24px">
+      <v-col cols="10" class="pa-0">
+        <pv-select
+          v-model="currentPipelineType"
+          label="Type"
+          tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+          :items="pipelineTypesWrapper"
+          @input="showPipelineTypeChangeDialog = true"
+        />
+      </v-col>
+    </v-row>
+    <v-dialog v-model="showPipelineCreationDialog" dark persistent width="500">
+      <v-card dark color="primary">
+        <v-card-title> Create New Pipeline </v-card-title>
+        <v-card-text>
+          <pv-input
+            v-model="newPipelineName"
+            placeholder="Pipeline Name"
+            :label-cols="3"
+            :input-cols="12 - 3"
+            label="Pipeline Name"
+            :rules="[(v) => checkPipelineName(v)]"
+          />
+          <pv-select
+            v-model="newPipelineType"
+            :select-cols="12 - 3"
+            label="Tracking Type"
+            tooltip="Pipeline type, which changes the type of processing that will happen on input frames"
+            :items="[
+              { name: 'Reflective', value: WebsocketPipelineType.Reflective },
+              { name: 'Colored Shape', value: WebsocketPipelineType.ColoredShape },
+              { name: 'AprilTag', value: WebsocketPipelineType.AprilTag },
+              { name: 'Aruco', value: WebsocketPipelineType.Aruco }
+            ]"
+          />
+        </v-card-text>
+        <v-divider />
+        <v-card-actions>
+          <v-spacer />
+          <v-btn color="#ffd843" :disabled="checkPipelineName(newPipelineName) !== true" @click="createNewPipeline">
+            Save
+          </v-btn>
+          <v-btn color="error" @click="cancelPipelineCreation"> Cancel </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+    <v-dialog v-model="showPipelineDeletionConfirmationDialog" dark width="500">
+      <v-card dark color="primary">
+        <v-card-title> Pipeline Deletion Confirmation </v-card-title>
+        <v-card-text>
+          Are you sure you want to delete the pipeline
+          <b style="color: white; font-weight: bold">{{
+            useCameraSettingsStore().currentPipelineSettings.pipelineNickname
+          }}</b
+          >? This cannot be undone.
+        </v-card-text>
+        <v-divider />
+        <v-card-actions>
+          <v-spacer />
+          <v-btn color="error" @click="confirmDeleteCurrentPipeline"> Yes, I'm sure </v-btn>
+          <v-btn color="#ffd843" @click="showPipelineDeletionConfirmationDialog = false"> No, take me back </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+    <v-dialog v-model="showPipelineTypeChangeDialog" persistent width="600">
+      <v-card color="primary" dark>
+        <v-card-title>Change Pipeline Type</v-card-title>
+        <v-card-text>
+          Are you sure you want to change the current pipeline type? This will cause all the pipeline settings to be
+          overwritten and they will be lost. If this isn't what you want, duplicate this pipeline first or export
+          settings.
+        </v-card-text>
+        <v-divider />
+        <v-card-actions>
+          <v-spacer />
+          <v-btn color="error" @click="confirmChangePipelineType"> Yes, I'm sure </v-btn>
+          <v-btn color="#ffd843" @click="cancelChangePipelineType"> No, take me back </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+  </v-card>
+</template>

photon-client/src/components/dashboard/CamerasCard.vue

@@ -0,0 +1,89 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import PhotonCameraStream from "@/components/app/photon-camera-stream.vue";
+
+defineProps<{
+  // TODO fully update v-model usage in custom components on Vue3 update
+  value: number[];
+}>();
+
+const driverMode = computed<boolean>({
+  get: () => useCameraSettingsStore().isDriverMode,
+  set: (v) =>
+    useCameraSettingsStore().changeCurrentPipelineIndex(
+      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      true
+    )
+});
+
+const fpsTooLow = computed<boolean>(() => {
+  const currFPS = useStateStore().currentPipelineResults?.fps || 0;
+  const targetFPS = useCameraSettingsStore().currentVideoFormat.fps;
+  const driverMode = useCameraSettingsStore().isDriverMode;
+  const gpuAccel = useSettingsStore().general.gpuAcceleration !== undefined;
+  const isReflective = useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective;
+
+  return currFPS - targetFPS < -5 && currFPS !== 0 && !driverMode && gpuAccel && isReflective;
+});
+</script>
+
+<template>
+  <v-card color="primary" height="100%" style="display: flex; flex-direction: column" dark>
+    <v-card-title
+      class="pb-0 mb-0 pl-4 pt-1"
+      style="min-height: 50px; justify-content: space-between; align-content: center"
+    >
+      <div class="pt-2">
+        <span class="mr-4">Cameras</span>
+        <v-chip
+          label
+          :color="fpsTooLow ? 'error' : 'transparent'"
+          :text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
+          style="font-size: 1rem; padding: 0; margin: 0"
+        >
+          <span class="pr-1">
+            Processing @ {{ Math.round(useStateStore().currentPipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
+          </span>
+          <span
+            v-if="
+              fpsTooLow &&
+              !useCameraSettingsStore().currentPipelineSettings.inputShouldShow &&
+              useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective
+            "
+          >
+            HSV thresholds are too broad; narrow them for better performance
+          </span>
+          <span v-else-if="fpsTooLow && useCameraSettingsStore().currentPipelineSettings.inputShouldShow">
+            stop viewing the raw stream for better performance
+          </span>
+          <span v-else>
+            {{ Math.min(Math.round(useStateStore().currentPipelineResults?.latency || 0), 9999) }} ms latency
+          </span>
+        </v-chip>
+      </div>
+      <div>
+        <v-switch
+          v-model="driverMode"
+          :disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
+          label="Driver Mode"
+          style="margin-left: auto"
+          color="accent"
+          class="pt-2"
+        />
+      </div>
+    </v-card-title>
+    <v-divider style="border-color: white" />
+    <v-row class="pl-3 pr-3 pt-3 pb-3" style="flex-wrap: nowrap; justify-content: center">
+      <v-col v-show="value.includes(0)" style="max-width: 500px; display: flex; align-items: center">
+        <photon-camera-stream id="input-camera-stream" stream-type="Raw" style="width: 100%; height: auto" />
+      </v-col>
+      <v-col v-show="value.includes(1)" style="max-width: 500px; display: flex; align-items: center">
+        <photon-camera-stream id="output-camera-stream" stream-type="Processed" style="width: 100%; height: auto" />
+      </v-col>
+    </v-row>
+  </v-card>
+</template>

photon-client/src/components/dashboard/ConfigOptions.vue

@@ -0,0 +1,165 @@
+<script setup lang="ts">
+import type { Component } from "vue";
+import { computed, getCurrentInstance, onBeforeUpdate, ref } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import InputTab from "@/components/dashboard/tabs/InputTab.vue";
+import ThresholdTab from "@/components/dashboard/tabs/ThresholdTab.vue";
+import ContoursTab from "@/components/dashboard/tabs/ContoursTab.vue";
+import AprilTagTab from "@/components/dashboard/tabs/AprilTagTab.vue";
+import ArucoTab from "@/components/dashboard/tabs/ArucoTab.vue";
+import OutputTab from "@/components/dashboard/tabs/OutputTab.vue";
+import TargetsTab from "@/components/dashboard/tabs/TargetsTab.vue";
+import PnPTab from "@/components/dashboard/tabs/PnPTab.vue";
+import Map3DTab from "@/components/dashboard/tabs/Map3DTab.vue";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+
+interface ConfigOption {
+  tabName: string;
+  component: Component;
+}
+
+const allTabs = Object.freeze({
+  inputTab: {
+    tabName: "Input",
+    component: InputTab
+  },
+  thresholdTab: {
+    tabName: "Threshold",
+    component: ThresholdTab
+  },
+  contoursTab: {
+    tabName: "Contours",
+    component: ContoursTab
+  },
+  apriltagTab: {
+    tabName: "AprilTag",
+    component: AprilTagTab
+  },
+  arucoTab: {
+    tabName: "Aruco",
+    component: ArucoTab
+  },
+  outputTab: {
+    tabName: "Output",
+    component: OutputTab
+  },
+  targetsTab: {
+    tabName: "Targets",
+    component: TargetsTab
+  },
+  pnpTab: {
+    tabName: "PnP",
+    component: PnPTab
+  },
+  map3dTab: {
+    tabName: "3D",
+    component: Map3DTab
+  }
+});
+
+const selectedTabs = ref([0, 0, 0, 0]);
+const getTabGroups = (): ConfigOption[][] => {
+  const smAndDown = getCurrentInstance()?.proxy.$vuetify.breakpoint.smAndDown || false;
+  const mdAndDown = getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false;
+  const lgAndDown = getCurrentInstance()?.proxy.$vuetify.breakpoint.lgAndDown || false;
+  const xl = getCurrentInstance()?.proxy.$vuetify.breakpoint.xl || false;
+
+  if (smAndDown || useCameraSettingsStore().isDriverMode || (mdAndDown && !useStateStore().sidebarFolded)) {
+    return [Object.values(allTabs)];
+  } else if (mdAndDown || !useStateStore().sidebarFolded) {
+    return [
+      [
+        allTabs.inputTab,
+        allTabs.thresholdTab,
+        allTabs.contoursTab,
+        allTabs.apriltagTab,
+        allTabs.arucoTab,
+        allTabs.outputTab
+      ],
+      [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
+    ];
+  } else if (lgAndDown) {
+    return [
+      [allTabs.inputTab],
+      [allTabs.thresholdTab, allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.outputTab],
+      [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
+    ];
+  } else if (xl) {
+    return [
+      [allTabs.inputTab],
+      [allTabs.thresholdTab],
+      [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.outputTab],
+      [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
+    ];
+  }
+
+  return [];
+};
+const tabGroups = computed<ConfigOption[][]>(() => {
+  // Just return the input tab because we know that is always the case in driver mode
+  if (useCameraSettingsStore().isDriverMode) return [[allTabs.inputTab]];
+
+  const allow3d = useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled;
+  const isAprilTag = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.AprilTag;
+  const isAruco = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Aruco;
+
+  return getTabGroups()
+    .map((tabGroup) =>
+      tabGroup.filter(
+        (tabConfig) =>
+          !(!allow3d && tabConfig.tabName === "3D") && //Filter out 3D tab any time 3D isn't calibrated
+          !((!allow3d || isAprilTag || isAruco) && tabConfig.tabName === "PnP") && //Filter out the PnP config tab if 3D isn't available, or we're doing AprilTags
+          !((isAprilTag || isAruco) && tabConfig.tabName === "Threshold") && //Filter out threshold tab if we're doing AprilTags
+          !((isAprilTag || isAruco) && tabConfig.tabName === "Contours") && //Filter out contours if we're doing AprilTags
+          !(!isAprilTag && tabConfig.tabName === "AprilTag") && //Filter out apriltag unless we actually are doing AprilTags
+          !(!isAruco && tabConfig.tabName === "Aruco") //Filter out aruco unless we actually are doing Aruco
+      )
+    )
+    .filter((it) => it.length); // Remove empty tab groups
+});
+
+onBeforeUpdate(() => {
+  // Force the current tab to the input tab on driver mode change
+  if (useCameraSettingsStore().isDriverMode) {
+    selectedTabs.value[0] = 0;
+  }
+});
+</script>
+
+<template>
+  <v-row no-gutters class="tabGroups">
+    <v-col
+      v-for="(tabGroupData, tabGroupIndex) in tabGroups"
+      :key="tabGroupIndex"
+      :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
+    >
+      <v-card color="primary" height="100%" class="pr-4 pl-4">
+        <v-tabs
+          v-model="selectedTabs[tabGroupIndex]"
+          grow
+          background-color="primary"
+          dark
+          height="48"
+          slider-color="accent"
+        >
+          <v-tab v-for="(tabConfig, index) in tabGroupData" :key="index">
+            {{ tabConfig.tabName }}
+          </v-tab>
+        </v-tabs>
+        <div class="pl-4 pr-4 pt-4 pb-2">
+          <KeepAlive>
+            <Component :is="tabGroupData[selectedTabs[tabGroupIndex]].component" />
+          </KeepAlive>
+        </div>
+      </v-card>
+    </v-col>
+  </v-row>
+</template>
+
+<style>
+.v-slide-group__next--disabled,
+.v-slide-group__prev--disabled {
+  display: none !important;
+}
+</style>

