Run build

* Recreate user pipeline on type change

* Fix typo

---------

Co-authored-by: shueja <32416547+shueja@users.noreply.github.com>

.github/workflows/build.yml

@@ -2,123 +2,14 @@ name: Build
 
 on:
   push:
-    branches: [ master ]
+    branches: 
+      - master
     tags:
       - 'v*'
   pull_request:
     branches: [ master ]
 
 jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-  build-examples:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
-      - name: Publish photonlib to maven local
-        run: |
-          chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
-  build-offline-docs:
-    name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-      - name: Build the docs
-        run: |
-          make html
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
   build-photonlib-host:
     env:
       MACOSX_DEPLOYMENT_TARGET: 12
@@ -188,256 +79,3 @@ jobs:
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push'
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-latest
-            artifact-name: LinuxArm32
-            architecture: x64
-            arch-override: linuxarm32
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            architecture: x64
-            arch-override: linuxarm64
-
-    runs-on: ${{ matrix.os }}
-    name: "Build fat JAR - ${{ matrix.artifact-name }}"
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: |
-          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p photon-server/src/main/resources/web/docs
-        if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: |
-          del photon-server\src\main\resources\web\*.*
-          mkdir photon-server\src\main\resources\web\docs
-        if: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
-        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
-        if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-          path: photon-server/build/libs
-
-  run-smoketest-native:
-    needs: [build-package]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            artifact-name: jar-Linux
-            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-          - os: windows-latest
-            artifact-name: jar-Win64
-            extraOpts: ""
-          - os: macos-latest
-            artifact-name: jar-macOS
-            architecture: x64
-
-    runs-on: ${{ matrix.os }}
-
-    steps:
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - uses: actions/download-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-      # On linux, install mrcal packages
-      - run: |
-          sudo apt-get update
-          sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-latest' }}
-      # and actually run the jar
-      - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-        if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
-        if: ${{ (matrix.os) == 'windows-latest' }}
-
-  run-smoketest-chroot:
-    needs: [build-package]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            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
-            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-
-    runs-on: ${{ matrix.os }}
-    name: smoketest-${{ matrix.image_suffix }}
-
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-
-      - uses: pguyot/arm-runner-action@v2
-        name: Run photon smoketest
-        id: generate_image
-        with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          # our image better have java installed already
-          commands: |
-            java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-
-  build-image:
-    needs: [build-package]
-
-    if: ${{ github.event_name != 'pull_request' }}
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://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: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.5/photonvision_limelight3.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/v2024.0.10/photonvision_opi5.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 4096
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.10/photonvision_opi5plus.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 4096
-
-    runs-on: ${{ matrix.os }}
-    name: "Build image - ${{ matrix.image_url }}"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-      - 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: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          commands: |
-            chmod +x scripts/armrunner.sh
-            ./scripts/armrunner.sh
-      - name: Compress image
-        run: |
-          new_jar=$(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 $new_image_name
-      - uses: actions/upload-artifact@v4
-        name: Upload image
-        with:
-          name: image-${{ matrix.image_suffix }}
-          path: photonvision*.xz
-  release:
-    needs: [build-package, build-image]
-    runs-on: ubuntu-22.04
-    steps:
-      # Download literally every single artifact. This also downloads client and docs,
-      # but the filtering below won't pick these up (I hope)
-      - uses: actions/download-artifact@v4
-      - run: find
-      # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            **/*.xz
-            **/*.jar
-            **/photonlib*.json
-        if: github.event_name == 'push'
-      # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: |
-            **/*.xz
-            **/*.jar
-            **/photonlib*.json
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/documentation.yml

@@ -1,86 +0,0 @@
-name: Documentation
-
-on:
-  push:
-    # For now, run on all commits to master
-    branches: [ master ]
-    # and also all tags starting with v
-    tags:
-      - 'v*'
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build-demo
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-
-  run_docs:
-    runs-on: "ubuntu-22.04"
-    steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
-    - name: Install Java 17
-      uses: actions/setup-java@v3
-      with:
-        java-version: 17
-        distribution: temurin
-
-    - name: Build javadocs/doxygen
-      run: |
-        chmod +x gradlew
-        ./gradlew docs:generateJavaDocs docs:doxygen
-
-    - uses: actions/upload-artifact@v4
-      with:
-        name: built-docs
-        path: docs/build/docs
-
-  release:
-    needs: [build-client, run_docs]
-
-    runs-on: ubuntu-22.04
-    steps:
-
-      # Download literally every single artifact.
-      - uses: actions/download-artifact@v4
-
-      - run: find .
-      - name: copy file via ssh password
-        uses: appleboy/scp-action@v0.1.7
-        with:
-          host: ${{ secrets.WEBMASTER_SSH_HOST }}
-          username: ${{ secrets.WEBMASTER_SSH_USERNAME }}
-          password: ${{ secrets.WEBMASTER_SSH_KEY }}
-          port: ${{ secrets.WEBMASTER_SSH_PORT }}
-          source: "*"
-          target: /var/www/html/photonvision-docs/

