Fix vendordep including all wpilib libraries (#1155)

* Fix vendordep including all wpilib libraries. Without this fix, users were consuming a massively oversized .jar

.github/workflows/build.yml

@@ -184,7 +184,7 @@ jobs:
       - name: Publish
         run: |
           chmod +x gradlew
-          ./gradlew photon-lib:publish
+          ./gradlew photon-lib:publish photon-targeting:publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push'
@@ -273,14 +273,20 @@ jobs:
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 4096
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -293,11 +299,23 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ matrix.artifact-name }}
-      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - name: Generate image
+      - uses: pguyot/arm-runner-action@v2
+        name: Generate image
+        id: generate_image
+        with:
+          base_image: ${{ matrix.image_url }}
+          image_additional_mb: ${{ matrix.image_additional_mb }}
+          optimize_image: yes
+          cpu: ${{ matrix.cpu }}
+          commands: |
+            chmod +x scripts/armrunner.sh
+            ./scripts/armrunner.sh
+      - name: Compress image
         run: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -v $new_image_name
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
@@ -320,6 +338,7 @@ jobs:
           files: |
             **/*.xz
             **/*.jar
+            **/photonlib*.json
         if: github.event_name == 'push'
       # Upload all jars and xz archives
       - uses: softprops/action-gh-release@v1
@@ -327,6 +346,7 @@ jobs:
           files: |
             **/*.xz
             **/*.jar
+            **/photonlib*.json
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

build.gradle

@@ -1,8 +1,10 @@
+import edu.wpi.first.toolchain.*
+
 plugins {
     id "com.diffplug.spotless" version "6.22.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
 }
@@ -22,7 +24,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-4-35-g141241d"
+    wpilibVersion = "2024.1.1"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
@@ -96,3 +98,7 @@ spotless {
 wrapper {
     gradleVersion '8.4'
 }
+
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}

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

@@ -3,22 +3,79 @@ 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";
+import { computed, ref, watchEffect } from "vue";
+import { type CameraSettingsChangeRequest, ValidQuirks } from "@/types/SettingTypes";
 
-const currentFov = ref();
+const tempSettingsStruct = ref<CameraSettingsChangeRequest>({
+  fov: useCameraSettingsStore().currentCameraSettings.fov.value,
+  quirksToChange: Object.assign({}, useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks)
+});
+
+const arducamSelectWrapper = computed<number>({
+  get: () => {
+    if (tempSettingsStruct.value.quirksToChange.ArduOV9281) return 1;
+    else if (tempSettingsStruct.value.quirksToChange.ArduOV2311) return 2;
+    else return 0;
+  },
+  set: (v) => {
+    switch (v) {
+      case 1:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
+        break;
+      case 2:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = true;
+        break;
+      default:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
+        break;
+    }
+  }
+});
+
+const currentCameraIsArducam = computed<boolean>(
+  () => useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks.ArduCamCamera
+);
+
+const settingsHaveChanged = (): boolean => {
+  const a = tempSettingsStruct.value;
+  const b = useCameraSettingsStore().currentCameraSettings;
+
+  for (const q in ValidQuirks) {
+    if (a.quirksToChange[q] != b.cameraQuirks.quirks[q]) return true;
+  }
+
+  return a.fov != b.fov.value;
+};
+
+const resetTempSettingsStruct = () => {
+  tempSettingsStruct.value.fov = useCameraSettingsStore().currentCameraSettings.fov.value;
+  tempSettingsStruct.value.quirksToChange = Object.assign(
+    {},
+    useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks
+  );
+};
 
 const saveCameraSettings = () => {
   useCameraSettingsStore()
-    .updateCameraSettings({ fov: currentFov.value }, false)
+    .updateCameraSettings(tempSettingsStruct.value)
     .then((response) => {
-      useCameraSettingsStore().currentCameraSettings.fov.value = currentFov.value;
       useStateStore().showSnackbarMessage({
         color: "success",
         message: response.data.text || response.data
       });
+
+      // Update the local settings cause the backend checked their validity. Assign is to deref value
+      useCameraSettingsStore().currentCameraSettings.fov.value = tempSettingsStruct.value.fov;
+      useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks = Object.assign(
+        {},
+        tempSettingsStruct.value.quirksToChange
+      );
     })
     .catch((error) => {
-      currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
+      resetTempSettingsStruct();
       if (error.response) {
         useStateStore().showSnackbarMessage({
           color: "error",
@@ -39,7 +96,8 @@ const saveCameraSettings = () => {
 };
 
 watchEffect(() => {
-  currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
+  // Reset temp settings on remote camera settings change
+  resetTempSettingsStruct();
 });
 </script>
 
@@ -52,15 +110,9 @@ watchEffect(() => {
         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"
+        v-model="tempSettingsStruct.fov"
         :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.'
@@ -70,12 +122,24 @@ watchEffect(() => {
         :disabled="useCameraSettingsStore().currentCameraSettings.fov.managedByVendor"
         :label-cols="4"
       />
+      <pv-select
+        v-show="currentCameraIsArducam"
+        v-model="arducamSelectWrapper"
+        label="Arducam Model"
+        :items="[
+          { name: 'None', value: 0, disabled: true },
+          { name: 'OV9281', value: 1 },
+          { name: 'OV2311', value: 2 }
+        ]"
+        :select-cols="8"
+      />
       <br />
       <v-btn
-        style="margin-top: 10px"
+        class="mt-2 mb-3"
+        style="width: 100%"
         small
         color="secondary"
-        :disabled="currentFov === useCameraSettingsStore().currentCameraSettings.fov.value"
+        :disabled="!settingsHaveChanged()"
         @click="saveCameraSettings"
       >
         <v-icon left> mdi-content-save </v-icon>

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

@@ -40,12 +40,21 @@ const localValue = computed<[number, number]>({
   }
 });
 
-const changeFromSlot = (v: number, i: number) => {
+const changeFromSlot = (v: string, i: number) => {
+  // v comes in as a string, not a number, for some reason
+  // if v is undefined, take a guess and set it to 0
+  const val = Math.max(props.min, Math.min(parseFloat(v) || 0, props.max));
+
   // localValue.value must be replaced for a reactive change to take place
   const temp = localValue.value;
-  temp[i] = v;
+  temp[i] = val;
   localValue.value = temp;
 };
+
+const checkNumberRange = (v: string): boolean => {
+  const val: number = parseFloat(v);
+  return isFinite(val) && val >= props.min && val <= props.max;
+};
 </script>
 
 <template>
@@ -79,6 +88,7 @@ const changeFromSlot = (v: number, i: number) => {
               :max="max"
               :min="min"
               :step="step"
+              :rules="[checkNumberRange]"
               type="number"
               style="width: 60px"
               @input="(v) => changeFromSlot(v, 0)"
@@ -95,6 +105,7 @@ const changeFromSlot = (v: number, i: number) => {
               :max="max"
               :min="min"
               :step="step"
+              :rules="[checkNumberRange]"
               type="number"
               style="width: 60px"
               @input="(v) => changeFromSlot(v, 1)"

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

@@ -1,6 +1,6 @@
 <script setup lang="ts">
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
-import { computed, ref } from "vue";
+import { computed, ref, watchEffect } 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";
@@ -8,9 +8,15 @@ import PvSelect from "@/components/common/pv-select.vue";
 import { NetworkConnectionType, type NetworkSettings } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 
-const settingsValid = ref(true);
 // Copy object to remove reference to store
 const tempSettingsStruct = ref<NetworkSettings>(Object.assign({}, useSettingsStore().network));
+
+const resetTempSettingsStruct = () => {
+  tempSettingsStruct.value = Object.assign({}, useSettingsStore().network);
+};
+
+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}$/;
@@ -62,18 +68,33 @@ const settingsHaveChanged = (): boolean => {
 const saveGeneralSettings = () => {
   const changingStaticIp = useSettingsStore().network.connectionType === NetworkConnectionType.Static;
 
-  // Update with new values
-  Object.assign(useSettingsStore().network, tempSettingsStruct.value);
+  // replace undefined members with empty strings for backend
+  const payload = {
+    connectionType: tempSettingsStruct.value.connectionType,
+    hostname: tempSettingsStruct.value.hostname,
+    networkManagerIface: tempSettingsStruct.value.networkManagerIface || "",
+    ntServerAddress: tempSettingsStruct.value.ntServerAddress,
+    runNTServer: tempSettingsStruct.value.runNTServer,
+    setDHCPcommand: tempSettingsStruct.value.setDHCPcommand || "",
+    setStaticCommand: tempSettingsStruct.value.setStaticCommand || "",
+    shouldManage: tempSettingsStruct.value.shouldManage,
+    shouldPublishProto: tempSettingsStruct.value.shouldPublishProto,
+    staticIp: tempSettingsStruct.value.staticIp
+  };
 
   useSettingsStore()
-    .saveGeneralSettings()
+    .updateGeneralSettings(payload)
     .then((response) => {
       useStateStore().showSnackbarMessage({
         message: response.data.text || response.data,
         color: "success"
       });
+
+      // Update the local settings cause the backend checked their validity. Assign is to deref value
+      useSettingsStore().network = Object.assign({}, tempSettingsStruct.value);
     })
     .catch((error) => {
+      resetTempSettingsStruct();
       if (error.response) {
         if (error.status === 504 || changingStaticIp) {
           useStateStore().showSnackbarMessage({
@@ -106,6 +127,11 @@ const currentNetworkInterfaceIndex = computed<number>({
   get: () => useSettingsStore().networkInterfaceNames.indexOf(useSettingsStore().network.networkManagerIface || ""),
   set: (v) => (tempSettingsStruct.value.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
 });
+
+watchEffect(() => {
+  // Reset temp settings on remote network settings change
+  resetTempSettingsStruct();
+});
 </script>
 
 <template>

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -3,7 +3,7 @@ import type {
   CalibrationBoardTypes,
   CameraCalibrationResult,
   CameraSettings,
-  ConfigurableCameraSettings,
+  CameraSettingsChangeRequest,
   Resolution,
   RobotOffsetType,
   VideoFormat
@@ -103,21 +103,17 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         isCSICamera: d.isCSICamera,
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
-        pipelineSettings: d.currentPipelineSettings
+        pipelineSettings: d.currentPipelineSettings,
+        cameraQuirks: d.cameraQuirks
       }));
     },
     /**
      * Update the configurable camera settings.
      *
      * @param data camera settings to save.
-     * @param updateStore whether or not to update the store. This is useful if the input field already models the store reference.
      * @param cameraIndex the index of the camera.
      */
-    updateCameraSettings(
-      data: ConfigurableCameraSettings,
-      updateStore = true,
-      cameraIndex: number = useStateStore().currentCameraIndex
-    ) {
+    updateCameraSettings(data: CameraSettingsChangeRequest, cameraIndex: number = useStateStore().currentCameraIndex) {
       // The camera settings endpoint doesn't actually require all data, instead, it needs key data such as the FOV
       const payload = {
         settings: {
@@ -125,9 +121,6 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         },
         index: cameraIndex
       };
-      if (updateStore) {
-        this.currentCameraSettings.fov.value = data.fov;
-      }
       return axios.post("/settings/camera", payload);
     },
     /**