photon-client/src/components/dashboard/StreamConfigCard.vue

@@ -0,0 +1,85 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+
+const props = defineProps<{
+  // TODO fully update v-model usage in custom components on Vue3 update
+  value: number[];
+}>();
+
+const emit = defineEmits<{
+  (e: "input", value: number[]): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+const processingMode = computed<number>({
+  get: () => (useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled ? 1 : 0),
+  set: (v) => {
+    if (useCameraSettingsStore().isCurrentVideoFormatCalibrated) {
+      useCameraSettingsStore().changeCurrentPipelineSetting({ solvePNPEnabled: v === 1 }, true);
+    }
+  }
+});
+</script>
+
+<template>
+  <v-card
+    :disabled="useCameraSettingsStore().isDriverMode || useStateStore().colorPickingMode"
+    class="mt-3"
+    color="primary"
+    style="height: 100%; display: flex; flex-direction: column"
+  >
+    <v-row align="center" class="pa-3 pb-0">
+      <v-col>
+        <p style="color: white">Processing Mode</p>
+        <v-btn-toggle v-model="processingMode" mandatory dark class="fill">
+          <v-btn color="secondary">
+            <v-icon>mdi-square-outline</v-icon>
+            <span>2D</span>
+          </v-btn>
+          <v-btn color="secondary" :disabled="!useCameraSettingsStore().isCurrentVideoFormatCalibrated">
+            <v-icon>mdi-cube-outline</v-icon>
+            <span>3D</span>
+          </v-btn>
+        </v-btn-toggle>
+      </v-col>
+    </v-row>
+    <v-row align="center" class="pa-3 pt-0">
+      <v-col>
+        <p style="color: white">Stream Display</p>
+        <v-btn-toggle v-model="localValue" :multiple="true" mandatory dark class="fill">
+          <v-btn color="secondary" class="fill">
+            <v-icon>mdi-import</v-icon>
+            <span>Raw</span>
+          </v-btn>
+          <v-btn color="secondary" class="fill">
+            <v-icon>mdi-export</v-icon>
+            <span>Processed</span>
+          </v-btn>
+        </v-btn-toggle>
+      </v-col>
+    </v-row>
+  </v-card>
+</template>
+
+<style scoped>
+.v-btn-toggle.fill {
+  width: 100%;
+  height: 100%;
+}
+
+.v-btn-toggle.fill > .v-btn {
+  width: 50%;
+  height: 100%;
+}
+
+th {
+  width: 80px;
+  text-align: center;
+}
+</style>

photon-client/src/components/dashboard/tabs/AprilTagTab.vue

@@ -0,0 +1,91 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import PvSelect from "@/components/common/pv-select.vue";
+import PvSlider from "@/components/common/pv-slider.vue";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div v-if="currentPipelineSettings.pipelineType === PipelineType.AprilTag">
+    <pv-select
+      v-model="currentPipelineSettings.tagFamily"
+      label="Target family"
+      :items="['AprilTag 36h11 (6.5in)', 'AprilTag 25h9 (6in)', 'AprilTag 16h5 (6in)']"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.decimate"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Decimate"
+      tooltip="Increases FPS at the expense of range by reducing image resolution initially"
+      :min="1"
+      :max="8"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ decimate: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.blur"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Blur"
+      tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
+      :min="0"
+      :max="5"
+      :step="0.1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ blur: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.threads"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Threads"
+      tooltip="Number of threads spawned by the AprilTag detector"
+      :min="1"
+      :max="8"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threads: value }, false)"
+    />
+    <pv-switch
+      v-model="currentPipelineSettings.refineEdges"
+      class="pt-2"
+      label="Refine Edges"
+      tooltip="Further refines the AprilTag corner position initial estimate, suggested left on"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ refineEdges: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.decisionMargin"
+      class="pt-2 pb-4"
+      :slider-cols="interactiveCols"
+      label="Decision Margin Cutoff"
+      tooltip="Tags with a 'margin' (decoding quality score) less than this wil be rejected. Increase this to reduce the number of false positive detections"
+      :min="0"
+      :max="250"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ decisionMargin: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.numIterations"
+      class="pt-2 pb-4"
+      :slider-cols="interactiveCols"
+      label="Pose Estimation Iterations"
+      tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
+      :min="0"
+      :max="500"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ numIterations: value }, false)"
+    />
+  </div>
+</template>

photon-client/src/components/dashboard/tabs/ArucoTab.vue

@@ -0,0 +1,82 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import PvSlider from "@/components/common/pv-slider.vue";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import PvRangeSlider from "@/components/common/pv-range-slider.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div v-if="currentPipelineSettings.pipelineType === PipelineType.Aruco">
+    <pv-select
+      v-model="currentPipelineSettings.tagFamily"
+      label="Target family"
+      :items="['AprilTag Family 36h11', 'AprilTag Family 25h9', 'AprilTag Family 16h5']"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
+    />
+    <pv-switch
+      v-model="currentPipelineSettings.useCornerRefinement"
+      class="pt-2"
+      label="Refine Corners"
+      tooltip="Further refine the initial corners with subpixel accuracy."
+      :switch-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ useCornerRefinement: value }, false)"
+    />
+    <pv-range-slider
+      v-model="currentPipelineSettings.threshWinSizes"
+      label="Thresh Min/Max Size"
+      tooltip="The minimum and maximum adaptive threshold window size. Larger windows tend more towards global thresholding, but small windows can be weak to noise."
+      :min="3"
+      :max="255"
+      :slider-cols="interactiveCols"
+      :step="2"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshWinSizes: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.threshStepSize"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Thresh Step Size"
+      tooltip="Smaller values will cause more steps between the min/max sizes. More, varied steps can improve detection robustness to lighting, but may decrease performance."
+      :min="2"
+      :max="128"
+      :step="1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshStepSize: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.threshConstant"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Thresh Constant"
+      tooltip="Affects the threshold window mean value cutoff for all steps. Higher values can improve performance, but may harm detection rate."
+      :min="0"
+      :max="128"
+      :step="1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshConstant: value }, false)"
+    />
+    <pv-switch
+      v-model="currentPipelineSettings.debugThreshold"
+      class="pt-2"
+      label="Debug Threshold"
+      tooltip="Display the first threshold step to the color stream."
+      :switch-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ debugThreshold: value }, false)"
+    />
+  </div>
+</template>

photon-client/src/components/dashboard/tabs/ContoursTab.vue

@@ -0,0 +1,231 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import PvRangeSlider from "@/components/common/pv-range-slider.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+
+// TODO fix pv-range-slider so that store access doesn't need to be deferred
+const contourArea = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourArea) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourArea = v)
+});
+const contourRatio = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourRatio) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourRatio = v)
+});
+const contourFullness = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourFullness) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourFullness = v)
+});
+const contourPerimeter = computed<[number, number]>({
+  get: () =>
+    currentPipelineSettings.pipelineType === PipelineType.ColoredShape
+      ? (Object.values(currentPipelineSettings.contourPerimeter) as [number, number])
+      : ([0, 0] as [number, number]),
+  set: (v) => {
+    if (currentPipelineSettings.pipelineType === PipelineType.ColoredShape) {
+      currentPipelineSettings.contourPerimeter = v;
+    }
+  }
+});
+const contourRadius = computed<[number, number]>({
+  get: () =>
+    currentPipelineSettings.pipelineType === PipelineType.ColoredShape
+      ? (Object.values(currentPipelineSettings.contourRadius) as [number, number])
+      : ([0, 0] as [number, number]),
+  set: (v) => {
+    if (currentPipelineSettings.pipelineType === PipelineType.ColoredShape) {
+      currentPipelineSettings.contourRadius = v;
+    }
+  }
+});
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-range-slider
+      v-model="contourArea"
+      label="Area"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.01"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourArea: value }, false)"
+    />
+    <pv-range-slider
+      v-if="useCameraSettingsStore().currentPipelineType !== PipelineType.ColoredShape"
+      v-model="contourRatio"
+      label="Ratio (W/H)"
+      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourRatio: value }, false)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
+      label="Target Orientation"
+      tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
+      :items="['Portrait', 'Landscape']"
+      :select-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
+      "
+    />
+    <pv-range-slider
+      v-if="useCameraSettingsStore().currentPipelineType === PipelineType.ColoredShape"
+      v-model="contourFullness"
+      label="Fullness"
+      tooltip="Min and max ratio between a contour's area and its bounding rectangle"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourFullness: value }, false)"
+    />
+    <pv-range-slider
+      v-if="currentPipelineSettings.pipelineType === PipelineType.ColoredShape"
+      v-model="contourPerimeter"
+      label="Perimeter"
+      tooltip="Min and max perimeter of the shape, in pixels"
+      min="0"
+      max="4000"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourPerimeter: value }, false)"
+    />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourSpecklePercentage"
+      label="Speckle Rejection"
+      tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSpecklePercentage: value }, false)
+      "
+    />
+    <template v-if="currentPipelineSettings.pipelineType === PipelineType.Reflective">
+      <pv-slider
+        v-model="currentPipelineSettings.contourFilterRangeX"
+        label="X Filter Tightness"
+        tooltip="Rejects contours whose center X is further than X standard deviations left/right of the mean X location"
+        :min="0.1"
+        :max="4"
+        :step="0.1"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourFilterRangeX: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.contourFilterRangeY"
+        label="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="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourFilterRangeY: value }, false)"
+      />
+      <pv-select
+        v-model="useCameraSettingsStore().currentPipelineSettings.contourGroupingMode"
+        label="Target Grouping"
+        tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
+        :select-cols="interactiveCols"
+        :items="['Single', 'Dual', 'Two or More']"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourGroupingMode: value }, false)"
+      />
+      <pv-select
+        v-model="useCameraSettingsStore().currentPipelineSettings.contourIntersection"
+        label="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="interactiveCols"
+        :items="['None', 'Up', 'Down', 'Left', 'Right']"
+        :disabled="useCameraSettingsStore().currentPipelineSettings.contourGroupingMode === 0"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourIntersection: value }, false)"
+      />
+    </template>
+    <template v-else-if="currentPipelineSettings.pipelineType === PipelineType.ColoredShape">
+      <v-divider class="mt-3" />
+      <pv-select
+        v-model="currentPipelineSettings.contourShape"
+        label="Target Shape"
+        tooltip="The shape of targets to look for"
+        :select-cols="interactiveCols"
+        :items="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourShape: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.accuracyPercentage"
+        :disabled="currentPipelineSettings.contourShape < 1"
+        label="Shape Simplification"
+        tooltip="How much we should simply the input contour before checking how many sides it has"
+        :min="0"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ accuracyPercentage: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.circleDetectThreshold"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Circle match distance"
+        tooltip="How close the centroid of a contour must be to the center of a circle in order for them to be matched"
+        :min="1"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="
+          (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ circleDetectThreshold: value }, false)
+        "
+      />
+      <pv-range-slider
+        v-model="contourRadius"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Radius"
+        :min="0"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourRadius: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.maxCannyThresh"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Max Canny Threshold"
+        :min="1"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ maxCannyThresh: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.circleAccuracy"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Circle Accuracy"
+        :min="1"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ circleAccuracy: value }, false)"
+      />
+      <v-divider class="mt-3" />
+    </template>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourSortMode"
+      label="Target Sort"
+      tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
+      :select-cols="interactiveCols"
+      :items="['Largest', 'Smallest', 'Highest', 'Lowest', 'Rightmost', 'Leftmost', 'Centermost']"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSortMode: value }, false)"
+    />
+  </div>
+</template>

photon-client/src/components/dashboard/tabs/InputTab.vue

@@ -0,0 +1,154 @@
+<script setup lang="ts">
+import PvSlider from "@/components/common/pv-slider.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+
+// Due to something with libcamera or something else IDK much about, the 90° rotations need to be disabled if the libcamera drivers are being used.
+const cameraRotations = computed(() =>
+  ["Normal", "90° CW", "180°", "90° CCW"].map((v, i) => ({
+    name: v,
+    value: i,
+    disabled: useSettingsStore().gpuAccelerationEnabled ? [1, 3].includes(i) : false
+  }))
+);
+
+const streamDivisors = [1, 2, 4, 6];
+const getFilteredStreamDivisors = (): number[] => {
+  const currentResolutionWidth = useCameraSettingsStore().currentVideoFormat.resolution.width;
+  return streamDivisors.filter(
+    (x) =>
+      useCameraSettingsStore().isDriverMode ||
+      !useSettingsStore().gpuAccelerationEnabled ||
+      currentResolutionWidth / x < 400
+  );
+};
+const getNumberOfSkippedDivisors = () => streamDivisors.length - getFilteredStreamDivisors().length;
+
+const cameraResolutions = computed(() =>
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map(
+    (f) => `${f.resolution.width} X ${f.resolution.height} at ${f.fps} FPS, ${f.pixelFormat}`
+  )
+);
+const handleResolutionChange = (value: number) => {
+  useCameraSettingsStore().changeCurrentPipelineSetting({ cameraVideoModeIndex: value }, false);
+
+  useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: getNumberOfSkippedDivisors() }, false);
+  useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor = 0;
+
+  if (!useCameraSettingsStore().isCurrentVideoFormatCalibrated) {
+    useCameraSettingsStore().changeCurrentPipelineSetting({ solvePNPEnabled: false }, true);
+  }
+};
+
+const streamResolutions = computed(() => {
+  const streamDivisors = getFilteredStreamDivisors();
+  const currentResolution = useCameraSettingsStore().currentVideoFormat.resolution;
+  return streamDivisors.map(
+    (x) => `${Math.floor(currentResolution.width / x)} X ${Math.floor(currentResolution.height / x)}`
+  );
+});
+const handleStreamResolutionChange = (value: number) => {
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    { streamingFrameDivisor: value + getNumberOfSkippedDivisors() },
+    false
+  );
+};
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+      :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
+      label="Exposure"
+      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.1"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+    />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
+      label="Brightness"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBrightness: args }, false)"
+    />
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraAutoExposure"
+      class="pt-2"
+      label="Auto Exposure"
+      :switch-cols="interactiveCols"
+      tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraAutoExposure: args }, false)"
+    />
+    <pv-slider
+      v-if="useCameraSettingsStore().currentPipelineSettings.cameraGain >= 0"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraGain"
+      label="Camera Gain"
+      tooltip="Controls camera gain, similar to brightness"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraGain: args }, false)"
+    />
+    <pv-slider
+      v-if="useCameraSettingsStore().currentPipelineSettings.cameraRedGain !== -1"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraRedGain"
+      label="Red AWB Gain"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraRedGain: args }, false)"
+    />
+    <pv-slider
+      v-if="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain !== -1"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain"
+      label="Blue AWB Gain"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode"
+      label="Orientation"
+      tooltip="Rotates the camera stream"
+      :items="cameraRotations"
+      :select-cols="interactiveCols"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ inputImageRotationMode: args }, false)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraVideoModeIndex"
+      label="Resolution"
+      tooltip="Resolution and FPS the camera should directly capture at"
+      :items="cameraResolutions"
+      :select-cols="interactiveCols"
+      @input="(args) => handleResolutionChange(args)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
+      label="Stream Resolution"
+      tooltip="Resolution to which camera frames are downscaled for streaming to the dashboard"
+      :items="streamResolutions"
+      :select-cols="interactiveCols"
+      @input="(args) => handleStreamResolutionChange(args)"
+    />
+  </div>
+</template>

photon-client/src/components/dashboard/tabs/Map3DTab.vue

@@ -0,0 +1,23 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import type { PhotonTarget } from "@/types/PhotonTrackingTypes";
+import { useStateStore } from "@/stores/StateStore";
+import Photon3dVisualizer from "@/components/app/photon-3d-visualizer.vue";
+
+const trackedTargets = computed<PhotonTarget[]>(() => useStateStore().currentPipelineResults?.targets || []);
+</script>
+
+<template>
+  <div>
+    <v-row style="width: 100%">
+      <v-col>
+        <span class="white--text">Target Visualization</span>
+      </v-col>
+    </v-row>
+    <v-row style="width: 100%">
+      <v-col style="display: flex; align-items: center; justify-content: center">
+        <photon3d-visualizer :targets="trackedTargets" />
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/dashboard/tabs/OutputTab.vue

@@ -0,0 +1,221 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType, RobotOffsetPointMode } from "@/types/PipelineTypes";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import { computed, getCurrentInstance } from "vue";
+import { RobotOffsetType } from "@/types/SettingTypes";
+import { useStateStore } from "@/stores/StateStore";
+
+const isTagPipeline = computed(
+  () =>
+    useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
+    useCameraSettingsStore().currentPipelineType === PipelineType.Aruco
+);
+
+interface MetricItem {
+  header: string;
+  value?: string;
+}
+
+const offsetPoints = computed<MetricItem[]>(() => {
+  switch (useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode) {
+    case RobotOffsetPointMode.Single:
+      const value = Object.values(useCameraSettingsStore().currentPipelineSettings.offsetSinglePoint);
+      return [{ header: "Offset Point", value: `(${value[0].toFixed(2)}°, ${value[1].toFixed(2)}°)` }];
+    case RobotOffsetPointMode.Dual:
+      const firstPoint = Object.values(useCameraSettingsStore().currentPipelineSettings.offsetDualPointA);
+      const firstPointArea = useCameraSettingsStore().currentPipelineSettings.offsetDualPointAArea;
+      const secondPoint = Object.values(useCameraSettingsStore().currentPipelineSettings.offsetDualPointB);
+      const secondPointArea = useCameraSettingsStore().currentPipelineSettings.offsetDualPointBArea;
+      return [
+        { header: "First Offset Point", value: `(${firstPoint[0].toFixed(2)}°, ${firstPoint[1].toFixed(2)}°)` },
+        { header: "First Offset Point Area", value: `${firstPointArea.toFixed(2)}%` },
+        { header: "Second Offset Point", value: `(${secondPoint[0].toFixed(2)}°, ${secondPoint[1].toFixed(2)}°)` },
+        { header: "Second Offset Point Area", value: `${secondPointArea.toFixed(2)}%` }
+      ];
+    default:
+    case RobotOffsetPointMode.None:
+      return [];
+  }
+});
+
+const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOffsetPointEdge"
+      label="Target Offset Point"
+      tooltip="Changes where the 'center' of the target is (used for calculating e.g. pitch and yaw)"
+      :items="['Center', 'Top', 'Bottom', 'Left', 'Right']"
+      :select-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOffsetPointEdge: value }, false)
+      "
+    />
+    <pv-select
+      v-if="!isTagPipeline"
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
+      label="Target Orientation"
+      tooltip="Used to determine how to calculate target landmarks (e.g. the top, left, or bottom of the target)"
+      :items="['Portrait', 'Landscape']"
+      :select-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
+      "
+    />
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.outputShowMultipleTargets"
+      label="Show Multiple Targets"
+      tooltip="If enabled, up to five targets will be displayed and sent via PhotonLib, instead of just one"
+      :disabled="isTagPipeline"
+      :switch-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ outputShowMultipleTargets: value }, false)
+      "
+    />
+    <pv-switch
+      v-if="
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+      "
+      v-model="currentPipelineSettings.doMultiTarget"
+      label="Do Multi-Target Estimation"
+      tooltip="If enabled, all visible fiducial targets will be used to provide a single pose estimate from their combined model."
+      :switch-cols="interactiveCols"
+      :disabled="!isTagPipeline"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ doMultiTarget: value }, false)"
+    />
+    <pv-switch
+      v-if="
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+      "
+      v-model="currentPipelineSettings.doSingleTargetAlways"
+      label="Always Do Single-Target Estimation"
+      tooltip="If disabled, visible fiducial targets used for multi-target estimation will not also be used for single-target estimation."
+      :switch-cols="interactiveCols"
+      :disabled="!isTagPipeline || !currentPipelineSettings.doMultiTarget"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ doSingleTargetAlways: value }, false)"
+    />
+    <v-divider />
+    <table
+      v-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode !== RobotOffsetPointMode.None"
+      class="metrics-table mt-3 mb-3"
+    >
+      <tr>
+        <th v-for="(item, itemIndex) in offsetPoints" :key="itemIndex" class="metric-item metric-item-title">
+          {{ item.header }}
+        </th>
+      </tr>
+      <tr>
+        <td v-for="(item, itemIndex) in offsetPoints" :key="itemIndex" class="metric-item">
+          {{ item.value }}
+        </td>
+      </tr>
+    </table>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode"
+      label="Robot Offset Mode"
+      tooltip="Used to add an arbitrary offset to the location of the targeting crosshair"
+      :items="['None', 'Single Point', 'Dual Point']"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ offsetRobotOffsetMode: value }, false)"
+    />
+    <v-row
+      v-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode !== RobotOffsetPointMode.None"
+      align="center"
+      justify="start"
+    >
+      <v-row
+        v-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode === RobotOffsetPointMode.Single"
+      >
+        <v-col>
+          <v-btn
+            small
+            color="accent"
+            style="width: 100%"
+            class="black--text"
+            @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.Single)"
+          >
+            Take Point
+          </v-btn>
+        </v-col>
+      </v-row>
+      <v-row
+        v-else-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode === RobotOffsetPointMode.Dual"
+      >
+        <v-col>
+          <v-btn
+            small
+            color="accent"
+            style="width: 100%"
+            class="black--text"
+            @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.DualFirst)"
+          >
+            Take First Point
+          </v-btn>
+        </v-col>
+        <v-col>
+          <v-btn
+            small
+            color="accent"
+            style="width: 100%"
+            class="black--text"
+            @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.DualSecond)"
+          >
+            Take Second Point
+          </v-btn>
+        </v-col>
+      </v-row>
+      <v-col>
+        <v-btn
+          small
+          color="yellow darken-3"
+          style="width: 100%"
+          @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.Clear)"
+        >
+          Clear All Points
+        </v-btn>
+      </v-col>
+    </v-row>
+  </div>
+</template>
+
+<style scoped>
+.metrics-table {
+  border-collapse: separate;
+  border-spacing: 0;
+  border-radius: 5px;
+  border: 1px solid white;
+  width: 100%;
+  text-align: center;
+}
+
+.metric-item {
+  padding: 1px 15px 1px 10px;
+  border-right: 1px solid;
+  font-weight: normal;
+  color: white;
+}
+
+.metric-item-title {
+  font-size: 18px;
+  text-decoration: underline;
+  text-decoration-color: #ffd843;
+}
+</style>

photon-client/src/components/dashboard/tabs/PnPTab.vue

@@ -0,0 +1,48 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { TargetModel } from "@/types/PipelineTypes";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.targetModel"
+      label="Target Model"
+      :items="[
+        { name: '2016 High Goal', value: TargetModel.StrongholdHighGoal },
+        { name: '2019 Dual Target', value: TargetModel.DeepSpaceDualTarget },
+        { name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
+        { name: '2020 Power Cell (7in)', value: TargetModel.CircularPowerCell7in },
+        { name: '2022 Cargo Ball (9.5in)', value: TargetModel.RapidReactCircularCargoBall },
+        { name: '2023 AprilTag 6in (16h5)', value: TargetModel.AprilTag6in_16h5 },
+        { name: '2024 AprilTag 6.5in (36h11)', value: TargetModel.AprilTag6p5in_36h11 }
+      ]"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"
+    />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.cornerDetectionAccuracyPercentage"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Contour simplification Percentage"
+      :min="0"
+      :max="100"
+      @input="
+        (value) =>
+          useCameraSettingsStore().changeCurrentPipelineSetting({ cornerDetectionAccuracyPercentage: value }, false)
+      "
+    />
+  </div>
+</template>

photon-client/src/components/dashboard/tabs/TargetsTab.vue

@@ -0,0 +1,150 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import { useStateStore } from "@/stores/StateStore";
+
+const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+</script>
+
+<template>
+  <div>
+    <v-row align="start" class="pb-4" style="height: 300px">
+      <!-- Simple table height must be set here and in the CSS for the fixed-header to work -->
+      <v-simple-table fixed-header dense dark>
+        <template #default>
+          <thead style="font-size: 1.25rem">
+            <tr>
+              <th
+                v-if="
+                  useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
+                  useCameraSettingsStore().currentPipelineType === PipelineType.Aruco
+                "
+                class="text-center"
+              >
+                Fiducial ID
+              </th>
+              <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
+                <th class="text-center">Pitch &theta;&deg;</th>
+                <th class="text-center">Yaw &theta;&deg;</th>
+                <th class="text-center">Skew &theta;&deg;</th>
+                <th class="text-center">Area %</th>
+              </template>
+              <template v-else>
+                <th class="text-center">X meters</th>
+                <th class="text-center">Y meters</th>
+                <th class="text-center">Z Angle &theta;&deg;</th>
+              </template>
+              <template
+                v-if="
+                  (useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
+                    useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
+                  useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+                "
+              >
+                <th class="text-center">Ambiguity %</th>
+              </template>
+            </tr>
+          </thead>
+          <tbody>
+            <tr v-for="(target, index) in useStateStore().currentPipelineResults?.targets" :key="index">
+              <td
+                v-if="
+                  useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
+                  useCameraSettingsStore().currentPipelineType === PipelineType.Aruco
+                "
+              >
+                {{ target.fiducialId }}
+              </td>
+              <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
+                <td>{{ target.pitch.toFixed(2) }}&deg;</td>
+                <td>{{ target.yaw.toFixed(2) }}&deg;</td>
+                <td>{{ target.skew.toFixed(2) }}&deg;</td>
+                <td>{{ target.area.toFixed(2) }}&deg;</td>
+              </template>
+              <template v-else>
+                <td>{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
+                <td>{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
+                <td>{{ (((target.pose?.angle_z || 0) * 180.0) / Math.PI).toFixed(2) }}&deg;</td>
+              </template>
+              <template
+                v-if="
+                  (useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
+                    useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
+                  useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+                "
+              >
+                <td>{{ target.ambiguity >= 0 ? target.ambiguity?.toFixed(2) + "%" : "(In Multi-Target)" }}</td>
+              </template>
+            </tr>
+          </tbody>
+        </template>
+      </v-simple-table>
+    </v-row>
+    <v-row
+      v-if="
+        (useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
+          useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
+        currentPipelineSettings.doMultiTarget &&
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+      "
+      align="start"
+      class="pb-4 white--text"
+    >
+      <v-card-subtitle class="ma-0 pa-0 pb-4" style="font-size: 16px">Multi-tag pose, field-to-camera</v-card-subtitle>
+      <v-simple-table fixed-header height="100%" dense dark>
+        <thead style="font-size: 1.25rem">
+          <th class="text-center">X meters</th>
+          <th class="text-center">Y meters</th>
+          <th class="text-center">Z Angle &theta;&deg;</th>
+          <th class="text-center">Tags</th>
+        </thead>
+        <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
+          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m</td>
+          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m</td>
+          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z.toFixed(2) }}&deg;</td>
+          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}</td>
+        </tbody>
+      </v-simple-table>
+    </v-row>
+  </div>
+</template>
+
+<style scoped lang="scss">
+.v-data-table {
+  width: 100%;
+  height: 100%;
+  text-align: center;
+  background-color: #006492 !important;
+
+  th,
+  td {
+    background-color: #006492 !important;
+    font-size: 1rem !important;
+  }
+
+  td {
+    font-family: monospace !important;
+  }
+
+  tbody :hover td {
+    background-color: #005281 !important;
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+</style>