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -105,19 +105,7 @@ export const useSettingsStore = defineStore("settings", {
       this.network = data.networkSettings;
       this.currentFieldLayout = data.atfl;
     },
-    saveGeneralSettings() {
-      const payload: Required<ConfigurableNetworkSettings> = {
-        connectionType: this.network.connectionType,
-        hostname: this.network.hostname,
-        networkManagerIface: this.network.networkManagerIface || "",
-        ntServerAddress: this.network.ntServerAddress,
-        runNTServer: this.network.runNTServer,
-        setDHCPcommand: this.network.setDHCPcommand || "",
-        setStaticCommand: this.network.setStaticCommand || "",
-        shouldManage: this.network.shouldManage,
-        shouldPublishProto: this.network.shouldPublishProto,
-        staticIp: this.network.staticIp
-      };
+    updateGeneralSettings(payload: Required<ConfigurableNetworkSettings>) {
       return axios.post("/settings/general", payload);
     },
     /**

photon-client/src/types/SettingTypes.ts

@@ -135,8 +135,25 @@ export interface CameraCalibrationResult {
   calobjectWarp?: number[];
 }
 
-export interface ConfigurableCameraSettings {
-  fov: number;
+export enum ValidQuirks {
+  AWBGain = "AWBGain",
+  AdjustableFocus = "AdjustableFocus",
+  ArduOV9281 = "ArduOV9281",
+  ArduOV2311 = "ArduOV2311",
+  ArduCamCamera = "ArduCamCamera",
+  CompletelyBroken = "CompletelyBroken",
+  FPSCap100 = "FPSCap100",
+  Gain = "Gain",
+  PiCam = "PiCam",
+  StickyFPS = "StickyFPS"
+}
+
+export interface QuirkyCamera {
+  baseName: string;
+  usbVid: number;
+  usbPid: number;
+  displayName: string;
+  quirks: Record<ValidQuirks, boolean>;
 }
 
 export interface CameraSettings {
@@ -159,15 +176,22 @@ export interface CameraSettings {
   currentPipelineIndex: number;
   pipelineNicknames: string[];
   pipelineSettings: ActivePipelineSettings;
+
+  cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
 }
 
+export interface CameraSettingsChangeRequest {
+  fov: number;
+  quirksToChange: Record<ValidQuirks, boolean>;
+}
+
 export const PlaceholderCameraSettings: CameraSettings = {
   nickname: "Placeholder Camera",
   uniqueName: "Placeholder Name",
   fov: {
     value: 70,
-    managedByVendor: true
+    managedByVendor: false
   },
   stream: {
     inputPort: 0,
@@ -233,6 +257,24 @@ export const PlaceholderCameraSettings: CameraSettings = {
   lastPipelineIndex: 0,
   currentPipelineIndex: 0,
   pipelineSettings: DefaultAprilTagPipelineSettings,
+  cameraQuirks: {
+    displayName: "Blank 1",
+    baseName: "Blank 2",
+    usbVid: -1,
+    usbPid: -1,
+    quirks: {
+      AWBGain: false,
+      AdjustableFocus: false,
+      ArduOV9281: false,
+      ArduOV2311: false,
+      ArduCamCamera: false,
+      CompletelyBroken: false,
+      FPSCap100: false,
+      Gain: false,
+      PiCam: false,
+      StickyFPS: false
+    }
+  },
   isCSICamera: false
 };
 

photon-client/src/types/WebsocketDataTypes.ts

@@ -4,7 +4,8 @@ import type {
   LightingSettings,
   LogLevel,
   MetricData,
-  NetworkSettings
+  NetworkSettings,
+  QuirkyCamera
 } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
@@ -56,6 +57,7 @@ export interface WebsocketCameraSettingsUpdate {
   outputStreamPort: number;
   pipelineNicknames: string[];
   videoFormatList: WebsocketVideoFormat;
+  cameraQuirks: QuirkyCamera;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;

photon-core/build.gradle

@@ -1,7 +1,31 @@
+plugins {
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+}
+
 import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
+}
+
+nativeTasks.addToSourceSetResources(sourceSets.main)
+
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+
 dependencies {
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"

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

@@ -27,6 +27,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.PipelineManager;
@@ -46,6 +47,8 @@ public class CameraConfiguration {
     /** Can be either path (ex /dev/videoX) or index (ex 1). */
     public String path = "";
 
+    public QuirkyCamera cameraQuirks;
+
     @JsonIgnore public String[] otherPaths = {};
 
     public CameraType cameraType = CameraType.UsbCamera;
@@ -93,6 +96,7 @@ public class CameraConfiguration {
             @JsonProperty("FOV") double FOV,
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
+            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
             @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.baseName = baseName;
@@ -101,6 +105,7 @@ public class CameraConfiguration {
         this.FOV = FOV;
         this.path = path;
         this.cameraType = cameraType;
+        this.cameraQuirks = cameraQuirks;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
         this.currentPipelineIndex = currentPipelineIndex;
 
@@ -165,6 +170,8 @@ public class CameraConfiguration {
                 + Arrays.toString(otherPaths)
                 + ", cameraType="
                 + cameraType
+                + ", cameraQuirks="
+                + cameraQuirks
                 + ", FOV="
                 + FOV
                 + ", calibrations="

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

@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.configuration;
+
+/**
+ * Add migrations by adding the SQL commands for each migration sequentially to this array. DO NOT
+ * edit or delete existing SQL commands. That will lead to producing an icompatible database.
+ *
+ * <p>You can use multiple SQL statements in one migration step as long as you separate them with a
+ * semicolon (;).
+ */
+public final class DatabaseSchema {
+    public static final String[] migrations = {
+        // #1 - initial schema
+        "CREATE TABLE IF NOT EXISTS global (\n"
+                + " filename TINYTEXT PRIMARY KEY,\n"
+                + " contents mediumtext NOT NULL\n"
+                + ");"
+                + "CREATE TABLE IF NOT EXISTS cameras (\n"
+                + " unique_name TINYTEXT PRIMARY KEY,\n"
+                + " config_json text NOT NULL,\n"
+                + " drivermode_json text NOT NULL,\n"
+                + " pipeline_jsons mediumtext NOT NULL\n"
+                + ");",
+        // #2 - add column otherpaths_json
+        "ALTER TABLE cameras ADD COLUMN otherpaths_json TEXT NOT NULL DEFAULT '[]';",
+        // add future migrations here
+    };
+
+    // Constants for the tables and column to help prevent typos in SQL queries
+    // Update these tables to keep them constant with the current schema
+    public final class Tables {
+        // These constants should match the current SQL name of each table
+        public static final String GLOBAL = "global";
+        public static final String CAMERAS = "cameras";
+    }
+
+    public final class Columns {
+        // These constants should match the current SQL name of each column
+        static final String GLB_FILENAME = "filename";
+        static final String GLB_CONTENTS = "contents";
+
+        static final String CAM_UNIQUE_NAME = "unique_name";
+        static final String CAM_CONFIG_JSON = "config_json";
+        static final String CAM_DRIVERMODE_JSON = "drivermode_json";
+        static final String CAM_PIPELINE_JSONS = "pipeline_jsons";
+        static final String CAM_OTHERPATHS_JSON = "otherpaths_json";
+    }
+}

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

@@ -196,7 +196,7 @@ class LegacyConfigProvider extends ConfigProvider {
             }
         }
         if (atfl == null) {
-            logger.info("Loading default apriltags for 2023 field...");
+            logger.info("Loading default apriltags for 2024 field...");
             try {
                 atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
             } catch (UncheckedIOException e) {

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

@@ -30,6 +30,7 @@ import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -178,6 +179,7 @@ public class PhotonConfiguration {
         public int inputStreamPort;
         public List<CameraCalibrationCoefficients> calibrations;
         public boolean isFovConfigurable = true;
+        public QuirkyCamera cameraQuirks;
         public boolean isCSICamera;
     }
 }

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

@@ -30,6 +30,8 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Objects;
 import java.util.stream.Collectors;
+import org.photonvision.common.configuration.DatabaseSchema.Columns;
+import org.photonvision.common.configuration.DatabaseSchema.Tables;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.JacksonUtils;
@@ -47,13 +49,7 @@ import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 public class SqlConfigProvider extends ConfigProvider {
     private static final Logger logger = new Logger(SqlConfigProvider.class, LogGroup.Config);
 
-    static class TableKeys {
-        static final String CAM_UNIQUE_NAME = "unique_name";
-        static final String CONFIG_JSON = "config_json";
-        static final String DRIVERMODE_JSON = "drivermode_json";
-        static final String OTHERPATHS_JSON = "otherpaths_json";
-        static final String PIPELINE_JSONS = "pipeline_jsons";
-
+    static class GlobalKeys {
         static final String NETWORK_CONFIG = "networkConfig";
         static final String HARDWARE_CONFIG = "hardwareConfig";
         static final String HARDWARE_SETTINGS = "hardwareSettings";
@@ -61,14 +57,24 @@ public class SqlConfigProvider extends ConfigProvider {
     }
 
     private static final String dbName = "photon.sqlite";
+    // private final File rootFolder;
     private final String dbPath;
+    private final String url;
 
     private final Object m_mutex = new Object();
-    private final File rootFolder;
 
-    public SqlConfigProvider(Path rootFolder) {
-        this.rootFolder = rootFolder.toFile();
+    public SqlConfigProvider(Path rootPath) {
+        File rootFolder = rootPath.toFile();
+        // Make sure root dir exists
+        if (!rootFolder.exists()) {
+            if (rootFolder.mkdirs()) {
+                logger.debug("Root config folder did not exist. Created!");
+            } else {
+                logger.error("Failed to create root config folder!");
+            }
+        }
         dbPath = Path.of(rootFolder.toString(), dbName).toAbsolutePath().toString();
+        url = "jdbc:sqlite:" + dbPath;
         logger.debug("Using database " + dbPath);
         initDatabase();
     }
@@ -80,91 +86,136 @@ public class SqlConfigProvider extends ConfigProvider {
         return config;
     }
 
-    private Connection createConn() {
-        String url = "jdbc:sqlite:" + dbPath;
-
+    private Connection createConn(boolean autoCommit) {
+        Connection conn = null;
         try {
-            var conn = DriverManager.getConnection(url);
-            conn.setAutoCommit(false);
-            return conn;
+            conn = DriverManager.getConnection(url);
+            conn.setAutoCommit(autoCommit);
         } catch (SQLException e) {
             logger.error("Error creating connection", e);
-            return null;
         }
+        return conn;
+    }
+
+    private Connection createConn() {
+        return createConn(false);
     }
 
     private void tryCommit(Connection conn) {
         try {
             conn.commit();
-        } catch (SQLException e) {
-            logger.error("Err committing changes: ", e);
+        } catch (SQLException e1) {
+            logger.error("Err committing changes: ", e1);
             try {
                 conn.rollback();
-            } catch (SQLException e1) {
-                logger.error("Err rolling back changes: ", e);
+            } catch (SQLException e2) {
+                logger.error("Err rolling back changes: ", e2);
             }
         }
     }
 