photon-client/src/components/dashboard/tabs/ThresholdTab.vue

@@ -0,0 +1,249 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { computed, getCurrentInstance, onBeforeUnmount, onMounted } from "vue";
+import PvRangeSlider from "@/components/common/pv-range-slider.vue";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import { useStateStore } from "@/stores/StateStore";
+import { ColorPicker, type HSV } from "@/lib/ColorPicker";
+
+const averageHue = computed<number>(() => {
+  const isHueInverted = useCameraSettingsStore().currentPipelineSettings.hueInverted;
+  let val = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvHue).reduce((a, b) => a + b, 0);
+
+  if (isHueInverted) val += 180;
+  if (val > 360) val -= 360;
+
+  return val;
+});
+
+// TODO fix pv-range-slider so that store access doesn't need to be deferred
+const hsvHue = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.hsvHue) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.hsvHue = v)
+});
+const hsvSaturation = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.hsvSaturation) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.hsvSaturation = v)
+});
+const hsvValue = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.hsvValue) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.hsvValue = v)
+});
+
+let selectedEventMode: 0 | 1 | 2 | 3 = 0;
+const handleStreamClick = (event: MouseEvent) => {
+  if (!useStateStore().colorPickingMode || selectedEventMode === 0) return;
+
+  const cameraStream = document.getElementById("input-camera-stream");
+  if (cameraStream === null) return;
+
+  const canvas = document.createElement("canvas");
+  canvas.width = cameraStream.clientWidth;
+  canvas.height = cameraStream.clientHeight;
+
+  // Get the (x, y) position of the click with (0, 0) in the top left corner
+  const rect = cameraStream.getBoundingClientRect();
+  const x = Math.round(((event.clientX - rect.left) / rect.width) * cameraStream.clientWidth);
+  const y = Math.round(((event.clientY - rect.top) / rect.height) * cameraStream.clientHeight);
+
+  const context = canvas.getContext("2d");
+  if (context === null) return;
+
+  context.drawImage(cameraStream as CanvasImageSource, 0, 0, cameraStream.clientWidth, cameraStream.clientHeight);
+  const colorPicker = new ColorPicker(context.getImageData(x, y, 1, 1).data);
+
+  // Calculate HSV values based on the mode
+  let selectedHSVData: [HSV, HSV] = [
+    [0, 0, 0],
+    [0, 0, 0]
+  ];
+  if (selectedEventMode === 1) {
+    selectedHSVData = colorPicker.selectedColorRange();
+  } else {
+    const currentHue = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvHue);
+    const currentSaturation = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvSaturation);
+    const currentValue = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvValue);
+
+    const currentData: [HSV, HSV] = [
+      [currentHue[0], currentSaturation[0], currentValue[0]],
+      [currentHue[1], currentSaturation[1], currentValue[1]]
+    ];
+
+    if (selectedEventMode === 2) {
+      selectedHSVData = colorPicker.expandColorRange(currentData);
+    } else if (selectedEventMode === 3) {
+      selectedHSVData = colorPicker.shrinkColorRange(currentData);
+    }
+  }
+
+  // Update the store and backend with the new HSV values
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    {
+      hsvHue: [selectedHSVData[0][0], selectedHSVData[1][0]],
+      hsvSaturation: [selectedHSVData[0][1], selectedHSVData[1][1]],
+      hsvValue: [selectedHSVData[0][2], selectedHSVData[1][2]]
+    },
+    true
+  );
+
+  disableColorPicking();
+};
+
+// Put some default values in case color picking was enabled before the enableColorPicking method is called
+let inputShowing = true;
+let outputShowing = false;
+const enableColorPicking = (mode: 1 | 2 | 3) => {
+  useStateStore().colorPickingMode = true;
+  inputShowing = useCameraSettingsStore().currentPipelineSettings.inputShouldShow;
+  outputShowing = useCameraSettingsStore().currentPipelineSettings.outputShouldShow;
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    { outputShouldDraw: false, inputShouldShow: true, outputShouldShow: false },
+    true
+  );
+  selectedEventMode = mode;
+};
+const disableColorPicking = () => {
+  useStateStore().colorPickingMode = false;
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    { outputShouldDraw: true, inputShouldShow: inputShowing, outputShouldShow: outputShowing },
+    true
+  );
+  selectedEventMode = 0;
+};
+
+onMounted(() => {
+  const cameraStream = document.getElementById("input-camera-stream");
+  if (cameraStream === null) return;
+
+  cameraStream.addEventListener("click", handleStreamClick);
+});
+onBeforeUnmount(() => {
+  const cameraStream = document.getElementById("input-camera-stream");
+  if (cameraStream === null) return;
+
+  cameraStream.removeEventListener("click", handleStreamClick);
+});
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div class="threshold-modifiers" :style="{ '--averageHue': averageHue }">
+    <pv-range-slider
+      id="hue-slider"
+      v-model="hsvHue"
+      :class="useCameraSettingsStore().currentPipelineSettings.hueInverted ? 'inverted-slider' : 'normal-slider'"
+      label="Hue"
+      tooltip="Describes color"
+      :min="0"
+      :max="180"
+      :slider-cols="interactiveCols"
+      :inverted="useCameraSettingsStore().currentPipelineSettings.hueInverted"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hsvHue: value }, false)"
+    />
+    <pv-range-slider
+      id="sat-slider"
+      v-model="hsvSaturation"
+      class="normal-slider"
+      label="Saturation"
+      tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
+      :min="0"
+      :max="255"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hsvSaturation: value }, false)"
+    />
+    <pv-range-slider
+      id="value-slider"
+      v-model="hsvValue"
+      class="normal-slider"
+      label="Value"
+      tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
+      :min="0"
+      :max="255"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hsvValue: value }, false)"
+    />
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.hueInverted"
+      label="Invert Hue"
+      :switch-cols="interactiveCols"
+      tooltip="Selects the hue range outside of the hue slider bounds instead of inside"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hueInverted: value }, false)"
+    />
+    <v-divider class="mt-3" />
+    <div>
+      <div class="pt-3 white--text">Color Picker</div>
+      <v-row justify="center" class="mt-3 mb-3">
+        <template v-if="!useStateStore().colorPickingMode">
+          <v-btn
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="enableColorPicking(useCameraSettingsStore().currentPipelineSettings.hueInverted ? 2 : 3)"
+          >
+            <v-icon left> mdi-minus </v-icon>
+            Shrink Range
+          </v-btn>
+          <v-btn color="accent" class="ma-2 black--text" small @click="enableColorPicking(1)">
+            <v-icon left> mdi-plus-minus </v-icon>
+            {{ useCameraSettingsStore().currentPipelineSettings.hueInverted ? "Exclude" : "Set to" }} Average
+          </v-btn>
+          <v-btn
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="enableColorPicking(useCameraSettingsStore().currentPipelineSettings.hueInverted ? 3 : 2)"
+          >
+            <v-icon left> mdi-plus </v-icon>
+            Expand Range
+          </v-btn>
+        </template>
+        <template v-else>
+          <v-btn color="accent" class="ma-2 black--text" style="width: 30%" small @click="disableColorPicking">
+            Cancel
+          </v-btn>
+        </template>
+      </v-row>
+    </div>
+  </div>
+</template>
+
+<style scoped lang="css">
+.threshold-modifiers {
+  --averageHue: 0;
+}
+#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;
+  /* prettier-ignore */
+  box-shadow: 0 0 5px #333, inset 0 0 3px #333;
+}
+#sat-slider >>> .v-slider {
+  background: linear-gradient(to right, #fff 0%, hsl(var(--averageHue), 100%, 50%) 100%);
+  border-radius: 10px;
+  /* prettier-ignore */
+  box-shadow: 0 0 5px #333, inset 0 0 3px #333;
+}
+#value-slider >>> .v-slider {
+  background: linear-gradient(to right, #000 0%, hsl(var(--averageHue), 100%, 50%) 100%);
+  border-radius: 10px;
+  /* prettier-ignore */
+  box-shadow: 0 0 5px #333, inset 0 0 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/components/pipeline/3D/MiniMap.vue

@@ -1,154 +0,0 @@
-<template>
-  <div>
-    <v-row>
-      <v-col
-        align="center"
-        cols="12"
-      >
-        <span class="white--text">Target Location</span>
-        <canvas
-          id="canvasId"
-          class="mt-2"
-          width="800"
-          height="800"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    import theme from "../../../theme";
-
-    export default {
-        name: "MiniMap",
-        props: {
-          // eslint-disable-next-line vue/require-default-prop
-          targets: Array,
-          // eslint-disable-next-line vue/require-default-prop
-          horizontalFOV: Number
-        },
-        data() {
-            return {
-                ctx: undefined,
-                canvas: undefined,
-                x: 0,
-                y: 0,
-                targetWidth: 40,
-                targetHeight: 6
-            }
-        },
-        computed: {
-            hLen: {
-                get() {
-                    return Math.tan(this.horizontalFOV / 2 * Math.PI / 180) * 150;
-                }
-            }
-        },
-        watch: {
-            targets: {
-                deep: true,
-                handler() {
-                    this.draw();
-                }
-            },
-            horizontalFOV() {
-                this.draw();
-            }
-        },
-        mounted: function () {
-            const canvas = document.getElementById("canvasId"); // getting the canvas element
-            const ctx = canvas.getContext("2d"); // getting the canvas context
-            this.canvas = canvas; // setting the canvas as a vue variable
-            this.ctx = ctx; // setting the canvas context as a vue variable
-            this.grad = this.ctx.createLinearGradient(400, 800, 400, 600);
-            this.grad.addColorStop(0, "rgb(119,119,119)");
-            this.grad.addColorStop(0.05, "rgba(14,92,22,0.96)");
-            this.grad.addColorStop(0.8, 'rgba(43,43,43,0.48)');
-
-            // setting canvas context values for drawing
-
-
-            this.ctx.font = "26px Arial";
-            this.ctx.strokeStyle = "whitesmoke";
-            this.ctx.lineWidth = 2;
-
-            this.$nextTick(function () {
-                this.drawPlayer();
-            });
-        },
-        methods: {
-            draw() {
-                this.clearBoard();
-                this.drawPlayer();
-                for (let index in this.targets) {
-                    this.drawTarget(index, this.targets[index].pose);
-                }
-            },
-            drawTarget(index, target) {
-                // first save the untranslated/unrotated context
-                let x = 800 - (160 * target.x); // getting meters as pixels
-                let y = 400 - (160 * target.y);
-                this.ctx.save();
-                this.ctx.beginPath();
-                // move the rotation point to the center of the rect
-                this.ctx.translate(y + this.targetWidth / 2, x + this.targetHeight / 2); // wpi lib makes x forward and back and y left to right
-                // rotate the rect
-                this.ctx.rotate(target.rot * -1 * Math.PI / 180.0);
-
-                // draw the rect on the transformed context
-                // Note: after transforming [0,0] is visually [x,y]
-                //       so the rect needs to be offset accordingly when drawn
-                this.ctx.rect(-this.targetWidth / 2, -this.targetHeight / 2, this.targetWidth, this.targetHeight);
-
-                this.ctx.fillStyle = theme.accent;
-                this.ctx.fill();
-
-                // restore the context to its untranslated/unrotated state
-                this.ctx.restore();
-                this.ctx.fillStyle = "whitesmoke";
-                this.ctx.beginPath();
-                this.ctx.arc(y + this.targetWidth / 2, x + this.targetHeight / 2, 3, 0, 2 * Math.PI, true);
-                this.ctx.fill();
-                this.ctx.fillText(index, y - 30, x - 5);
-
-            },
-            drawPlayer() {
-                this.ctx.beginPath();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 + this.hLen, 650);
-                this.ctx.lineTo(400 - this.hLen, 650);
-                this.ctx.closePath();
-                this.ctx.fillStyle = this.grad;
-                this.ctx.fill();
-                this.ctx.beginPath();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 + this.hLen, 650);
-                this.ctx.stroke();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 - this.hLen, 650);
-                this.ctx.stroke();
-
-            },
-            clearBoard() {
-                this.ctx.clearRect(0, 0, this.canvas.width, this.canvas.height); // clearing the canvas
-            }
-        }
-    }
-</script>
-
-<style scoped>
-    #canvasId {
-        width: 400px;
-        height: 400px;
-        background-color: #232C37;
-        border-radius: 5px;
-        border: 2px solid grey;
-        box-shadow: 0 0 5px 1px;
-    }
-
-    th {
-        width: 80px;
-        text-align: center;
-    }
-</style>

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

@@ -1,408 +0,0 @@
-<template>
-  <div>
-    <v-row
-      align="center"
-      class="pl-6"
-    >
-      <v-col
-        cols="10"
-        md="5"
-        lg="10"
-        no-gutters
-        class="pa-0"
-      >
-        <CVselect
-          v-if="isCameraNameEdit === false"
-          v-model="currentCameraIndex"
-          name="Camera"
-          :list="$store.getters.cameraList"
-          @input="handleInput('currentCamera',currentCameraIndex)"
-        />
-        <CVinput
-          v-else
-          v-model="newCameraName"
-          name="Camera"
-          input-cols="9"
-          :error-message="checkCameraName"
-          @Enter="saveCameraNameChange"
-        />
-      </v-col>
-      <v-col
-        cols="2"
-        md="1"
-        lg="2"
-      >
-        <CVicon
-          v-if="isCameraNameEdit === false"
-          color="#c5c5c5"
-          :hover="true"
-          text="edit"
-          tooltip="Edit camera name"
-          @click="changeCameraName"
-        />
-        <div v-else>
-          <CVicon
-            color="#c5c5c5"
-            style="display: inline-block;"
-            :hover="true"
-            text="save"
-            tooltip="Save Camera Name"
-            @click="saveCameraNameChange"
-          />
-          <CVicon
-            color="error"
-            style="display: inline-block;"
-            :hover="true"
-            text="close"
-            tooltip="Discard Changes"
-            @click="discardCameraNameChange"
-          />
-        </div>
-      </v-col>
-      <v-col
-        cols="10"
-        md="5"
-        lg="10"
-        no-gutters
-        class="pa-0"
-      >
-        <CVselect
-          v-model="currentPipelineIndex"
-          name="Pipeline"
-          tooltip="Each pipeline runs on a camera output and stores a unique set of processing settings"
-          :disabled="$store.getters.isDriverMode"
-          :list="($store.getters.isDriverMode ? ['Driver Mode'] : []).concat($store.getters.pipelineList)"
-          @input="handleInputWithIndex('currentPipeline', currentPipelineIndex)"
-        />
-      </v-col>
-      <v-col
-        cols="2"
-        md="1"
-        lg="2"
-      >
-        <v-menu
-          v-if="!$store.getters.isDriverMode"
-          offset-y
-          auto
-        >
-          <template v-slot:activator="{ on }">
-            <v-icon
-              color="#c5c5c5"
-              v-on="on"
-            >
-              menu
-            </v-icon>
-          </template>
-          <v-list
-            dark
-            dense
-            color="primary"
-          >
-            <v-list-item @click="toPipelineNameChange">
-              <v-list-item-title>
-                <CVicon
-                  color="#c5c5c5"
-                  :right="true"
-                  text="edit"
-                  tooltip="Edit pipeline name"
-                />
-              </v-list-item-title>
-            </v-list-item>
-            <v-list-item @click="toCreatePipeline">
-              <v-list-item-title>
-                <CVicon
-                  color="#c5c5c5"
-                  :right="true"
-                  text="add"
-                  tooltip="Add new pipeline"
-                />
-              </v-list-item-title>
-            </v-list-item>
-            <v-list-item @click="deleteCurrentPipeline">
-              <v-list-item-title>
-                <CVicon
-                  color="red darken-2"
-                  :right="true"
-                  text="delete"
-                  tooltip="Delete pipeline"
-                />
-              </v-list-item-title>
-            </v-list-item>
-            <v-list-item @click="duplicatePipeline">
-              <v-list-item-title>
-                <CVicon
-                  color="#c5c5c5"
-                  :right="true"
-                  text="mdi-content-copy"
-                  tooltip="Duplicate pipeline"
-                />
-              </v-list-item-title>
-            </v-list-item>
-          </v-list>
-        </v-menu>
-      </v-col>
-      <v-col
-        v-if="currentPipelineType >= 0"
-        cols="10"
-        md="11"
-        lg="10"
-        no-gutters
-        class="pa-0"
-      >
-        <CVselect
-          v-model="currentPipelineType"
-          name="Type"
-          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>
-    </v-row>
-
-    <!--pipeline naming dialog-->
-    <v-dialog
-      v-model="namingDialog"
-      dark
-      persistent
-      width="500"
-      height="357"
-    >
-      <v-card
-        dark
-        color="primary"
-      >
-        <v-card-title
-          class="headline"
-          primary-title
-        >
-          {{ isPipelineNameEdit ? "Edit Pipeline Name" : "Create Pipeline" }}
-        </v-card-title>
-        <v-card-text>
-          <CVinput
-            v-model="newPipelineName"
-            name="Name"
-            :error-message="checkPipelineName"
-          />
-        </v-card-text>
-        <v-divider />
-        <v-card-actions>
-          <v-spacer />
-          <v-btn
-            color="#ffd843"
-            :disabled="checkPipelineName !==''"
-            @click="savePipelineNameChange"
-          >
-            Save
-          </v-btn>
-          <v-btn
-            color="error"
-            @click="discardPipelineNameChange"
-          >
-            Cancel
-          </v-btn>
-        </v-card-actions>
-      </v-card>
-    </v-dialog>
-    <v-dialog
-      v-model="showPipeTypeDialog"
-      width="600"
-    >
-      <v-card
-        color="primary"
-        dark
-      >
-        <v-card-title>Change Pipeline Type</v-card-title>
-        <v-card-text>
-          Changing the type of this pipeline will erase the current pipeline's settings and replace it with a new {{ ['Reflective', 'Shape'][proposedPipelineType] }} pipeline. <b class="red--text format_bold">You will lose all settings for the pipeline
-            "{{ ($store.getters.isDriverMode ? ['Driver Mode'] : []).concat($store.getters.pipelineList)[currentPipelineIndex] }}."</b> Are you sure you want to do this?
-          <v-row
-            class="mt-6"
-            style="display: flex; align-items: center; justify-content: center"
-            align="center"
-          >
-            <v-btn
-              class="mr-3"
-              color="red"
-              width="250"
-              @click="e => changePipeType(true)"
-            >
-              Yes, replace this pipeline
-            </v-btn>
-            <v-btn
-              class="ml-10"
-              color="secondary"
-              width="250"
-              @click="e => changePipeType(false)"
-            >
-              No, take me back
-            </v-btn>
-          </v-row>
-        </v-card-text>
-      </v-card>
-    </v-dialog>
-  </div>
-</template>
-
-<script>
-import CVicon from '../common/cv-icon'
-import CVselect from '../common/cv-select'
-import CVinput from '../common/cv-input'
-
-export default {
-  name: "CameraAndPipelineSelect",
-  components: {
-    CVicon,
-    CVselect,
-    CVinput
-  },
-  data: () => {
-    return {
-      re: RegExp("^[A-Za-z0-9 \\-)(]*[A-Za-z0-9][A-Za-z0-9 \\-)(.]*$"),
-      isCameraNameEdit: false,
-      newCameraName: "",
-      cameraNameError: "",
-      isPipelineNameEdit: false,
-      namingDialog: false,
-      newPipelineName: "",
-      duplicateDialog: false,
-      showPipeTypeDialog: false,
-      proposedPipelineType : 0,
-      pipeIndexToDuplicate: undefined
-    }
-  },
-  computed: {
-    checkCameraName() {
-      if (this.newCameraName !== this.$store.getters.cameraList[this.currentCameraIndex]) {
-        if (this.re.test(this.newCameraName)) {
-          for (let cam in this.cameraList) {
-            if (this.cameraList.hasOwnProperty(cam)) {
-              if (this.newCameraName === this.cameraList[cam]) {
-                return "A camera by that name already exists"
-              }
-            }
-          }
-        } else {
-          return "A camera name can only contain letters, numbers, and spaces"
-        }
-      }
-      return "";
-    },
-    checkPipelineName() {
-      if (this.newPipelineName !== this.$store.getters.pipelineList[this.currentPipelineIndex - 1] || this.isPipelineNameEdit === false) {
-        if (this.re.test(this.newPipelineName)) {
-          for (let pipe in this.$store.getters.pipelineList) {
-            if (this.$store.getters.pipelineList.hasOwnProperty(pipe)) {
-              if (this.newPipelineName === this.$store.getters.pipelineList[pipe]) {
-                return "A pipeline with this name already exists"
-              }
-            }
-          }
-        } else {
-          return "A pipeline name can only contain letters, numbers, and spaces"
-        }
-      }
-      return ""
-    },
-    currentCameraIndex: {
-      get() {
-        return this.$store.getters.currentCameraIndex;
-      },
-      set(value) {
-        this.$store.commit('currentCameraIndex', value);
-      }
-    },
-    currentPipelineIndex: {
-      get() {
-        return this.$store.getters.currentPipelineIndex + (this.$store.getters.isDriverMode ? 1 : 0);
-      },
-      set(value) {
-        this.$store.commit('currentPipelineIndex', value - (this.$store.getters.isDriverMode ? 1 : 0));
-      }
-    },
-    currentPipelineType: {
-      get() {
-        return this.$store.getters.currentPipelineSettings.pipelineType - 2;
-      },
-      set(value) {
-        value; // nop, since we have the dialog for this
-      }
-    }
-  },
-  methods: {
-    showTypeDialog(idx) {
-      // Only show the dialog if it's a new type
-      this.showPipeTypeDialog = idx !== this.currentPipelineType;
-      this.proposedPipelineType = idx;
-    },
-    changePipeType(actuallyChange) {
-      const newIdx = actuallyChange ? this.proposedPipelineType : this.currentPipelineType
-      this.handleInputWithIndex('pipelineType', newIdx);
-      this.showPipeTypeDialog = false;
-    },
-    changeCameraName() {
-      this.newCameraName = this.$store.getters.cameraList[this.currentCameraIndex];
-      this.isCameraNameEdit = true;
-    },
-    saveCameraNameChange() {
-      if (this.checkCameraName === "") {
-        // this.handleInputWithIndex("changeCameraName", this.newCameraName);
-        this.axios.post('http://' + this.$address + '/api/setCameraNickname',
-            {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
-            // eslint-disable-next-line
-            .then(r => {
-              this.$emit('camera-name-changed')
-            })
-            .catch(e => {
-              console.log("HTTP error while changing camera name " + e);
-              this.$emit('camera-name-changed')
-            })
-        this.discardCameraNameChange();
-      }
-    },
-    discardCameraNameChange() {
-      this.isCameraNameEdit = false;
-      this.newCameraName = "";
-    },
-    toPipelineNameChange() {
-      this.newPipelineName = this.$store.getters.pipelineList[this.currentPipelineIndex - 1];
-      this.isPipelineNameEdit = true;
-      this.namingDialog = true;
-    },
-    toCreatePipeline() {
-      this.newPipelineName = "New Pipeline";
-      this.isPipelineNameEdit = false;
-      this.namingDialog = true;
-    },
-    deleteCurrentPipeline() {
-      if (this.$store.getters.pipelineList.length > 1) {
-        this.handleInputWithIndex('deleteCurrentPipeline', {});
-      } else {
-        this.snackbar = true;
-      }
-    },
-    savePipelineNameChange() {
-      if (this.checkPipelineName === "") {
-        if (this.isPipelineNameEdit) {
-          this.handleInputWithIndex("changePipelineName", this.newPipelineName);
-        } else {
-          this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.currentPipelineType]); // 0 for reflective, 1 for colored shpae
-        }
-        this.discardPipelineNameChange();
-      }
-    },
-    duplicatePipeline() {
-      this.handleInputWithIndex("duplicatePipeline", this.currentPipelineIndex);
-    },
-    discardPipelineNameChange() {
-      this.namingDialog = false;
-      this.isPipelineNameEdit = false;
-      this.newPipelineName = "";
-    },
-  }
-
-}
-</script>
-
-<style scoped>
-
-</style>