-    private void initDatabase() {
-        // Make sure root dir exists
+    private int getIntPragma(String pragma) {
+        int retval = 0;
+        try (Connection conn = createConn(true);
+                Statement stmt = conn.createStatement()) {
+            ResultSet rs = stmt.executeQuery("PRAGMA " + pragma + ";");
+            retval = rs.getInt(1);
+        } catch (SQLException e) {
+            logger.error("Error querying " + pragma, e);
+        }
+        return retval;
+    }
 
-        if (!rootFolder.exists()) {
-            if (rootFolder.mkdirs()) {
-                logger.debug("Root config folder did not exist. Created!");
-            } else {
-                logger.error("Failed to create root config folder!");
+    private int getSchemaVersion() {
+        return getIntPragma("schema_version");
+    }
+
+    public int getUserVersion() {
+        return getIntPragma("user_version");
+    }
+
+    private void setUserVersion(Connection conn, int value) {
+        try (Statement stmt = conn.createStatement()) {
+            stmt.execute("PRAGMA user_version = " + value + ";");
+        } catch (SQLException e) {
+            logger.error("Error setting user_version to ", e);
+        }
+    }
+
+    private void doMigration(int index) throws SQLException {
+        logger.debug("Running migration step " + index);
+        try (Connection conn = createConn();
+                Statement stmt = conn.createStatement()) {
+            for (String sql : DatabaseSchema.migrations[index].split(";")) {
+                stmt.addBatch(sql);
+            }
+            stmt.executeBatch();
+            setUserVersion(conn, index + 1);
+            tryCommit(conn);
+        } catch (SQLException e) {
+            logger.error("Error with migration step " + index, e);
+            throw e;
+        }
+    }
+
+    private void initDatabase() {
+        int userVersion = getUserVersion();
+        int expectedVersion = DatabaseSchema.migrations.length;
+
+        if (userVersion < expectedVersion) {
+            // older database, run migrations
+
+            // first, check to see if this is one of the ones from 2024 beta that need special handling
+            if (userVersion == 0 && getSchemaVersion() > 0) {
+                String sql =
+                        "SELECT COUNT(*) AS CNTREC FROM pragma_table_info('cameras') WHERE name='otherpaths_json';";
+                try (Connection conn = createConn(true);
+                        Statement stmt = conn.createStatement();
+                        ResultSet rs = stmt.executeQuery(sql); ) {
+                    if (rs.getInt("CNTREC") == 0) {
+                        // need to add otherpaths_json
+                        userVersion = 1;
+                    } else {
+                        // already there, no need to add the column
+                        userVersion = 2;
+                    }
+                    setUserVersion(conn, userVersion);
+                } catch (SQLException e) {
+                    logger.error(
+                            "Could not determine the version of the database. Try deleting "
+                                    + dbName
+                                    + "and restart photonvision.",
+                            e);
+                }
+            }
+
+            logger.debug("Older database version. Migrating ... ");
+            try {
+                for (int index = userVersion; index < expectedVersion; index++) {
+                    doMigration(index);
+                }
+                logger.debug("Database migration complete");
+            } catch (SQLException e) {
+                logger.error("Error with database migration", e);
             }
         }
 
-        Connection conn = null;
-        Statement createGlobalTableStatement = null, createCameraTableStatement = null;
-        try {
-            conn = createConn();
-            if (conn == null) {
-                logger.error("No connection, cannot init db");
-                return;
-            }
-
-            // Create global settings table. Just a dumb table with list of jsons and their
-            // name
-            try {
-                createGlobalTableStatement = conn.createStatement();
-                String sql =
-                        "CREATE TABLE IF NOT EXISTS global (\n"
-                                + " filename TINYTEXT PRIMARY KEY,\n"
-                                + " contents mediumtext NOT NULL\n"
-                                + ");";
-                createGlobalTableStatement.execute(sql);
-            } catch (SQLException e) {
-                logger.error("Err creating global table", e);
-            }
-
-            // Create cameras table, key is the camera unique name
-            try {
-                createCameraTableStatement = conn.createStatement();
-                var sql =
-                        "CREATE TABLE IF NOT EXISTS cameras (\n"
-                                + " unique_name TINYTEXT PRIMARY KEY,\n"
-                                + " config_json text NOT NULL,\n"
-                                + " drivermode_json text NOT NULL,\n"
-                                + " otherpaths_json text NOT NULL,\n"
-                                + " pipeline_jsons mediumtext NOT NULL\n"
-                                + ");";
-                createCameraTableStatement.execute(sql);
-            } catch (SQLException e) {
-                logger.error("Err creating cameras table", e);
-            }
-
-            this.tryCommit(conn);
-        } finally {
-            try {
-                if (createGlobalTableStatement != null) createGlobalTableStatement.close();
-                if (createCameraTableStatement != null) createCameraTableStatement.close();
-                if (conn != null) conn.close();
-            } catch (SQLException e) {
-                e.printStackTrace();
-            }
+        // Warn if the database still isn't at the correct version
+        userVersion = getUserVersion();
+        if (userVersion > expectedVersion) {
+            // database must be from a newer version, so warn
+            logger.warn(
+                    "This database is from a newer version of PhotonVision. Check that you are running the right version of PhotonVision.");
+        } else if (userVersion < expectedVersion) {
+            // migration didn't work, so warn
+            logger.warn(
+                    "This database migration failed. Expected version: "
+                            + expectedVersion
+                            + ", got version: "
+                            + userVersion);
+        } else {
+            // migration worked
+            logger.info("Using correct database version: " + userVersion);
         }
     }
 
@@ -212,7 +263,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 hardwareConfig =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.HARDWARE_CONFIG), HardwareConfig.class);
+                                getOneConfigFile(conn, GlobalKeys.HARDWARE_CONFIG), HardwareConfig.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize hardware config! Loading defaults");
                 hardwareConfig = new HardwareConfig();
@@ -221,7 +272,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 hardwareSettings =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.HARDWARE_SETTINGS), HardwareSettings.class);
+                                getOneConfigFile(conn, GlobalKeys.HARDWARE_SETTINGS), HardwareSettings.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize hardware settings! Loading defaults");
                 hardwareSettings = new HardwareSettings();
@@ -230,7 +281,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 networkConfig =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.NETWORK_CONFIG), NetworkConfig.class);
+                                getOneConfigFile(conn, GlobalKeys.NETWORK_CONFIG), NetworkConfig.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize network config! Loading defaults");
                 networkConfig = new NetworkConfig();
@@ -239,7 +290,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 atfl =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class);
+                                getOneConfigFile(conn, GlobalKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize apriltag layout! Loading defaults");
                 try {
@@ -273,12 +324,15 @@ public class SqlConfigProvider extends ConfigProvider {
         PreparedStatement query = null;
         try {
             query =
-                    conn.prepareStatement("SELECT contents FROM global where filename=\"" + filename + "\"");
+                    conn.prepareStatement(
+                            String.format(
+                                    "SELECT %s FROM %s WHERE %s = \"%s\"",
+                                    Columns.GLB_CONTENTS, Tables.GLOBAL, Columns.GLB_FILENAME, filename));
 
             var result = query.executeQuery();
 
             while (result.next()) {
-                return result.getString("contents");
+                return result.getString(Columns.GLB_CONTENTS);
             }
         } catch (SQLException e) {
             logger.error("SQL Err getting file " + filename, e);
@@ -297,8 +351,14 @@ public class SqlConfigProvider extends ConfigProvider {
         try {
             // Replace this camera's row with the new settings
             var sqlString =
-                    "REPLACE INTO cameras (unique_name, config_json, drivermode_json, otherpaths_json, pipeline_jsons) VALUES "
-                            + "(?,?,?,?,?);";
+                    String.format(
+                            "REPLACE INTO %s (%s, %s, %s, %s, %s) VALUES (?,?,?,?,?);",
+                            Tables.CAMERAS,
+                            Columns.CAM_UNIQUE_NAME,
+                            Columns.CAM_CONFIG_JSON,
+                            Columns.CAM_DRIVERMODE_JSON,
+                            Columns.CAM_OTHERPATHS_JSON,
+                            Columns.CAM_PIPELINE_JSONS);
 
             for (var c : config.getCameraConfigurations().entrySet()) {
                 PreparedStatement statement = conn.prepareStatement(sqlString);
@@ -372,13 +432,16 @@ public class SqlConfigProvider extends ConfigProvider {
         PreparedStatement statement3 = null;
         try {
             // Replace this camera's row with the new settings
-            var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
+            var sqlString =
+                    String.format(
+                            "REPLACE INTO %s (%s, %s) VALUES (?,?);",
+                            Tables.GLOBAL, Columns.GLB_FILENAME, Columns.GLB_CONTENTS);
 
             if (!skipSavingHWSet) {
                 statement1 = conn.prepareStatement(sqlString);
                 addFile(
                         statement1,
-                        TableKeys.HARDWARE_SETTINGS,
+                        GlobalKeys.HARDWARE_SETTINGS,
                         JacksonUtils.serializeToString(config.getHardwareSettings()));
                 statement1.executeUpdate();
             }
@@ -387,7 +450,7 @@ public class SqlConfigProvider extends ConfigProvider {
                 statement2 = conn.prepareStatement(sqlString);
                 addFile(
                         statement2,
-                        TableKeys.NETWORK_CONFIG,
+                        GlobalKeys.NETWORK_CONFIG,
                         JacksonUtils.serializeToString(config.getNetworkConfig()));
                 statement2.executeUpdate();
                 statement2.close();
@@ -397,7 +460,7 @@ public class SqlConfigProvider extends ConfigProvider {
                 statement3 = conn.prepareStatement(sqlString);
                 addFile(
                         statement3,
-                        TableKeys.HARDWARE_CONFIG,
+                        GlobalKeys.HARDWARE_CONFIG,
                         JacksonUtils.serializeToString(config.getHardwareConfig()));
                 statement3.executeUpdate();
                 statement3.close();
@@ -432,7 +495,10 @@ public class SqlConfigProvider extends ConfigProvider {
             }
 
             // Replace this camera's row with the new settings
-            var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
+            var sqlString =
+                    String.format(
+                            "REPLACE INTO %s (%s, %s) VALUES (?,?);",
+                            Tables.GLOBAL, Columns.GLB_FILENAME, Columns.GLB_CONTENTS);
 
             statement1 = conn.prepareStatement(sqlString);
             addFile(statement1, fname, Files.readString(path));
@@ -461,25 +527,25 @@ public class SqlConfigProvider extends ConfigProvider {
     @Override
     public boolean saveUploadedHardwareConfig(Path uploadPath) {
         skipSavingHWCfg = true;
-        return saveOneFile(TableKeys.HARDWARE_CONFIG, uploadPath);
+        return saveOneFile(GlobalKeys.HARDWARE_CONFIG, uploadPath);
     }
 