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

@@ -1,63 +0,0 @@
-<template>
-  <div>
-    <v-row
-      align="center"
-      justify="start"
-    >
-      <v-col cols="4">
-        <v-btn
-          small
-          color="accent"
-          style="width: 100%;"
-          class="black--text"
-          @click="takePointA"
-        >
-          Take Point A
-        </v-btn>
-      </v-col>
-      <v-col cols="4">
-        <v-btn
-          small
-          color="accent"
-          style="width: 100%;"
-          class="black--text"
-          @click="takePointB"
-        >
-          Take Point B
-        </v-btn>
-      </v-col>
-      <v-col cols="4">
-        <v-btn
-          small
-          color="yellow darken-3"
-          style="width: 100%;"
-          @click="clearPoints"
-        >
-          Clear All Points
-        </v-btn>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: "DualCalibration",
-
-        methods: {
-            clearPoints() {
-              this.handleInputWithIndex("robotOffsetPoint", 0, this.$store.state.currentCameraIndex)
-            },
-            takePointA() {
-              this.handleInputWithIndex("robotOffsetPoint", 2, this.$store.state.currentCameraIndex)
-            },
-            takePointB() {
-              this.handleInputWithIndex("robotOffsetPoint", 3, this.$store.state.currentCameraIndex)
-            }
-        }
-    }
-</script>
-
-<style scoped>
-
-</style>

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

@@ -1,48 +0,0 @@
-<template>
-  <div>
-    <v-row
-      align="center"
-      justify="start"
-    >
-      <v-col cols="6">
-        <v-btn
-          small
-          color="accent"
-          class="black--text"
-          style="width: 100%;"
-          @click="takePoint"
-        >
-          Take Point
-        </v-btn>
-      </v-col>
-      <v-col cols="6">
-        <v-btn
-          small
-          color="yellow darken-3"
-          style="width: 100%;"
-          @click="clearPoint"
-        >
-          Clear Point
-        </v-btn>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: "SingleCalibration",
-        methods: {
-            clearPoint() {
-              this.handleInputWithIndex("robotOffsetPoint", 0, this.$store.state.currentCameraIndex)
-            },
-            takePoint() {
-              this.handleInputWithIndex("robotOffsetPoint", 1, this.$store.state.currentCameraIndex)
-            }
-        }
-    }
-</script>
-
-<style scoped>
-
-</style>

photon-client/src/components/settings/ApriltagControlCard.vue

@@ -0,0 +1,91 @@
+<script setup lang="ts">
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { Euler, Quaternion as ThreeQuat } from "three";
+import type { Quaternion } from "@/types/PhotonTrackingTypes";
+
+const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: number } => {
+  const quat = new ThreeQuat(rot_quat.X, rot_quat.Y, rot_quat.Z, rot_quat.W);
+  const euler = new Euler().setFromQuaternion(quat, "ZYX");
+
+  return {
+    x: euler.x * (180.0 / Math.PI),
+    y: euler.y * (180.0 / Math.PI),
+    z: euler.z * (180.0 / Math.PI)
+  };
+};
+</script>
+
+<template>
+  <v-card dark class="pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>AprilTag Field Layout</v-card-title>
+    <div class="ml-5">
+      <p>Field width: {{ useSettingsStore().currentFieldLayout.field.width.toFixed(2) }} meters</p>
+      <p>Field length: {{ useSettingsStore().currentFieldLayout.field.length.toFixed(2) }} meters</p>
+
+      <!-- Simple table height must be set here and in the CSS for the fixed-header to work -->
+      <v-simple-table fixed-header height="100%" dense dark>
+        <template #default>
+          <thead style="font-size: 1.25rem">
+            <tr>
+              <th class="text-center">ID</th>
+              <th class="text-center">X meters</th>
+              <th class="text-center">Y meters</th>
+              <th class="text-center">Z meters</th>
+              <th class="text-center">θ<sub>x</sub>&deg;</th>
+              <th class="text-center">θ<sub>y</sub>&deg;</th>
+              <th class="text-center">θ<sub>z</sub>&deg;</th>
+            </tr>
+          </thead>
+          <tbody>
+            <tr v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags" :key="index">
+              <td>{{ tag.ID }}</td>
+              <td v-for="(val, idx) in Object.values(tag.pose.translation)" :key="idx">{{ val.toFixed(2) }}&nbsp;m</td>
+              <td v-for="(val, idx) in Object.values(quaternionToEuler(tag.pose.rotation.quaternion))" :key="idx + 4">
+                {{ val.toFixed(2) }}&deg;
+              </td>
+            </tr>
+          </tbody>
+        </template>
+      </v-simple-table>
+    </div>
+  </v-card>
+</template>
+
+<style scoped lang="scss">
+.v-data-table {
+  width: 100%;
+  height: 100%;
+  text-align: center;
+  background-color: #006492 !important;
+
+  th,
+  td {
+    background-color: #006492 !important;
+    font-size: 1rem !important;
+  }
+
+  td {
+    font-family: monospace !important;
+  }
+
+  tbody :hover td {
+    background-color: #005281 !important;
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+</style>

photon-client/src/components/settings/DeviceControlCard.vue

@@ -0,0 +1,335 @@
+<script setup lang="ts">
+import { inject, ref } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+import PvSelect from "@/components/common/pv-select.vue";
+import axios from "axios";
+
+const restartProgram = () => {
+  axios
+    .post("/utils/restartProgram")
+    .then(() => {
+      useStateStore().showSnackbarMessage({
+        message: "Successfully sent program restart request",
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      // This endpoint always return 204 regardless of outcome
+      if (error.request) {
+        useStateStore().showSnackbarMessage({
+          message: "Error while trying to process the request! The backend didn't respond.",
+          color: "error"
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          message: "An error occurred while trying to process the request.",
+          color: "error"
+        });
+      }
+    });
+};
+const restartDevice = () => {
+  axios
+    .post("/utils/restartDevice")
+    .then(() => {
+      useStateStore().showSnackbarMessage({
+        message: "Successfully dispatched the restart command. It isn't confirmed if a device restart will occur.",
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          message: "The backend is unable to fulfil the request to restart the device.",
+          color: "error"
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          message: "Error while trying to process the request! The backend didn't respond.",
+          color: "error"
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          message: "An error occurred while trying to process the request.",
+          color: "error"
+        });
+      }
+    });
+};
+
+const address = inject<string>("backendHost");
+
+const offlineUpdate = ref();
+const openOfflineUpdatePrompt = () => {
+  offlineUpdate.value.click();
+};
+const handleOfflineUpdate = (payload: Event & { target: (EventTarget & HTMLInputElement) | null }) => {
+  if (payload.target === null || !payload.target.files) return;
+
+  const formData = new FormData();
+  formData.append("jarData", payload.target.files[0]);
+
+  useStateStore().showSnackbarMessage({
+    message: "New Software Upload in Progress...",
+    color: "secondary",
+    timeout: -1
+  });
+
+  axios
+    .post("/utils/offlineUpdate", formData, {
+      headers: { "Content-Type": "multipart/form-data" },
+      onUploadProgress: ({ progress }) => {
+        const uploadPercentage = (progress || 0) * 100.0;
+        if (uploadPercentage < 99.5) {
+          useStateStore().showSnackbarMessage({
+            message: "New Software Upload in Process, " + uploadPercentage.toFixed(2) + "% complete",
+            color: "secondary",
+            timeout: -1
+          });
+        } else {
+          useStateStore().showSnackbarMessage({
+            message: "Installing uploaded software...",
+            color: "secondary",
+            timeout: -1
+          });
+        }
+      }
+    })
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        message: response.data.text || response.data,
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+
+const exportLogFile = ref();
+const openExportLogsPrompt = () => {
+  exportLogFile.value.click();
+};
+
+const exportSettings = ref();
+const openExportSettingsPrompt = () => {
+  exportSettings.value.click();
+};
+
+enum ImportType {
+  AllSettings,
+  HardwareConfig,
+  HardwareSettings,
+  NetworkConfig,
+  ApriltagFieldLayout
+}
+const showImportDialog = ref(false);
+const importType = ref<ImportType | number>(-1);
+const importFile = ref<File | null>(null);
+const handleSettingsImport = () => {
+  if (importType.value === -1 || importFile.value === null) return;
+
+  const formData = new FormData();
+  formData.append("data", importFile.value);
+
+  let settingsEndpoint: string;
+  switch (importType.value) {
+    case ImportType.HardwareConfig:
+      settingsEndpoint = "/hardwareConfig";
+      break;
+    case ImportType.HardwareSettings:
+      settingsEndpoint = "/hardwareSettings";
+      break;
+    case ImportType.NetworkConfig:
+      settingsEndpoint = "/networkConfig";
+      break;
+    case ImportType.ApriltagFieldLayout:
+      settingsEndpoint = "/aprilTagFieldLayout";
+      break;
+    default:
+    case ImportType.AllSettings:
+      settingsEndpoint = "";
+      break;
+  }
+
+  axios
+    .post(`/settings${settingsEndpoint}`, formData, {
+      headers: { "Content-Type": "multipart/form-data" }
+    })
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        message: response.data.text || response.data,
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+
+  showImportDialog.value = false;
+  importType.value = -1;
+  importFile.value = null;
+};
+</script>
+
+<template>
+  <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>Device Control</v-card-title>
+    <div class="ml-5">
+      <v-row>
+        <v-col cols="12" lg="4" md="6">
+          <v-btn color="red" @click="restartProgram">
+            <v-icon left> mdi-restart </v-icon>
+            Restart PhotonVision
+          </v-btn>
+        </v-col>
+        <v-col cols="12" lg="4" md="6">
+          <v-btn color="red" @click="restartDevice">
+            <v-icon left> mdi-restart-alert </v-icon>
+            Restart Device
+          </v-btn>
+        </v-col>
+        <v-col cols="12" lg="4">
+          <v-btn color="secondary" @click="openOfflineUpdatePrompt">
+            <v-icon left> mdi-upload </v-icon>
+            Offline Update
+          </v-btn>
+          <input ref="offlineUpdate" type="file" accept=".jar" style="display: none" @change="handleOfflineUpdate" />
+        </v-col>
+      </v-row>
+      <v-divider style="margin: 12px 0" />
+      <v-row>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="() => (showImportDialog = true)">
+            <v-icon left> mdi-import </v-icon>
+            Import Settings
+          </v-btn>
+          <v-dialog
+            v-model="showImportDialog"
+            width="600"
+            @input="
+              () => {
+                importType = -1;
+                importFile = null;
+              }
+            "
+          >
+            <v-card color="primary" dark>
+              <v-card-title>Import Settings</v-card-title>
+              <v-card-text>
+                Upload and apply previously saved or exported PhotonVision settings to this device
+                <v-row class="mt-6 ml-4">
+                  <pv-select
+                    v-model="importType"
+                    label="Type"
+                    tooltip="Select the type of settings file you are trying to upload"
+                    :items="[
+                      'All Settings',
+                      'Hardware Config',
+                      'Hardware Settings',
+                      'Network Config',
+                      'Apriltag Layout'
+                    ]"
+                    :select-cols="10"
+                    style="width: 100%"
+                  />
+                </v-row>
+                <v-row class="mt-6 ml-4 mr-8">
+                  <v-file-input
+                    v-model="importFile"
+                    :disabled="importType === -1"
+                    :error-messages="importType === -1 ? 'Settings type not selected' : ''"
+                    :accept="importType === ImportType.AllSettings ? '.zip' : '.json'"
+                  />
+                </v-row>
+                <v-row
+                  class="mt-12 ml-8 mr-8 mb-1"
+                  style="display: flex; align-items: center; justify-content: center"
+                  align="center"
+                >
+                  <v-btn color="secondary" :disabled="importFile === null" @click="handleSettingsImport">
+                    <v-icon left> mdi-import </v-icon>
+                    Import Settings
+                  </v-btn>
+                </v-row>
+              </v-card-text>
+            </v-card>
+          </v-dialog>
+        </v-col>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="openExportSettingsPrompt">
+            <v-icon left> mdi-export </v-icon>
+            Export Settings
+          </v-btn>
+          <a
+            ref="exportSettings"
+            style="color: black; text-decoration: none; display: none"
+            :href="`http://${address}/api/settings/photonvision_config.zip`"
+            download="photonvision-settings.zip"
+            target="_blank"
+          />
+        </v-col>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="openExportLogsPrompt">
+            <v-icon left> mdi-download </v-icon>
+            Download Current Log
+
+            <!-- Special hidden link that gets 'clicked' when the user exports journalctl logs -->
+            <a
+              ref="exportLogFile"
+              style="color: black; text-decoration: none; display: none"
+              :href="`http://${address}/api/utils/photonvision-journalctl.txt`"
+              download="photonvision-journalctl.txt"
+              target="_blank"
+            />
+          </v-btn>
+        </v-col>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="useStateStore().showLogModal = true">
+            <v-icon left> mdi-eye </v-icon>
+            Show log viewer
+          </v-btn>
+        </v-col>
+      </v-row>
+    </div>
+  </v-card>
+</template>
+
+<style scoped>
+.v-divider {
+  border-color: white !important;
+}
+.v-btn {
+  width: 100%;
+}
+</style>

photon-client/src/components/settings/LEDControlCard.vue

@@ -0,0 +1,21 @@
+<script setup lang="ts">
+import PvSlider from "@/components/common/pv-slider.vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+</script>
+
+<template>
+  <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>LED Control</v-card-title>
+    <div class="ml-5">
+      <pv-slider
+        v-model="useSettingsStore().lighting.brightness"
+        label="Brightness"
+        class="pt-2"
+        :slider-cols="12"
+        :min="0"
+        :max="100"
+        @input="(args) => useSettingsStore().changeLEDBrightness(args)"
+      />
+    </div>
+  </v-card>
+</template>

photon-client/src/components/settings/MetricsCard.vue

@@ -0,0 +1,204 @@
+<script setup lang="ts">
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { computed, onBeforeMount, ref } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+import PvIcon from "@/components/common/pv-icon.vue";
+
+interface MetricItem {
+  header: string;
+  value?: string;
+}
+
+const generalMetrics = computed<MetricItem[]>(() => [
+  {
+    header: "Version",
+    value: useSettingsStore().general.version || "Unknown"
+  },
+  {
+    header: "Hardware Model",
+    value: useSettingsStore().general.hardwareModel || "Unknown"
+  },
+  {
+    header: "Platform",
+    value: useSettingsStore().general.hardwarePlatform || "Unknown"
+  },
+  {
+    header: "GPU Acceleration",
+    value: useSettingsStore().general.gpuAcceleration || "Unknown"
+  }
+]);
+const platformMetrics = computed<MetricItem[]>(() => [
+  {
+    header: "CPU Temp",
+    value: useSettingsStore().metrics.cpuTemp === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuTemp}°C`
+  },
+  {
+    header: "CPU Usage",
+    value: useSettingsStore().metrics.cpuUtil === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuUtil}%`
+  },
+  {
+    header: "CPU Memory Usage",
+    value:
+      useSettingsStore().metrics.ramUtil === undefined || useSettingsStore().metrics.cpuMem === undefined
+        ? "Unknown"
+        : `${useSettingsStore().metrics.ramUtil || "Unknown"}MB of ${useSettingsStore().metrics.cpuMem}MB`
+  },
+  {
+    header: "GPU Memory Usage",
+    value:
+      useSettingsStore().metrics.gpuMemUtil === undefined || useSettingsStore().metrics.gpuMem === undefined
+        ? "Unknown"
+        : `${useSettingsStore().metrics.gpuMemUtil}MB of ${useSettingsStore().metrics.gpuMem}MB`
+  },
+  {
+    header: "CPU Throttling",
+    value: useSettingsStore().metrics.cpuThr || "Unknown"
+  },
+  {
+    header: "CPU Uptime",
+    value: useSettingsStore().metrics.cpuUptime || "Unknown"
+  },
+  {
+    header: "Disk Usage",
+    value: useSettingsStore().metrics.diskUtilPct || "Unknown"
+  }
+]);
+
+const metricsLastFetched = ref("Never");
+const fetchMetrics = () => {
+  useSettingsStore()
+    .requestMetricsUpdate()
+    .catch((error) => {
+      if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Unable to fetch metrics! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to fetch metrics."
+        });
+      }
+    })
+    .finally(() => {
+      const pad = (num: number): string => {
+        return String(num).padStart(2, "0");
+      };
+
+      const date = new Date();
+      metricsLastFetched.value = `${pad(date.getHours())}:${pad(date.getMinutes())}:${pad(date.getSeconds())}`;
+    });
+};
+
+onBeforeMount(() => {
+  fetchMetrics();
+});
+</script>
+
+<template>
+  <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+    <v-card-title style="display: flex; justify-content: space-between">
+      <span>Stats</span>
+      <pv-icon icon-name="mdi-reload" color="white" tooltip="Reload Metrics" hover @click="fetchMetrics" />
+    </v-card-title>
+    <v-row class="pt-2 pa-4 ma-0 ml-5 pb-1">
+      <v-card-subtitle class="ma-0 pa-0 pb-2" style="font-size: 16px"> General Metrics </v-card-subtitle>
+      <v-simple-table class="metrics-table">
+        <thead>
+          <tr>
+            <th v-for="(item, itemIndex) in generalMetrics" :key="itemIndex" class="metric-item metric-item-title">
+              {{ item.header }}
+            </th>
+          </tr>
+        </thead>
+        <tbody>
+          <tr>
+            <td v-for="(item, itemIndex) in generalMetrics" :key="itemIndex" class="metric-item">
+              {{ item.value }}
+            </td>
+          </tr>
+        </tbody>
+      </v-simple-table>
+    </v-row>
+    <v-row class="pa-4 ma-0 ml-5">
+      <v-card-subtitle class="ma-0 pa-0 pb-2" style="font-size: 16px"> Hardware Metrics </v-card-subtitle>
+      <v-simple-table class="metrics-table">
+        <thead>
+          <tr>
+            <th v-for="(item, itemIndex) in platformMetrics" :key="itemIndex" class="metric-item metric-item-title">
+              {{ item.header }}
+            </th>
+          </tr>
+        </thead>
+        <tbody>
+          <tr>
+            <td v-for="(item, itemIndex) in platformMetrics" :key="itemIndex" class="metric-item">
+              <span v-if="useSettingsStore().metrics.cpuUtil !== undefined">{{ item.value }}</span>
+              <span v-else>---</span>
+            </td>
+          </tr>
+        </tbody>
+      </v-simple-table>
+    </v-row>
+    <div style="text-align: right">
+      <span>Last Fetched: {{ metricsLastFetched }}</span>
+    </div>
+  </v-card>
+</template>
+
+<style scoped lang="scss">
+.metrics-table {
+  border-collapse: separate;
+  border-spacing: 0;
+  border-radius: 5px;
+  margin-bottom: 10px;
+  border: 1px solid white;
+  width: 100%;
+  text-align: center;
+}
+
+.metric-item {
+  font-size: 16px !important;
+  padding: 1px 15px 1px 10px;
+  border-right: 1px solid;
+  font-weight: normal;
+  color: white !important;
+  text-align: center !important;
+}
+
+.metric-item-title {
+  font-size: 18px !important;
+  text-decoration: underline;
+  text-decoration-color: #ffd843;
+}
+
+.v-data-table {
+  thead,
+  tbody {
+    background-color: #006492;
+  }
+
+  :hover {
+    tbody > tr {
+      background-color: #005281 !important;
+    }
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+</style>

photon-client/src/components/settings/NetworkingCard.vue

@@ -0,0 +1,205 @@
+<script setup lang="ts">
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { computed, ref } from "vue";
+import PvInput from "@/components/common/pv-input.vue";
+import PvRadio from "@/components/common/pv-radio.vue";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import { NetworkConnectionType } from "@/types/SettingTypes";
+import { useStateStore } from "@/stores/StateStore";
+
+const settingsValid = ref(true);
+const isValidNetworkTablesIP = (v: string | undefined): boolean => {
+  // Check if it is a valid team number between 1-9999
+  const teamNumberRegex = /^[1-9][0-9]{0,3}$/;
+  // Check if it is a team number longer than 5 digits
+  const badTeamNumberRegex = /^[0-9]{5,}$/;
+
+  if (v === undefined) return false;
+  if (teamNumberRegex.test(v)) return true;
+  if (isValidIPv4(v)) return true;
+  // need to check these before the hostname. "0" and "99999" are valid hostnames, but we don't want to allow then
+  if (v === "0") return false;
+  if (badTeamNumberRegex.test(v)) return false;
+  return isValidHostname(v);
+};
+const isValidIPv4 = (v: string | undefined) => {
+  // https://stackoverflow.com/a/17871737
+  const ipv4Regex = /^((25[0-5]|(2[0-4]|1{0,1}[0-9]){0,1}[0-9])\.){3,3}(25[0-5]|(2[0-4]|1{0,1}[0-9]){0,1}[0-9])$/;
+
+  if (v === undefined) return false;
+  return ipv4Regex.test(v);
+};
+const isValidHostname = (v: string | undefined) => {
+  // https://stackoverflow.com/a/18494710
+  const hostnameRegex = /^([a-zA-Z0-9]+(-[a-zA-Z0-9]+)*)+(\.([a-zA-Z0-9]+(-[a-zA-Z0-9]+)*))*$/;
+
+  if (v === undefined) return false;
+  return hostnameRegex.test(v);
+};
+
+const saveGeneralSettings = () => {
+  const changingStaticIp = useSettingsStore().network.connectionType === NetworkConnectionType.Static;
+
+  useSettingsStore()
+    .saveGeneralSettings()
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        message: response.data.text || response.data,
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        if (error.status === 504 || changingStaticIp) {
+          useStateStore().showSnackbarMessage({
+            color: "error",
+            message: `Connection lost! Try the new static IP at ${useSettingsStore().network.staticIp}:5800 or ${
+              useSettingsStore().network.hostname
+            }:5800?`
+          });
+        } else {
+          useStateStore().showSnackbarMessage({
+            color: "error",
+            message: error.response.data.text || error.response.data
+          });
+        }
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+
+const currentNetworkInterfaceIndex = computed<number>({
+  get: () => useSettingsStore().networkInterfaceNames.indexOf(useSettingsStore().network.networkManagerIface || ""),
+  set: (v) => (useSettingsStore().network.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
+});
+</script>
+
+<template>
+  <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>Networking</v-card-title>
+    <div class="ml-5">
+      <v-form ref="form" v-model="settingsValid">
+        <pv-input
+          v-model="useSettingsStore().network.ntServerAddress"
+          label="Team Number/NetworkTables Server Address"
+          tooltip="Enter the Team Number or the IP address of the NetworkTables Server"
+          :label-cols="4"
+          :disabled="useSettingsStore().network.runNTServer"
+          :rules="[
+            (v) =>
+              isValidNetworkTablesIP(v) ||
+              'The NetworkTables Server Address must be a valid Team Number, IP address, or Hostname'
+          ]"
+        />
+        <v-banner
+          v-show="
+            !isValidNetworkTablesIP(useSettingsStore().network.ntServerAddress) &&
+            !useSettingsStore().network.runNTServer
+          "
+          rounded
+          color="red"
+          text-color="white"
+          style="margin: 10px 0"
+          icon="mdi-alert-circle-outline"
+        >
+          The NetworkTables Server Address is not set or is invalid. NetworkTables is unable to connect.
+        </v-banner>
+        <pv-radio
+          v-model="useSettingsStore().network.connectionType"
+          label="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."
+          :input-cols="12 - 4"
+          :list="['DHCP', 'Static']"
+          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+        />
+        <pv-input
+          v-if="useSettingsStore().network.connectionType === NetworkConnectionType.Static"
+          v-model="useSettingsStore().network.staticIp"
+          :input-cols="12 - 4"
+          label="Static IP"
+          :rules="[(v) => isValidIPv4(v) || 'Invalid IPv4 address']"
+          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+        />
+        <pv-input
+          v-model="useSettingsStore().network.hostname"
+          label="Hostname"
+          :input-cols="12 - 4"
+          :rules="[(v) => isValidHostname(v) || 'Invalid hostname']"
+          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+        />
+        <v-divider class="pb-3" />
+        <span style="font-weight: 700">Advanced Networking</span>
+        <pv-switch
+          v-model="useSettingsStore().network.shouldManage"
+          :disabled="!useSettingsStore().network.canManage"
+          label="Manage Device Networking"
+          tooltip="If enabled, Photon will manage device hostname and network settings."
+          :label-cols="4"
+          class="pt-2"
+        />
+        <pv-select
+          v-model="currentNetworkInterfaceIndex"
+          label="NetworkManager interface"
+          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+          :select-cols="12 - 4"
+          tooltip="Name of the interface PhotonVision should manage the IP address of"
+          :items="useSettingsStore().networkInterfaceNames"
+        />
+        <v-banner
+          v-show="
+            !useSettingsStore().networkInterfaceNames.length &&
+            useSettingsStore().network.shouldManage &&
+            useSettingsStore().network.canManage
+          "
+          rounded
+          color="red"
+          text-color="white"
+          icon="mdi-information-outline"
+        >
+          Photon cannot detect any wired connections! Please send program logs to the developers for help.
+        </v-banner>
+        <pv-switch
+          v-model="useSettingsStore().network.runNTServer"
+          label="Run NetworkTables Server (Debugging Only)"
+          tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
+          class="mt-3 mb-3"
+          :label-cols="4"
+        />
+        <v-banner
+          v-show="useSettingsStore().network.runNTServer"
+          rounded
+          color="red"
+          text-color="white"
+          icon="mdi-information-outline"
+        >
+          This mode is intended for debugging; it should be off for proper usage. PhotonLib will NOT work!
+        </v-banner>
+      </v-form>
+      <v-btn
+        color="accent"
+        :class="useSettingsStore().network.runNTServer ? 'mt-3' : ''"
+        style="color: black; width: 100%"
+        :disabled="!settingsValid && !useSettingsStore().network.runNTServer"
+        @click="saveGeneralSettings"
+      >
+        Save
+      </v-btn>
+    </div>
+  </v-card>
+</template>
+
+<style>
+.v-banner__wrapper {
+  padding: 6px !important;
+}
+</style>