     @Override
     public boolean saveUploadedHardwareSettings(Path uploadPath) {
         skipSavingHWSet = true;
-        return saveOneFile(TableKeys.HARDWARE_SETTINGS, uploadPath);
+        return saveOneFile(GlobalKeys.HARDWARE_SETTINGS, uploadPath);
     }
 
     @Override
     public boolean saveUploadedNetworkConfig(Path uploadPath) {
         skipSavingNWCfg = true;
-        return saveOneFile(TableKeys.NETWORK_CONFIG, uploadPath);
+        return saveOneFile(GlobalKeys.NETWORK_CONFIG, uploadPath);
     }
 
     @Override
     public boolean saveUploadedAprilTagFieldLayout(Path uploadPath) {
         skipSavingAPRTG = true;
-        return saveOneFile(TableKeys.ATFL_CONFIG_FILE, uploadPath);
+        return saveOneFile(GlobalKeys.ATFL_CONFIG_FILE, uploadPath);
     }
 
     private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
@@ -491,12 +557,13 @@ public class SqlConfigProvider extends ConfigProvider {
             query =
                     conn.prepareStatement(
                             String.format(
-                                    "SELECT %s, %s, %s, %s, %s FROM cameras",
-                                    TableKeys.CAM_UNIQUE_NAME,
-                                    TableKeys.CONFIG_JSON,
-                                    TableKeys.DRIVERMODE_JSON,
-                                    TableKeys.OTHERPATHS_JSON,
-                                    TableKeys.PIPELINE_JSONS));
+                                    "SELECT %s, %s, %s, %s, %s FROM %s",
+                                    Columns.CAM_UNIQUE_NAME,
+                                    Columns.CAM_CONFIG_JSON,
+                                    Columns.CAM_DRIVERMODE_JSON,
+                                    Columns.CAM_OTHERPATHS_JSON,
+                                    Columns.CAM_PIPELINE_JSONS,
+                                    Tables.CAMERAS));
 
             var result = query.executeQuery();
 
@@ -504,18 +571,18 @@ public class SqlConfigProvider extends ConfigProvider {
             while (result.next()) {
                 List<String> dummyList = new ArrayList<>();
 
-                var uniqueName = result.getString(TableKeys.CAM_UNIQUE_NAME);
+                var uniqueName = result.getString(Columns.CAM_UNIQUE_NAME);
                 var config =
                         JacksonUtils.deserialize(
-                                result.getString(TableKeys.CONFIG_JSON), CameraConfiguration.class);
+                                result.getString(Columns.CAM_CONFIG_JSON), CameraConfiguration.class);
                 var driverMode =
                         JacksonUtils.deserialize(
-                                result.getString(TableKeys.DRIVERMODE_JSON), DriverModePipelineSettings.class);
+                                result.getString(Columns.CAM_DRIVERMODE_JSON), DriverModePipelineSettings.class);
                 var otherPaths =
-                        JacksonUtils.deserialize(result.getString(TableKeys.OTHERPATHS_JSON), String[].class);
+                        JacksonUtils.deserialize(result.getString(Columns.CAM_OTHERPATHS_JSON), String[].class);
                 List<?> pipelineSettings =
                         JacksonUtils.deserialize(
-                                result.getString(TableKeys.PIPELINE_JSONS), dummyList.getClass());
+                                result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
 
                 List<CVPipelineSettings> loadedSettings = new ArrayList<>();
                 for (var str : pipelineSettings) {

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

@@ -26,6 +26,7 @@ public enum DataChangeDestination {
     DCD_ACTIVEPIPELINESETTINGS,
     DCD_GENSETTINGS,
     DCD_UI,
+    DCD_WEBSERVER,
     DCD_OTHER;
 
     public static final List<DataChangeDestination> AllDestinations =

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

@@ -19,6 +19,10 @@ package org.photonvision.common.networking;
 
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.DataChangeSource;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -43,6 +47,7 @@ public class NetworkManager {
     public void initialize(boolean shouldManage) {
         isManaged = shouldManage && !networkingIsDisabled;
         if (!isManaged) {
+            logger.info("Network management is disabled.");
             return;
         }
 
@@ -147,5 +152,13 @@ public class NetworkManager {
 
     public void reinitialize() {
         initialize(ConfigManager.getInstance().getConfig().getNetworkConfig().shouldManage());
+
+        DataChangeService.getInstance()
+                .publishEvent(
+                        new DataChangeEvent<Boolean>(
+                                DataChangeSource.DCS_OTHER,
+                                DataChangeDestination.DCD_WEBSERVER,
+                                "restartServer",
+                                true));
     }
 }

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

@@ -144,6 +144,24 @@ public class TestUtils {
         }
     }
 
+    public enum WPI2024Images {
+        kBackAmpZone_117in,
+        kSpeakerCenter_143in;
+
+        public static double FOV = 68.5;
+
+        public final Path path;
+
+        Path getPath() {
+            var filename = this.toString().substring(1);
+            return Path.of("2024", filename + ".jpg");
+        }
+
+        WPI2024Images() {
+            this.path = getPath();
+        }
+    }
+
     public enum WPI2023Apriltags {
         k162_36_Angle,
         k162_36_Straight,

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

@@ -54,6 +54,9 @@ public class CameraCalibrationCoefficients implements Releasable {
     @JsonProperty("calobjectSpacing")
     public final double calobjectSpacing;
 
+    @JsonProperty("lensmodel")
+    public final CameraLensModel lensmodel;
+
     @JsonIgnore private final double[] intrinsicsArr = new double[9];
     @JsonIgnore private final double[] distCoeffsArr = new double[5];
 
@@ -83,13 +86,15 @@ public class CameraCalibrationCoefficients implements Releasable {
             @JsonProperty("calobjectWarp") double[] calobjectWarp,
             @JsonProperty("observations") List<BoardObservation> observations,
             @JsonProperty("calobjectSize") Size calobjectSize,
-            @JsonProperty("calobjectSpacing") double calobjectSpacing) {
+            @JsonProperty("calobjectSpacing") double calobjectSpacing,
+            @JsonProperty("lensmodel") CameraLensModel lensmodel) {
         this.resolution = resolution;
         this.cameraIntrinsics = cameraIntrinsics;
         this.distCoeffs = distCoeffs;
         this.calobjectWarp = calobjectWarp;
         this.calobjectSize = calobjectSize;
         this.calobjectSpacing = calobjectSpacing;
+        this.lensmodel = lensmodel;
 
         // Legacy migration just to make sure that observations is at worst empty and never null
         if (observations == null) {
@@ -174,7 +179,8 @@ public class CameraCalibrationCoefficients implements Releasable {
                 new double[0],
                 List.of(),
                 new Size(0, 0),
-                0);
+                0,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     @Override

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

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.calibration;
+
+/**
+ * What kind of camera lens model our intrinsics are modeling. For more info see:
+ * https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
+ * https://mrcal.secretsauce.net/lensmodels.html#org4e95788
+ */
+public enum CameraLensModel {
+    /** OpenCV[4,5,8,12]-based model */
+    LENSMODEL_OPENCV,
+    /** Mrcal steriographic lens model. See LENSMODEL_STEREOGRAPHIC in the mrcal docs */
+    LENSMODEL_STERIOGRAPHIC,
+    /**
+     * Mrcal splined-steriographic lens model. See LENSMODEL_SPLINED_STEREOGRAPHIC_ in the mrcal docs
+     */
+    LENSMODEL_SPLINED_STERIOGRAPHIC
+}

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

@@ -32,4 +32,13 @@ public enum CameraQuirk {
     AdjustableFocus,
     /** Changing FPS repeatedly with small delay does not work correctly */
     StickyFPS,
+    /** Camera is an arducam. This means it shares VID/PID with other arducams (ew) */
+    ArduCamCamera,
+    /**
+     * Camera is an arducam ov9281 which has a funky exposure issue where it is defined in v4l as
+     * 1-5000 instead of 1-75
+     */
+    ArduOV9281,
+    /** Dummy quirk to tell OV2311 from OV9281 */
+    ArduOV2311,
 }

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

@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.camera;
 
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -47,8 +49,32 @@ public class QuirkyCamera {
                             -1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
-                    new QuirkyCamera(0x6366, 0x0c45, CameraQuirk.StickyFPS) // Arducam OV2311
-                    );
+                    // Generic arducam. Since OV2311 can't be differentiated at first boot, apply stickyFPS to
+                    // the generic case, too
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "",
+                            "Arducam Generic",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.StickyFPS),
+                    // Arducam OV2311
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "OV2311",
+                            "OV2311",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.ArduOV2311,
+                            CameraQuirk.StickyFPS),
+                    // Arducam OV9281
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "OV9281",
+                            "OV9281",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.ArduOV9281));
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
     public static final QuirkyCamera ZeroCopyPiCamera =
@@ -60,9 +86,19 @@ public class QuirkyCamera {
                     CameraQuirk.Gain,
                     CameraQuirk.AWBGain); // PiCam (special zerocopy version)
 
+    @JsonProperty("baseName")
     public final String baseName;
+
+    @JsonProperty("usbVid")
     public final int usbVid;
+
+    @JsonProperty("usbPid")
     public final int usbPid;
+
+    @JsonProperty("displayName")
+    public final String displayName;
+
+    @JsonProperty("quirks")
     public final HashMap<CameraQuirk, Boolean> quirks;
 
     /**
@@ -85,9 +121,24 @@ public class QuirkyCamera {
      * @param quirks Camera quirks
      */
     private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) {
+        this(usbVid, usbPid, baseName, "", quirks);
+    }
+
+    /**
+     * Creates a QuirkyCamera that matches by USB VID/PID and name
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param baseName CSCore name of camera
+     * @param displayName Human-friendly quicky camera name
+     * @param quirks Camera quirks
+     */
+    private QuirkyCamera(
+            int usbVid, int usbPid, String baseName, String displayName, CameraQuirk... quirks) {
         this.usbVid = usbVid;
         this.usbPid = usbPid;
         this.baseName = baseName;
+        this.displayName = displayName;
 
         this.quirks = new HashMap<>();
         for (var q : quirks) {
@@ -98,6 +149,20 @@ public class QuirkyCamera {
         }
     }
 
+    @JsonCreator
+    public QuirkyCamera(
+            @JsonProperty("baseName") String baseName,
+            @JsonProperty("usbVid") int usbVid,
+            @JsonProperty("usbPid") int usbPid,
+            @JsonProperty("displayName") String displayName,
+            @JsonProperty("quirks") HashMap<CameraQuirk, Boolean> quirks) {
+        this.baseName = baseName;
+        this.usbPid = usbPid;
+        this.usbVid = usbVid;
+        this.quirks = quirks;
+        this.displayName = displayName;
+    }
+
     public boolean hasQuirk(CameraQuirk quirk) {
         return quirks.get(quirk);
     }
@@ -144,8 +209,39 @@ public class QuirkyCamera {
                 && Objects.equals(quirks, that.quirks);
     }
 