photon-client/src/jsPDFFonts/readme.md

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

photon-client/src/lib/AutoReconnectingWebsocket.ts

@@ -0,0 +1,97 @@
+import { decode, encode } from "@msgpack/msgpack";
+import type { IncomingWebsocketData } from "@/types/WebsocketDataTypes";
+
+/**
+ * {@link WebSocket} wrapper class that automatically reconnects to the provided host address if the connection was closed by the remote host or a connection failure.
+ * Data sent and received by the Websocket is automatically encoded and decoded using msgpack.
+ */
+export class AutoReconnectingWebsocket {
+  private readonly serverAddress: string | URL;
+  private websocket: WebSocket | null | undefined;
+
+  private readonly onConnect: () => void;
+  private readonly onData: (data: IncomingWebsocketData) => void;
+  private readonly onDisconnect: () => void;
+
+  /**
+   * Create an AutoReconnectingWebsocket
+   *
+   * @param serverAddress address of the websocket
+   * @param onConnect action to run on websocket connection (when the websocket changes to the OPEN state)
+   * @param onData decoded websocket message data consumer. The data is automatically decoded by msgpack.
+   * @param onDisconnect action to run on websocket disconnection (when the websocket changes to the CLOSED state)
+   */
+  constructor(
+    serverAddress: string | URL,
+    onConnect: () => void,
+    onData: (data: IncomingWebsocketData) => void,
+    onDisconnect: () => void
+  ) {
+    this.serverAddress = serverAddress;
+
+    this.onConnect = onConnect;
+    this.onData = onData;
+    this.onDisconnect = onDisconnect;
+
+    this.initializeWebsocket();
+  }
+
+  /**
+   * Send data over the websocket. This is a no-op if the websocket is not in the OPEN state.
+   *
+   * @param data data to send
+   * @param encodeData whether or not to encode the data using msgpack (defaults to true)
+   * @see isConnected
+   *
+   */
+  send(data, encodeData = true) {
+    // Only send data if the websocket is open
+    if (this.isConnected()) {
+      if (encodeData) {
+        this.websocket?.send(encode(data));
+      } else {
+        this.websocket?.send(data);
+      }
+    }
+  }
+
+  /**
+   * Check if the WebSocket is OPEN and connected
+   */
+  isConnected(): boolean {
+    return this.websocket === null || this.websocket === undefined
+      ? false
+      : this.websocket.readyState === WebSocket.OPEN;
+  }
+
+  /**
+   * Handles the creation of the websocket and the binding of the action consumers.
+   *
+   * @private
+   */
+  private initializeWebsocket() {
+    this.websocket = new WebSocket(this.serverAddress);
+    this.websocket.binaryType = "arraybuffer";
+
+    this.websocket.onopen = () => {
+      console.debug("[WebSocket] Websocket Open");
+      this.onConnect();
+    };
+    this.websocket.onmessage = (event: MessageEvent) => {
+      this.onData(decode(event.data) as IncomingWebsocketData);
+    };
+    this.websocket.onclose = (event: CloseEvent) => {
+      this.onDisconnect();
+
+      this.websocket = null;
+
+      console.info("[WebSocket] The WebSocket was closed. Will reattempt in 500 milliseconds.", event.reason);
+      setTimeout(this.initializeWebsocket.bind(this), 500);
+    };
+    this.websocket.onerror = () => {
+      this.websocket?.close();
+    };
+
+    console.debug(`[WebSocket] Attempting to initialize Websocket connection to ${this.serverAddress}`);
+  }
+}

photon-client/src/lib/ColorPicker.ts

@@ -0,0 +1,101 @@
+export type HSV = [number, number, number];
+export type RGBA = [number, number, number, number] | Uint8ClampedArray;
+
+export class ColorPicker {
+  public hsvData: HSV;
+
+  constructor(pixelData: RGBA) {
+    this.hsvData = this.RGBtoHSV(pixelData);
+  }
+
+  public selectedColorRange() {
+    return this.widenRange([[...this.hsvData], [...this.hsvData]]);
+  }
+
+  public expandColorRange(currentRange: [HSV, HSV]) {
+    const widenedHSV = this.widenRange([[...this.hsvData], [...this.hsvData]]);
+    return this.createRange(currentRange.concat(widenedHSV));
+  }
+
+  public shrinkColorRange(currentRange: [HSV, HSV]) {
+    const widenedHSV = this.widenRange([[...this.hsvData], [...this.hsvData]]);
+
+    //Tries to shrink the lower part of to widened HSV
+    if (!this.shrinkRange(currentRange, widenedHSV[0])) {
+      //If the prev attempt failed, try to shrink the higher part of to widened HSV
+      this.shrinkRange(currentRange, widenedHSV[1]);
+    }
+
+    return currentRange;
+  }
+
+  private createRange(range: HSV[]): [HSV, HSV] {
+    const newRange: [HSV, HSV] = [
+      [0, 0, 0],
+      [0, 0, 0]
+    ];
+    for (let i = 0; i < 3; i++) {
+      newRange[0][i] = range[0][i];
+      newRange[1][i] = range[0][i];
+      for (let j = range.length - 1; j >= 0; j--) {
+        newRange[0][i] = Math.min(range[j][i], newRange[0][i]);
+        newRange[1][i] = Math.max(range[j][i], newRange[1][i]);
+      }
+    }
+    return newRange;
+  }
+
+  private widenRange(range: [HSV, HSV]): [HSV, HSV] {
+    const expanded: [HSV, HSV] = [
+      [0, 0, 0],
+      [0, 0, 0]
+    ];
+    for (let i = 0; i < 3; i++) {
+      //Expanding the range by 10
+      expanded[0][i] = Math.max(0, range[0][i] - 10);
+      expanded[1][i] = Math.min(255, range[1][i] + 10);
+    }
+    expanded[1][0] = Math.min(180, expanded[1][0]); //h is up to 180
+    return expanded;
+  }
+
+  private shrinkRange(range: [HSV, HSV], color: HSV): boolean {
+    for (let i = 0; i < color.length; i++) {
+      if (!(range[0][i] <= color[i] && color[i] <= range[1][i])) return false;
+    }
+
+    for (let i = 0; i < color.length; i++) {
+      if (color[i] - range[0][i] < range[1][i] - color[i]) {
+        //shrink from min side
+        range[0][i] = Math.min(range[0][i] + 10, range[1][i]);
+      } else {
+        //shrink from max side
+        range[1][i] = Math.max(range[1][i] - 10, range[0][i]);
+      }
+    }
+
+    return true;
+  }
+
+  private RGBtoHSV(rgba: RGBA): HSV {
+    // Normalize RGB ranges
+    let r = rgba[0],
+      g = rgba[1],
+      b = rgba[2];
+    r = r / 255;
+    g = g / 255;
+    b = b / 255;
+
+    const minRGB = Math.min(r, Math.min(g, b));
+    const maxRGB = Math.max(r, Math.max(g, b));
+    const d = r === minRGB ? g - b : b === minRGB ? r - g : b - r;
+    const h = r === minRGB ? 3 : b === minRGB ? 1 : 5;
+    let H = 30 * (h - d / (maxRGB - minRGB));
+    let S = (255 * (maxRGB - minRGB)) / maxRGB;
+    let V = 255 * maxRGB;
+    if (isNaN(H)) H = 0;
+    if (isNaN(S)) S = 0;
+    if (isNaN(V)) V = 0;
+    return [Math.round(H), Math.round(S), Math.round(V)];
+  }
+}

photon-client/src/main.js

@@ -1,42 +0,0 @@
-import Vue from 'vue'
-import App from './App.vue'
-import router from './router'
-import store from './store/index'
-import vuetify from './plugins/vuetify';
-import msgPack from 'msgpack5';
-import axios from 'axios';
-import VueAxios from "vue-axios";
-
-Vue.config.productionTip = false;
-
-if (process.env.NODE_ENV === "production") {
-    Vue.prototype.$address = location.host;
-} else if (process.env.NODE_ENV === "development") {
-    Vue.prototype.$address = location.hostname + ":5800";
-}
-
-const wsURL = '//' + Vue.prototype.$address + '/websocket';
-
-import VueNativeSock from 'vue-native-websocket';
-
-Vue.use(VueNativeSock, wsURL, {
-    reconnection: true,
-    reconnectionDelay: 100,
-    connectManually: true,
-    format: "arraybuffer",
-});
-Vue.use(VueAxios, axios);
-Vue.prototype.$msgPack = msgPack(true);
-
-import {dataHandleMixin} from './mixins/global/dataHandleMixin'
-Vue.mixin(dataHandleMixin);
-
-import {stateMixin} from './mixins/global/stateMixin'
-Vue.mixin(stateMixin);
-
-new Vue({
-    router,
-    store,
-    vuetify,
-    render: h => h(App)
-}).$mount('#app');

photon-client/src/main.ts

@@ -0,0 +1,43 @@
+import Vue from "vue";
+import App from "@/App.vue";
+
+import { createPinia, PiniaVuePlugin } from "pinia";
+import router from "@/router";
+import vuetify from "@/plugins/vuetify";
+import axios from "axios";
+
+type PhotonClientRuntimeMode = "production" | "development" | "local-network-development";
+const runtimeMode: PhotonClientRuntimeMode = process.env.NODE_ENV as PhotonClientRuntimeMode;
+
+let backendHost: string;
+let backendHostname: string;
+switch (runtimeMode as PhotonClientRuntimeMode) {
+  case "development":
+    backendHost = `${location.hostname}:5800`;
+    backendHostname = location.hostname;
+    break;
+  case "local-network-development":
+    backendHost = "photonvision.local:5800";
+    backendHostname = "photonvision.local";
+    break;
+  case "production":
+    backendHost = location.host;
+    backendHostname = location.hostname;
+    break;
+}
+
+axios.defaults.baseURL = `http://${backendHost}/api`;
+
+// Handle Plugins
+Vue.use(PiniaVuePlugin);
+
+new Vue({
+  router,
+  vuetify,
+  pinia: createPinia(),
+  provide: {
+    backendHost: backendHost,
+    backendHostname: backendHostname
+  },
+  render: (h) => h(App)
+}).$mount("#app");

photon-client/src/mixins/global/dataHandleMixin.js

@@ -1,53 +0,0 @@
-export const dataHandleMixin = {
-    methods: {
-        handleInput(key, value) {
-            let msg = this.$msgPack.encode({[key]: value});
-            this.$socket.send(msg);
-        },
-        handleInputWithIndex(key, value, cameraIndex = this.$store.getters.currentCameraIndex) {
-            let msg = this.$msgPack.encode({
-                [key]: value,
-                ["cameraIndex"]: cameraIndex,
-            });
-            this.$socket.send(msg);
-        },
-        handleData(val) {
-            this.handleInput(val, this[val]);
-            this.$emit('update')
-        },
-        handlePipelineData(val) {
-            let msg = this.$msgPack.encode({
-                ["changePipelineSetting"]: {
-                    [val]: this[val],
-                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
-                }
-            });
-            this.$socket.send(msg);
-            this.$emit('update')
-        },
-        handlePipelineUpdate(key, val) {
-            let msg = this.$msgPack.encode({
-                ["changePipelineSetting"]: {
-                    [key]: val,
-                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
-                }
-            });
-            this.$socket.send(msg);
-            this.$emit('update')
-        },
-        handleTruthyPipelineData(val) {
-            let msg = this.$msgPack.encode({
-                ["changePipelineSetting"]: {
-                    [val]: !!(this[val]),
-                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
-                }
-            });
-            this.$socket.send(msg);
-            this.$emit('update')
-        },
-        rollback(val, e) {
-            //TODO UPDATE VALUES INTO WEBSOCKET
-            this.$store.commit('updatePipeline', {[val]: e})
-        }
-    }
-};