+    @Override
+    public String toString() {
+        String ret =
+                "QuirkyCamera [baseName="
+                        + baseName
+                        + ", displayName="
+                        + displayName
+                        + ", usbVid="
+                        + usbVid
+                        + ", usbPid="
+                        + usbPid
+                        + ", quirks="
+                        + quirks.toString()
+                        + "]";
+        return ret;
+    }
+
     @Override
     public int hashCode() {
         return Objects.hash(usbVid, usbPid, baseName, quirks);
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     *
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void updateQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        for (var q : quirksToChange.entrySet()) {
+            var quirk = q.getKey();
+            var hasQuirk = q.getValue();
+
+            this.quirks.put(quirk, hasQuirk);
+        }
+    }
 }

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

@@ -45,8 +45,6 @@ public class USBCameraSource extends VisionSource {
     private FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-    private QuirkyCamera cameraQuirks;
-
     public USBCameraSource(CameraConfiguration config) {
         super(config);
 
@@ -54,17 +52,21 @@ public class USBCameraSource extends VisionSource {
         camera = new UsbCamera(config.nickname, config.path);
         cvSink = CameraServer.getVideo(this.camera);
 
-        cameraQuirks =
-                QuirkyCamera.getQuirkyCamera(
-                        camera.getInfo().productId, camera.getInfo().vendorId, config.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(
+                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
 
-        if (cameraQuirks.hasQuirks()) {
-            logger.info("Quirky camera detected: " + cameraQuirks.baseName);
+        if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
+            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
         }
 
-        if (cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
             // set some defaults, as these should never be used.
-            logger.info("Camera " + cameraQuirks.baseName + " is not supported for PhotonVision");
+            logger.info(
+                    "Camera "
+                            + getCameraConfiguration().cameraQuirks.baseName
+                            + " is not supported for PhotonVision");
             usbCameraSettables = null;
             usbFrameProvider = null;
         } else {
@@ -88,7 +90,9 @@ public class USBCameraSource extends VisionSource {
     public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
         this(config);
 
-        cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
 
         if (unitTest)
             usbFrameProvider =
@@ -99,7 +103,7 @@ public class USBCameraSource extends VisionSource {
     }
 
     void disableAutoFocus() {
-        if (cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
             try {
                 camera.getProperty("focus_auto").set(0);
                 camera.getProperty("focus_absolute").set(0); // Focus into infinity
@@ -110,7 +114,7 @@ public class USBCameraSource extends VisionSource {
     }
 
     public QuirkyCamera getCameraQuirks() {
-        return this.cameraQuirks;
+        return getCameraConfiguration().cameraQuirks;
     }
 
     @Override
@@ -124,17 +128,21 @@ public class USBCameraSource extends VisionSource {
     }
 
     public class USBCameraSettables extends VisionSourceSettables {
+        // We need to remember the last exposure set when exiting auto exposure mode so we can restore
+        // it
+        private double last_exposure = -1;
+
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
-            if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
+            if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
-            if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                 // Case, we know this is a picam. Go through v4l2-ctl interface directly
 
                 // Common settings
@@ -166,20 +174,46 @@ public class USBCameraSource extends VisionSource {
             } else {
                 // Case - this is some other USB cam. Default to wpilib's implementation
 
-                var canSetWhiteBalance = !cameraQuirks.hasQuirk(CameraQuirk.Gain);
+                var canSetWhiteBalance = !getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain);
 
                 if (!cameraAutoExposure) {
                     // Pick a bunch of reasonable setting defaults for vision processing retroreflective
                     if (canSetWhiteBalance) {
-                        camera.setWhiteBalanceManual(4000); // Auto white-balance disabled, 4000K preset
+                        // Linux kernel bump changed names -- now called white_balance_automatic and
+                        // white_balance_temperature
+                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
+                            // 1=auto, 0=manual
+                            camera.getProperty("white_balance_automatic").set(0);
+                            camera.getProperty("white_balance_temperature").set(4000);
+                        } else {
+                            camera.setWhiteBalanceManual(4000); // Auto white-balance disabled, 4000K preset
+                        }
+
+                        // Most cameras leave exposure time absolute at the last value from their AE algorithm.
+                        // Set it back to the exposure slider value
+                        setExposure(this.last_exposure);
                     }
                 } else {
                     // Pick a bunch of reasonable setting defaults for driver, fiducials, or otherwise
                     // nice-for-humans
                     if (canSetWhiteBalance) {
-                        camera.setWhiteBalanceAuto(); // Auto white-balance enabled
+                        // Linux kernel bump changed names -- now called white_balance_automatic
+                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
+                            // 1=auto, 0=manual
+                            camera.getProperty("white_balance_automatic").set(1);
+                        } else {
+                            camera.setWhiteBalanceAuto(); // Auto white-balance enabled
+                        }
+                    }
+
+                    // Linux kernel bump changed names -- exposure_auto is now called auto_exposure
+                    if (camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
+                        var prop = camera.getProperty("auto_exposure");
+                        // 3=auto-aperature
+                        prop.set((int) 3);
+                    } else {
+                        camera.setExposureAuto(); // auto exposure enabled
                     }
-                    camera.setExposureAuto(); // auto exposure enabled
                 }
             }
         }
@@ -207,17 +241,30 @@ public class USBCameraSource extends VisionSource {
             if (exposure >= 0.0) {
                 try {
                     int scaledExposure = 1;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         scaledExposure = Math.round(timeToPiCamRawExposure(pctToExposureTimeUs(exposure)));
                         logger.debug("Setting camera raw exposure to " + scaledExposure);
                         camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
                         camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
 
-                    } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone) {
-                        // Seems like the name changed at some point in v4l? set it instead
-                        var prop = camera.getProperty("exposure_time_absolute");
-                        var exposure_manual_val =
-                                MathUtils.map(Math.round(exposure), 0, 100, prop.getMin(), prop.getMax());
+                        // Yay thanks v4l for changing names randomly
+                    } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone
+                            && camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
+                        // 1=manual-aperature
+                        camera.getProperty("auto_exposure").set(1);
+
+                        // Seems like the name changed at some point in v4l? set it ouyrselves too
+                        var prop = camera.getProperty("raw_exposure_time_absolute");
+
+                        var propMin = prop.getMin();
+                        var propMax = prop.getMax();
+
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281)) {
+                            propMin = 1;
+                            propMax = 75;
+                        }
+
+                        var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, propMin, propMax);
                         prop.set((int) exposure_manual_val);
                     } else {
                         scaledExposure = (int) Math.round(exposure);
@@ -228,6 +275,7 @@ public class USBCameraSource extends VisionSource {
                 } catch (VideoException e) {
                     logger.error("Failed to set camera exposure!", e);
                 }
+                this.last_exposure = exposure;
             }
         }
 
@@ -244,7 +292,7 @@ public class USBCameraSource extends VisionSource {
         @Override
         public void setGain(int gain) {
             try {
-                if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
                     camera.getProperty("gain_automatic").set(0);
                     camera.getProperty("gain").set(gain);
                 }
@@ -278,7 +326,7 @@ public class USBCameraSource extends VisionSource {
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
                     VideoMode[] modes;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         modes =
                                 new VideoMode[] {
                                     new VideoMode(PixelFormat.kBGR, 320, 240, 90),
@@ -306,13 +354,13 @@ public class USBCameraSource extends VisionSource {
                         }
 
                         // On picam, filter non-bgr modes for performance
-                        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                             if (videoMode.pixelFormat != PixelFormat.kBGR) {
                                 continue;
                             }
                         }
 
-                        if (cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
                             if (videoMode.fps > 100) {
                                 continue;
                             }
@@ -370,7 +418,7 @@ public class USBCameraSource extends VisionSource {
     @Override
     public boolean isVendorCamera() {
         return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
-                && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+                && getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam);
     }
 
     @Override
@@ -391,15 +439,22 @@ public class USBCameraSource extends VisionSource {
         if (cvSink == null) {
             if (other.cvSink != null) return false;
         } else if (!cvSink.equals(other.cvSink)) return false;
-        if (cameraQuirks == null) {
-            if (other.cameraQuirks != null) return false;
-        } else if (!cameraQuirks.equals(other.cameraQuirks)) return false;
+        if (getCameraConfiguration().cameraQuirks == null) {
+            if (other.getCameraConfiguration().cameraQuirks != null) return false;
+        } else if (!getCameraConfiguration()
+                .cameraQuirks
+                .equals(other.getCameraConfiguration().cameraQuirks)) return false;
         return true;
     }
 
     @Override
     public int hashCode() {
         return Objects.hash(
-                camera, usbCameraSettables, usbFrameProvider, cameraConfiguration, cvSink, cameraQuirks);
+                camera,
+                usbCameraSettables,
+                usbFrameProvider,
+                cameraConfiguration,
+                cvSink,
+                getCameraConfiguration().cameraQuirks);
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java

@@ -35,6 +35,7 @@ import org.photonvision.mrcal.MrCalJNI.MrCalResult;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.BoardObservation;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.calibration.CameraLensModel;
 import org.photonvision.vision.calibration.JsonImageMat;
 import org.photonvision.vision.calibration.JsonMatOfDouble;
 import org.photonvision.vision.pipe.CVPipe;
@@ -158,7 +159,8 @@ public class Calibrate3dPipe
                 new double[0],
                 observations,
                 new Size(params.boardWidth, params.boardHeight),
-                params.squareSize);
+                params.squareSize,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     protected CameraCalibrationCoefficients calibrateMrcal(
@@ -240,7 +242,8 @@ public class Calibrate3dPipe
                 new double[] {result.warp_x, result.warp_y},
                 observations,
                 new Size(params.boardWidth, params.boardHeight),
-                params.squareSize);
+                params.squareSize,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     private List<BoardObservation> createObservations(

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -512,6 +512,7 @@ public class VisionModule {
                 SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
         ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
+        ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
@@ -609,4 +610,14 @@ public class VisionModule {
 
         saveAndBroadcastAll();
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     *
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void changeCameraQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        visionSource.getCameraConfiguration().cameraQuirks.updateQuirks(quirksToChange);
+        saveAndBroadcastAll();
+    }
 }

photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java

@@ -19,25 +19,58 @@ package org.photonvision.common.configuration;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Files;
 import java.nio.file.Path;
+import java.util.Comparator;
 import java.util.List;
+import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Order;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 
 public class SQLConfigTest {
+    private static Path tmpDir;
+
     @BeforeAll
     public static void init() {
         TestUtils.loadLibraries();
+        try {
+            tmpDir = Files.createTempDirectory("SQLConfigTest");
+        } catch (IOException e) {
+            System.out.println("Couldn't create temporary directory, using current directory");
+            tmpDir = Path.of("jdbc_test", "temp");
+        }
+    }
+
+    @AfterAll
+    public static void cleanUp() throws IOException {
+        Files.walk(tmpDir).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
     }
 
     @Test
+    @Order(1)
+    public void testMigration() {
+        SqlConfigProvider cfgLoader = new SqlConfigProvider(tmpDir);
+        cfgLoader.load();
+
+        assertEquals(
+                DatabaseSchema.migrations.length,
+                cfgLoader.getUserVersion(),
+                "Database isn't at the correct version");
+    }
+
+    @Test
+    @Order(2)
     public void testLoad() {
-        var cfgLoader = new SqlConfigProvider(Path.of("jdbc_test"));
+        var cfgLoader = new SqlConfigProvider(tmpDir);
 
         cfgLoader.load();
 
@@ -49,6 +82,7 @@ public class SQLConfigTest {
                         69,
                         "a/path/idk",
                         CameraType.UsbCamera,
+                        QuirkyCamera.getQuirkyCamera(-1, -1),
                         List.of(),
                         0);
         testcamcfg.pipelineSettings =

photon-lib/build.gradle

@@ -1,9 +1,3 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
-apply plugin: "edu.wpi.first.NativeUtils"
-
 import java.nio.file.Path
 
 ext {
@@ -13,9 +7,125 @@ ext {
     generatedHeaders = "src/generate/native/include"
 }
 
-apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+apply from: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/shared/javacommon.gradle"
+
 apply from: "${rootDir}/versioningHelper.gradle"
 
+nativeUtils {
+    exportsConfigs {
+        "${nativeName}" {}
+    }
+}
+
+model {
+    components {
+        "${nativeName}"(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
+                        include '**/*.cpp', '**/*.cc'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
+                        include "**/*.h"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+    testSuites {
+        "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+            for(NativeComponentSpec c : $.components) {
+                if (c.name == nativeName) {
+                    testing c
+                    break
+                }
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/test/native/cpp'
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "cscore_shared")
+            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
+            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
+            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+
+    tasks {
+        def c = $.testSuites
+        project.tasks.create('runCpp', Exec) {
+            description = "Run the photon-lib executable"
+            def found = false
+            def systemArch = getCurrentArch()
+            c.each {
+                if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
+                    it.binaries.each {
+                        if (!found) {
+                            def arch = it.targetPlatform.name
+                            if (arch == systemArch) {
+                                dependsOn it.tasks.install
+                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                                test.dependsOn it.tasks.install
+                                test.systemProperty 'java.library.path', filePath
+                                test.environment 'LD_LIBRARY_PATH', filePath
+                                test.environment 'DYLD_LIBRARY_PATH', filePath
+                                test.workingDir filePath
+
+                                found = true
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+apply from: "${rootDir}/shared/javacpp/publish.gradle"
+
 // Include the version file in the distributed sources
 cppHeadersZip {
     from('src/generate/native/include') {

photon-lib/py/photonlibpy/multiTargetPNPResult.py

@@ -17,6 +17,10 @@ class PNPResult:
 
     def createFromPacket(self, packet: Packet) -> Packet:
         self.isPresent = packet.decodeBoolean()
+
+        if not self.isPresent:
+            return packet
+
         self.best = packet.decodeTransform()
         self.alt = packet.decodeTransform()
         self.bestReprojError = packet.decodeDouble()

photon-lib/py/photonlibpy/photonCamera.py

@@ -14,7 +14,7 @@ class VisionLEDMode(Enum):
     kBlink = 2
 
 
-lastVersionTimeCheck = 0.0
+_lastVersionTimeCheck = 0.0
 _VERSION_CHECK_ENABLED = True
 
 
@@ -26,41 +26,41 @@ def setVersionCheckEnabled(enabled: bool):
 class PhotonCamera:
     def __init__(self, cameraName: str):
         instance = ntcore.NetworkTableInstance.getDefault()
-        self.name = cameraName
+        self._name = cameraName
         self._tableName = "photonvision"
         photonvision_root_table = instance.getTable(self._tableName)
-        self.cameraTable = photonvision_root_table.getSubTable(cameraName)
-        self.path = self.cameraTable.getPath()
-        self.rawBytesEntry = self.cameraTable.getRawTopic("rawBytes").subscribe(
+        self._cameraTable = photonvision_root_table.getSubTable(cameraName)
+        self._path = self._cameraTable.getPath()
+        self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
             "rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
         )
 
-        self.driverModePublisher = self.cameraTable.getBooleanTopic(
+        self._driverModePublisher = self._cameraTable.getBooleanTopic(
             "driverModeRequest"
         ).publish()
-        self.driverModeSubscriber = self.cameraTable.getBooleanTopic(
+        self._driverModeSubscriber = self._cameraTable.getBooleanTopic(
             "driverMode"
         ).subscribe(False)
-        self.inputSaveImgEntry = self.cameraTable.getIntegerTopic(
+        self._inputSaveImgEntry = self._cameraTable.getIntegerTopic(
             "inputSaveImgCmd"
         ).getEntry(0)
-        self.outputSaveImgEntry = self.cameraTable.getIntegerTopic(
+        self._outputSaveImgEntry = self._cameraTable.getIntegerTopic(
             "outputSaveImgCmd"
         ).getEntry(0)
-        self.pipelineIndexRequest = self.cameraTable.getIntegerTopic(
+        self._pipelineIndexRequest = self._cameraTable.getIntegerTopic(
             "pipelineIndexRequest"
         ).publish()
-        self.pipelineIndexState = self.cameraTable.getIntegerTopic(
+        self._pipelineIndexState = self._cameraTable.getIntegerTopic(
             "pipelineIndexState"
         ).subscribe(0)
-        self.heartbeatEntry = self.cameraTable.getIntegerTopic("heartbeat").subscribe(
+        self._heartbeatEntry = self._cameraTable.getIntegerTopic("heartbeat").subscribe(
             -1
         )
 
-        self.ledModeRequest = photonvision_root_table.getIntegerTopic(
+        self._ledModeRequest = photonvision_root_table.getIntegerTopic(
             "ledModeRequest"
         ).publish()
-        self.ledModeState = photonvision_root_table.getIntegerTopic(
+        self._ledModeState = photonvision_root_table.getIntegerTopic(
             "ledModeState"
         ).subscribe(-1)
         self.versionEntry = photonvision_root_table.getStringTopic("version").subscribe(
@@ -72,14 +72,14 @@ class PhotonCamera:
             instance, ["/photonvision/"], ntcore.PubSubOptions(topicsOnly=True)
         )
 
-        self.prevHeartbeat = 0
-        self.prevHeartbeatChangeTime = Timer.getFPGATimestamp()
+        self._prevHeartbeat = 0
+        self._prevHeartbeatChangeTime = Timer.getFPGATimestamp()
 
     def getLatestResult(self) -> PhotonPipelineResult:
         self._versionCheck()
 
         retVal = PhotonPipelineResult()
-        packetWithTimestamp = self.rawBytesEntry.getAtomic()
+        packetWithTimestamp = self._rawBytesEntry.getAtomic()
         byteList = packetWithTimestamp.value
         timestamp = packetWithTimestamp.time
 
@@ -94,57 +94,57 @@ class PhotonCamera:
             return retVal
 
     def getDriverMode(self) -> bool:
-        return self.driverModeSubscriber.get()
+        return self._driverModeSubscriber.get()
 
     def setDriverMode(self, driverMode: bool) -> None:
-        self.driverModePublisher.set(driverMode)
+        self._driverModePublisher.set(driverMode)
 
     def takeInputSnapshot(self) -> None:
-        self.inputSaveImgEntry.set(self.inputSaveImgEntry.get() + 1)
+        self._inputSaveImgEntry.set(self._inputSaveImgEntry.get() + 1)
 
     def takeOutputSnapshot(self) -> None:
-        self.outputSaveImgEntry.set(self.outputSaveImgEntry.get() + 1)
+        self._outputSaveImgEntry.set(self._outputSaveImgEntry.get() + 1)
 
     def getPipelineIndex(self) -> int:
-        return self.pipelineIndexState.get(0)
+        return self._pipelineIndexState.get(0)
 
     def setPipelineIndex(self, index: int) -> None:
-        self.pipelineIndexRequest.set(index)
+        self._pipelineIndexRequest.set(index)
 
     def getLEDMode(self) -> VisionLEDMode:
-        mode = self.ledModeState.get()
+        mode = self._ledModeState.get()
         return VisionLEDMode(mode)
 
     def setLEDMode(self, led: VisionLEDMode) -> None:
-        self.ledModeRequest.set(led.value)
+        self._ledModeRequest.set(led.value)
 
     def getName(self) -> str:
-        return self.name
+        return self._name
 
     def isConnected(self) -> bool:
-        curHeartbeat = self.heartbeatEntry.get()
+        curHeartbeat = self._heartbeatEntry.get()
         now = Timer.getFPGATimestamp()
 
-        if curHeartbeat != self.prevHeartbeat:
-            self.prevHeartbeat = curHeartbeat
-            self.prevHeartbeatChangeTime = now
+        if curHeartbeat != self._prevHeartbeat:
+            self._prevHeartbeat = curHeartbeat
+            self._prevHeartbeatChangeTime = now
 
-        return (now - self.prevHeartbeatChangeTime) < 0.5
+        return (now - self._prevHeartbeatChangeTime) < 0.5
 
     def _versionCheck(self) -> None:
-        global lastVersionTimeCheck
+        global _lastVersionTimeCheck
 
         if not _VERSION_CHECK_ENABLED:
             return
 
-        if (Timer.getFPGATimestamp() - lastVersionTimeCheck) < 5.0:
+        if (Timer.getFPGATimestamp() - _lastVersionTimeCheck) < 5.0:
             return
 
-        lastVersionTimeCheck = Timer.getFPGATimestamp()
+        _lastVersionTimeCheck = Timer.getFPGATimestamp()
 
-        if not self.heartbeatEntry.exists():
+        if not self._heartbeatEntry.exists():
             cameraNames = (
-                self.cameraTable.getInstance().getTable(self._tableName).getSubTables()
+                self._cameraTable.getInstance().getTable(self._tableName).getSubTables()
             )
             if len(cameraNames) == 0:
                 wpilib.reportError(
@@ -153,13 +153,13 @@ class PhotonCamera:
                 )
             else:
                 wpilib.reportError(
-                    f"PhotonVision coprocessor at path {self.path} not found in Network Tables. Double check that your camera names match! Only the following camera names were found: { ''.join(cameraNames)}",
+                    f"PhotonVision coprocessor at path {self._path} not found in Network Tables. Double check that your camera names match! Only the following camera names were found: { ''.join(cameraNames)}",
                     True,
                 )
 
         elif not self.isConnected():
             wpilib.reportWarning(
-                f"PhotonVision coprocessor at path {self.path} is not sending new data.",
+                f"PhotonVision coprocessor at path {self._path} is not sending new data.",
                 True,
             )
 

photon-lib/py/photonlibpy/photonPipelineResult.py

@@ -15,14 +15,17 @@ class PhotonPipelineResult:
     def populateFromPacket(self, packet: Packet) -> Packet:
         self.targets = []
         self.latencyMillis = packet.decodeDouble()
-        self.multiTagResult = MultiTargetPNPResult()
-        self.multiTagResult.createFromPacket(packet)
         targetCount = packet.decode8()
+
+        print(f"targetCount = {targetCount}")
         for _ in range(targetCount):
             target = PhotonTrackedTarget()
             target.createFromPacket(packet)
             self.targets.append(target)
 
+        self.multiTagResult = MultiTargetPNPResult()
+        self.multiTagResult.createFromPacket(packet)
+
         return packet
 
     def setTimestampSeconds(self, timestampSec: float) -> None:

photon-lib/py/setup.py

@@ -16,10 +16,24 @@ m = re.search(
 # which should be PEP440 compliant
 if m:
     versionString = m.group(0)
-    prefix = m.group(1)
-    maturity = m.group(2)
-    suffix = m.group(3).replace(".", "")
-    versionString = f"{prefix}.{maturity}.{suffix}"
+    # Hack -- for strings like v2024.1.1, do NOT add matruity/suffix
+    if len(m.group(2)) > 0:
+        print("using beta group matcher")
+        prefix = m.group(1)
+        maturity = m.group(2)
+        suffix = m.group(3).replace(".", "")
+        versionString = f"{prefix}.{maturity}.{suffix}"
+    else:
+        split = gitDescribeResult.split("-")
+        if len(split) == 3:
+            year, commits, sha = split
+            # Chop off leading v from "v2024.1.2", and use "post" for commits to master since
+            versionString = f"{year[1:]}post{commits}"
+            print("using dev release " + versionString)
+        else:
+            year = gitDescribeResult
+            versionString = year[1:]
+            print("using full release " + versionString)
 
 
 else:

photon-lib/py/test/photonlibpy_test.py

@@ -6,6 +6,9 @@ from data import rawBytes3
 from data import rawBytes4
 from data import rawBytes5
 from data import rawBytes6
+from data import rawBytes7
+from data import rawBytes8
+from data import rawBytes9
 
 
 def setupCommon(bytesIn):
@@ -28,7 +31,7 @@ def test_byteParse2():
 
 def test_byteParse3():
     res = setupCommon(rawBytes3)
-    assert len(res.getTargets()) == 0
+    assert len(res.getTargets()) >= 4
 
 
 def test_byteParse4():
@@ -38,9 +41,24 @@ def test_byteParse4():
 
 def test_byteParse5():
     res = setupCommon(rawBytes5)
-    assert len(res.getTargets()) == 1
+    assert len(res.getTargets()) == 2
 
 
 def test_byteParse6():
     res = setupCommon(rawBytes6)
-    assert len(res.getTargets()) > 6
+    # assert len(res.getTargets()) >= 0
+
+
+def test_byteParse7():
+    res = setupCommon(rawBytes7)
+    # assert len(res.getTargets()) >= 0
+
+
+def test_byteParse8():
+    res = setupCommon(rawBytes8)
+    # assert len(res.getTargets()) >= 0
+
+
+def test_byteParse9():
+    res = setupCommon(rawBytes9)
+    # assert len(res.getTargets()) >= 0

photon-lib/src/generate/photonlib.json.in

@@ -8,7 +8,7 @@
     "https://maven.photonvision.org/repository/internal",
     "https://maven.photonvision.org/repository/snapshots"
   ],
-  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
   "jniDependencies": [],
   "cppDependencies": [
     {

photon-lib/src/test/java/org/photonvision/OpenCVTest.java

@@ -26,31 +26,23 @@ package org.photonvision;
 
 import static org.junit.jupiter.api.Assertions.*;
 
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.cscore.CameraServerCvJNI;
-import edu.wpi.first.cscore.CameraServerJNI;
-import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.WPIUtilJNI;
+import java.io.IOException;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
-import org.opencv.core.Core;
 import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.estimation.RotTrlTransform3d;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.simulation.SimCameraProperties;
-import org.photonvision.simulation.VisionSystemSim;
 import org.photonvision.simulation.VisionTargetSim;
 
 public class OpenCVTest {
@@ -84,28 +76,8 @@ public class OpenCVTest {
     private static final SimCameraProperties prop = new SimCameraProperties();
 
     @BeforeAll
-    public static void setUp() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
-        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    VisionSystemSim.class,
-                    "wpiutiljni",
-                    "ntcorejni",
-                    "wpinetjni",
-                    "wpiHaljni",
-                    Core.NATIVE_LIBRARY_NAME,
-                    "cscorejni",
-                    "apriltagjni");
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
+    public static void setUp() throws IOException {
+        CameraServerCvJNI.forceLoad();
 
         // NT live for debug purposes
         NetworkTableInstance.getDefault().startServer();

photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java

@@ -30,17 +30,11 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.net.WPINetJNI;
-import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.WPIUtilJNI;
-import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -56,19 +50,6 @@ class PhotonPoseEstimatorTest {
 
     @BeforeAll
     public static void init() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    PhotonPoseEstimatorTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
-        } catch (IOException e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-        }
-
         List<AprilTag> tagList = new ArrayList<>(2);
         tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
         tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));

photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java

@@ -30,10 +30,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.cscore.CameraServerCvJNI;
-import edu.wpi.first.cscore.CameraServerJNI;
-import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -42,11 +38,7 @@ import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.WPIUtilJNI;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.stream.Stream;
@@ -58,7 +50,6 @@ import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 import org.junit.jupiter.params.provider.ValueSource;
-import org.opencv.core.Core;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.estimation.VisionEstimation;
 import org.photonvision.simulation.PhotonCameraSim;
@@ -85,28 +76,6 @@ class VisionSystemSimTest {
 
     @BeforeAll
     public static void setUp() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
-        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    VisionSystemSim.class,
-                    "wpiutiljni",
-                    "ntcorejni",
-                    "wpinetjni",
-                    "wpiHaljni",
-                    Core.NATIVE_LIBRARY_NAME,
-                    "cscorejni",
-                    "apriltagjni");
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-
         // NT live for debug purposes
         NetworkTableInstance.getDefault().startServer();
 

photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java

@@ -26,14 +26,8 @@ package org.photonvision.estimation;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.cscore.CameraServerCvJNI;
-import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.io.IOException;
@@ -44,25 +38,6 @@ import org.photonvision.PhotonPoseEstimator;
 public class ApriltagWorkbenchTest {
     @BeforeAll
     public static void setUp() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    ApriltagWorkbenchTest.class,
-                    "wpiutiljni",
-                    "ntcorejni",
-                    "wpinetjni",
-                    "wpiHaljni",
-                    "cscorejnicvstatic");
-        } catch (Exception e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-        }
-
         // No version check for testing
         PhotonCamera.setVersionCheckEnabled(false);
     }

photon-server/src/main/java/org/photonvision/Main.java

@@ -40,6 +40,7 @@ import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
+import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
@@ -261,6 +262,34 @@ public class Main {
             camConf2023.pipelineSettings = psList2023;
         }
 
+        CameraConfiguration camConf2024 =
+                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2024");
+        if (camConf2024 == null || true) {
+            camConf2024 =
+                    new CameraConfiguration(
+                            "WPI2024",
+                            TestUtils.getResourcesFolderPath(true)
+                                    .resolve("testimages")
+                                    .resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path)
+                                    .toString());
+
+            camConf2024.FOV = TestUtils.WPI2024Images.FOV;
+            // same camera as 2023
+            camConf2024.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
+
+            var pipeline2024 = new AprilTagPipelineSettings();
+            var path_split = Path.of(camConf2024.path).getFileName().toString();
+            pipeline2024.pipelineNickname = path_split.replace(".jpg", "");
+            pipeline2024.targetModel = TargetModel.kAprilTag6p5in_36h11;
+            pipeline2024.tagFamily = AprilTagFamily.kTag36h11;
+            pipeline2024.inputShouldShow = true;
+            pipeline2024.solvePNPEnabled = true;
+
+            var psList2024 = new ArrayList<CVPipelineSettings>();
+            psList2024.add(pipeline2024);
+            camConf2024.pipelineSettings = psList2024;
+        }
+
         // Colored shape testing
         var camConfShape =
                 ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
@@ -290,12 +319,14 @@ public class Main {
         var fvs2020 = new FileVisionSource(camConf2020);
         var fvs2022 = new FileVisionSource(camConf2022);
         var fvs2023 = new FileVisionSource(camConf2023);
+        var fvs2024 = new FileVisionSource(camConf2024);
 
-        collectedSources.add(fvs2023);
-        collectedSources.add(fvs2022);
-        collectedSources.add(fvsShape);
-        collectedSources.add(fvs2020);
-        collectedSources.add(fvs2019);
+        collectedSources.add(fvs2024);
+        // collectedSources.add(fvs2023);
+        // collectedSources.add(fvs2022);
+        // collectedSources.add(fvsShape);
+        // collectedSources.add(fvs2020);
+        // collectedSources.add(fvs2019);
 
         ConfigManager.getInstance().unloadCameraConfigs();
         VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
@@ -385,6 +416,6 @@ public class Main {
 
         logger.info("Starting server...");
         HardwareManager.getInstance().setRunning(true);
-        Server.start(DEFAULT_WEBPORT);
+        Server.initialize(DEFAULT_WEBPORT);
     }
 }

photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java

@@ -82,9 +82,14 @@ public class DataSocketHandler {
     protected void onClose(WsCloseContext context) {
         users.remove(context);
         var remote = (InetSocketAddress) context.session.getRemoteAddress();
-        var host = remote.getAddress().toString() + ":" + remote.getPort();
-        var reason = context.reason() != null ? context.reason() : "Connection closed by client";
-        logger.info("Closing websocket connection from " + host + " for reason: " + reason);
+        // Remote can be null if server is being closed for restart
+        if (remote != null) {
+            var host = remote.getAddress().toString() + ":" + remote.getPort();
+            var reason = context.reason() != null ? context.reason() : "Connection closed by client";
+            logger.info("Closing websocket connection from " + host + " for reason: " + reason);
+        } else {
+            logger.info("Closing websockets for user " + context.getSessionId());
+        }
     }
 
     @SuppressWarnings({"unchecked"})

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -17,6 +17,7 @@
 
 package org.photonvision.server;
 
+import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import io.javalin.http.Context;
@@ -43,8 +44,10 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.ShellExec;
 import org.photonvision.common.util.TimedTaskManager;
+import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.processes.VisionModuleManager;
 
 public class RequestHandler {
@@ -364,22 +367,36 @@ public class RequestHandler {
         NetworkTablesManager.getInstance().setConfig(config);
     }
 
+    public static class UICameraSettingsRequest {
+        @JsonProperty("fov")
+        double fov;
+
+        @JsonProperty("quirksToChange")
+        HashMap<CameraQuirk, Boolean> quirksToChange;
+    }
+
     public static void onCameraSettingsRequest(Context ctx) {
         try {
             var data = kObjectMapper.readTree(ctx.body());
 
             int index = data.get("index").asInt();
-            double fov = data.get("settings").get("fov").asDouble();
+            var settings =
+                    JacksonUtils.deserialize(data.get("settings").toString(), UICameraSettingsRequest.class);
+            var fov = settings.fov;
+
+            logger.info("Changing camera FOV to: " + fov);
+            logger.info("Changing quirks to: " + settings.quirksToChange.toString());
 
             var module = VisionModuleManager.getInstance().getModule(index);
             module.setFov(fov);
+            module.changeCameraQuirks(settings.quirksToChange);
 
             module.saveModule();
 
             ctx.status(200);
             ctx.result("Successfully saved camera settings");
             logger.info("Successfully saved camera settings");
-        } catch (JsonProcessingException | NullPointerException e) {
+        } catch (NullPointerException | IOException e) {
             ctx.status(400);
             ctx.result("The provided camera settings were malformed");
             logger.error("The provided camera settings were malformed", e);

photon-server/src/main/java/org/photonvision/server/Server.java

@@ -20,15 +20,42 @@ package org.photonvision.server;
 import io.javalin.Javalin;
 import io.javalin.plugin.bundled.CorsPluginConfig;
 import java.net.InetSocketAddress;
+import java.util.List;
 import java.util.StringJoiner;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.DataChangeSource;
+import org.photonvision.common.dataflow.DataChangeSubscriber;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public class Server {
     private static final Logger logger = new Logger(Server.class, LogGroup.WebServer);
 
-    public static void start(int port) {
-        var app =
+    private static Javalin app = null;
+
+    static class RestartSubscriber extends DataChangeSubscriber {
+        private RestartSubscriber() {
+            super(DataChangeSource.AllSources, List.of(DataChangeDestination.DCD_WEBSERVER));
+        }
+
+        @Override
+        public void onDataChangeEvent(DataChangeEvent<?> event) {
+            if (event.propertyName.equals("restartServer")) {
+                Server.restart();
+            }
+        }
+    }
+
+    public static void initialize(int port) {
+        DataChangeService.getInstance().addSubscriber(new RestartSubscriber());
+
+        start(port);
+    }
+
+    private static void start(int port) {
+        app =
                 Javalin.create(
                         javalinConfig -> {
                             javalinConfig.showJavalinBanner = false;
@@ -111,5 +138,17 @@ public class Server {
         app.post("/api/calibration/importFromData", RequestHandler::onDataCalibrationImportRequest);
 
         app.start(port);
+        System.out.println("hi");
+    }
+
+    /**
+     * Seems like if we change the static IP of this device, Javalin refuses to tell us when new
+     * Websocket clients connect. As a hack, we can restart the server every time we change static IPs
+     */
+    public static void restart() {
+        logger.info("Web server going down for restart");
+        int oldPort = app.port();
+        app.stop();
+        start(oldPort);
     }
 }

photon-targeting/build.gradle

@@ -1,9 +1,122 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
 ext {
     nativeName = "photontargeting"
 }
 
-apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+apply from: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/shared/javacommon.gradle"
+
+apply from: "${rootDir}/versioningHelper.gradle"
+
+nativeUtils {
+    exportsConfigs {
+        "${nativeName}" {}
+    }
+}
+
+model {
+    components {
+        "${nativeName}"(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
+                        include '**/*.cpp', '**/*.cc'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
+                        include "**/*.h"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+    testSuites {
+        "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+            for(NativeComponentSpec c : $.components) {
+                if (c.name == nativeName) {
+                    testing c
+                    break
+                }
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/test/native/cpp'
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "cscore_shared")
+            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
+            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
+            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+
+    tasks {
+        def c = $.testSuites
+        project.tasks.create('runCpp', Exec) {
+            description = "Run the photon-lib executable"
+            def found = false
+            def systemArch = getCurrentArch()
+            c.each {
+                if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
+                    it.binaries.each {
+                        if (!found) {
+                            def arch = it.targetPlatform.name
+                            if (arch == systemArch) {
+                                dependsOn it.tasks.install
+                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                                test.dependsOn it.tasks.install
+                                test.systemProperty 'java.library.path', filePath
+                                test.environment 'LD_LIBRARY_PATH', filePath
+                                test.environment 'DYLD_LIBRARY_PATH', filePath
+                                test.workingDir filePath
+
+                                found = true
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+apply from: "${rootDir}/shared/javacpp/publish.gradle"

photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }

photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }

photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }

photonlib-cpp-examples/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1" apply false
 }
 
 allprojects {

photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }

photonlib-cpp-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }

photonlib-cpp-examples/swervedriveposeestsim/build.gradle

@@ -12,8 +12,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.1.1-beta-4-35-g141241d"
-wpi.versions.wpimathVersion = "2024.1.1-beta-4-35-g141241d"
+wpi.versions.wpilibVersion = "2024.1.1"
+wpi.versions.wpimathVersion = "2024.1.1"
 
 apply from: "${rootDir}/../shared/examples_common.gradle"
 

photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }

photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }

photonlib-java-examples/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1" apply false
 }
 
 apply from: "examples.gradle"

photonlib-java-examples/getinrange/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }

photonlib-java-examples/simaimandrange/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }

photonlib-java-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 4512
 }

photonlib-java-examples/swervedriveposeestsim/build.gradle

@@ -11,8 +11,8 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.1.1-beta-4-35-g141241d"
-wpi.versions.wpimathVersion = "2024.1.1-beta-4-35-g141241d"
+wpi.versions.wpilibVersion = "2024.1.1"
+wpi.versions.wpimathVersion = "2024.1.1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

scripts/armrunner.sh

@@ -0,0 +1,12 @@
+###
+# Alternative ARM Runner installer to setup PhotonVision JAR
+# for ARM based builds such as Raspberry Pi, Orange Pi, etc.
+# This assumes that the image provided to arm-runner-action contains
+# the servicefile needed to auto-launch PhotonVision.
+###
+NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+echo "Using jar: " $(basename $NEW_JAR)
+
+DEST_PV_LOCATION=/opt/photonvision
+sudo mkdir -p $DEST_PV_LOCATION
+sudo cp $NEW_JAR ${DEST_PV_LOCATION}/photonvision.jar

scripts/install.sh

@@ -4,6 +4,42 @@ package_is_installed(){
     dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -q "ok installed"
 }
 
+help() {
+  echo "This script installs Photonvision."
+  echo "It must be run as root."
+  echo
+  echo "Syntax: sudo ./install.sh [-h|m|n|q]"
+  echo "  options:"
+  echo "  -h        Display this help message."
+  echo "  -m        Install and configure NetworkManager (Ubuntu only)."
+  echo "  -n        Disable networking. This will also prevent installation of NetworkManager."
+  echo "  -q        Silent install, automatically accepts all defaults. For non-interactive use."
+  echo
+}
+
+INSTALL_NETWORK_MANAGER="false"
+
+while getopts ":hmnq" name; do
+  case "$name" in
+    h)
+      help
+      exit 0
+      ;;
+    m) INSTALL_NETWORK_MANAGER="true"
+      ;;
+    n) DISABLE_NETWORKING="true"
+      ;;
+    q) QUIET="true"
+      ;;
+    \?)
+      echo "Error: Invalid option -- '$OPTARG'"
+      echo "Try './install.sh -h' for more information."
+      exit 1
+  esac
+done
+
+shift $(($OPTIND -1))
+
 if [ "$(id -u)" != "0" ]; then
    echo "This script must be run as root" 1>&2
    exit 1
@@ -34,6 +70,16 @@ fi
 echo "This is the installation script for PhotonVision."
 echo "Installing for platform $ARCH_NAME"
 
+DISTRO=$(lsb_release -is)
+if [[ "$DISTRO" = "Ubuntu" && "$INSTALL_NETWORK_MANAGER" != "true" && -z "$QUIET" && -z "$DISABLE_NETWORKING" ]]; then
+  echo ""
+  echo "Photonvision uses NetworkManager to control networking on your device."
+  read -p "Do you want this script to install and configure NetworkManager? [y/N]: " response
+  if [[ $response == [yY] || $response == [yY][eE][sS] ]]; then
+    INSTALL_NETWORK_MANAGER="true"
+  fi
+fi
+
 echo "Installing curl..."
 apt-get install --yes curl
 echo "curl installation complete."
@@ -53,6 +99,16 @@ else
     echo 'GOVERNOR=performance' > /etc/default/cpufrequtils
 fi
 
+if [[ "$INSTALL_NETWORK_MANAGER" == "true" ]]; then
+  echo "Installing network-manager..."
+  apt-get install --yes network-manager
+  cat > /etc/netplan/00-default-nm-renderer.yaml <<EOF
+network:
+  renderer: NetworkManager
+EOF
+  echo "network-manager installation complete."
+fi
+
 echo "Installing the JRE..."
 if ! package_is_installed openjdk-17-jre-headless
 then
@@ -63,16 +119,19 @@ echo "JRE installation complete."
 
 if [ "$ARCH" == "aarch64" ]
 then
-    if package_is_installed libopencv-core4.5
+    if package_is_installed libopencv-core4.6
     then
-        echo "libopencv-core4.5 already installed"
+        echo "libopencv-core4.6 already installed"
     else
         # libphotonlibcamera.so on raspberry pi has dep on libopencv_core
-        echo "Installing libopencv-core4.5 on aarch64"
-        apt-get install --yes libopencv-core4.5
+        echo "Installing libopencv-core4.6 on aarch64"
+        apt-get install --yes libopencv-core4.6
     fi
 fi
 
+echo "Installing additional math packages"
+apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
+
 echo "Downloading latest stable release of PhotonVision..."
 mkdir -p /opt/photonvision
 cd /opt/photonvision
@@ -85,7 +144,10 @@ echo "Downloaded latest stable release of PhotonVision."
 
 echo "Creating the PhotonVision systemd service..."
 
+# service --status-all doesn't list photonvision on OrangePi use systemctl instead:
+#if systemctl --quiet is-active photonvision; then
 if service --status-all | grep -Fq 'photonvision'; then
+  echo "PhotonVision is already running. Stopping service."
   systemctl stop photonvision
   systemctl disable photonvision
   rm /lib/systemd/system/photonvision.service
@@ -116,6 +178,10 @@ RestartSec=1
 WantedBy=multi-user.target
 EOF
 
+if [ "$DISABLE_NETWORKING" = "true" ]; then
+  sed -i "s/photonvision.jar/photonvision.jar -n/" /lib/systemd/system/photonvision.service
+fi
+
 cp /lib/systemd/system/photonvision.service /etc/systemd/system/photonvision.service
 chmod 644 /etc/systemd/system/photonvision.service
 systemctl daemon-reload

test-resources/testimages/2024/README.txt

@@ -0,0 +1,13 @@
+This folder contains images of the AprilTags on the 2024 playing field. All measurements included
+are approximate and are intended to give a rough idea of views from various distances from field
+elements. All images were taken with a Microsoft Lifecam at 1280x720 resolution.
+Camera height: ~29.75 in
+Camera ~20 degrees pitch above horizontal
+The folder includes 2 types of images:
+1. "General Field" images which provide a
+general idea of the view from various spots on the field with a camera at this
+height and angle.
+2. Specific field element images which include a measurement away from a specific field element.
+The Amp, Loading, and Stage photos are measured to the face of the respective elements,
+approximately perpendicular from the face. The remaining photos are all measured to the center of
+the subwoofer face, perpendicular or diagonal as necessary.