.github/workflows/lint-format.yml

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

.github/workflows/python.yml

@@ -1,60 +0,0 @@
-name: Build and Distribute PhotonLibPy
-
-permissions:
-  id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
-
-on:
-  push:
-    branches: [ master ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  buildAndDeploy:
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: 3.11
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install setuptools wheel pytest
-
-      - name: Build wheel
-        working-directory: ./photon-lib/py
-        run: |
-          python setup.py sdist bdist_wheel
-
-      - name: Run Unit Tests
-        working-directory: ./photon-lib/py
-        run: |
-            pip install --no-cache-dir dist/*.whl
-            pytest
-
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@master
-        with:
-          name: dist
-          path: ./photon-lib/py/dist/
-
-      - name: Publish package distributions to TestPyPI
-        # Only upload on tags
-        if: startsWith(github.ref, 'refs/tags/v')
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          packages_dir: ./photon-lib/py/dist/
-
-    permissions:
-      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing

build.gradle

@@ -4,7 +4,7 @@ plugins {
     id "com.diffplug.spotless" version "6.24.0"
     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 "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
 }
@@ -13,8 +13,9 @@ allprojects {
     repositories {
         mavenCentral()
         mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/releases" }
-        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
+        maven { url = "https://maven.photonvision.org/snapshots" }
+        maven { url = "https://jogamp.org/deployment/maven/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -24,15 +25,15 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.3.1"
+    wpilibVersion = "2024.3.2"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
-    joglVersion = "2.4.0-rc-20200307"
+    joglVersion = "2.4.0"
     javalinVersion = "5.6.2"
-    photonGlDriverLibVersion = "dev-v2023.1.0-9-g75fc678"
+    photonGlDriverLibVersion = "dev-v2023.1.0-11-g2b7036f"
-    rknnVersion = "dev-v2024.0.0-64-gc0836a6"
+    rknnVersion = "dev-v2024.0.1-4-g0db16ac"
     frcYear = "2024"
-    mrcalVersion = "dev-v2024.0.0-18-gb903a09";
+    mrcalVersion = "dev-v2024.0.0-24-gc1efcf0";
 
 
     pubVersion = versionString
@@ -50,6 +51,10 @@ ext {
     println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
     println("Using Wpilib: " + wpilibVersion)
     println("Using OpenCV: " + openCVversion)
+
+
+    photonMavenURL = 'https://maven.photonvision.org/' + (isDev ? 'snapshots' : 'releases');
+    println("Publishing Photonlib to " + photonMavenURL)
 }
 
 spotless {

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

@@ -13,11 +13,7 @@ defineProps<{
 
 const driverMode = computed<boolean>({
   get: () => useCameraSettingsStore().isDriverMode,
-  set: (v) =>
+  set: (v) => useCameraSettingsStore().setDriverMode(v)
-    useCameraSettingsStore().changeCurrentPipelineIndex(
-      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
-      true
-    )
 });
 
 const fpsTooLow = computed<boolean>(() => {

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

@@ -130,12 +130,32 @@ const interactiveCols = computed(() =>
       tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
       @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)"
     />
+    <!-- Disable camera orientation as stop gap for Issue 1084 until calibration data gets rotated. https://github.com/PhotonVision/photonvision/issues/1084 -->
+    <v-banner
+      v-show="
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode != 0
+      "
+      rounded
+      dark
+      color="red"
+      text-color="white"
+      class="mt-3"
+      icon="mdi-alert-circle-outline"
+    >
+      Warning! A known bug affects rotation of calibrated camera. Turn off rotation here and rotate using
+      cameraToRobotTransform in your robot code.
+    </v-banner>
     <pv-select
       v-model="useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode"
       label="Orientation"
-      tooltip="Rotates the camera stream"
+      tooltip="Rotates the camera stream. Rotation not available when camera has been calibrated."
       :items="cameraRotations"
       :select-cols="interactiveCols"
+      :disabled="
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode == 0
+      "
       @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ inputImageRotationMode: args }, false)"
     />
     <pv-select

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

@@ -236,6 +236,13 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       }
       useStateStore().websocket?.send(payload, true);
     },
+    setDriverMode(isDriverMode: boolean, cameraIndex: number = useStateStore().currentCameraIndex) {
+      const payload = {
+        driverMode: isDriverMode,
+        cameraIndex: cameraIndex
+      };
+      useStateStore().websocket?.send(payload, true);
+    },
     /**
      * Change the currently selected pipeline of the provided camera.
      *

photon-core/src/main/java/org/photonvision/jni/RknnDetectorJNI.java

@@ -22,12 +22,12 @@ import java.util.Arrays;
 import java.util.List;
 import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.stream.Collectors;
+import org.opencv.core.Mat;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.rknn.RknnJNI;
 import org.photonvision.rknn.RknnJNI.RknnResult;
-import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;
 
 public class RknnDetectorJNI extends PhotonJNICommon {
@@ -65,16 +65,38 @@ public class RknnDetectorJNI extends PhotonJNICommon {
         long objPointer = -1;
         private List<String> labels;
         private final Object lock = new Object();
-        private static final CopyOnWriteArrayList<Long> detectors = new CopyOnWriteArrayList<>();
+        private static final CopyOnWriteArrayList<RknnObjectDetector> detectors =
+                new CopyOnWriteArrayList<>();
+
+        static volatile boolean hook = false;
 
         public RknnObjectDetector(String modelPath, List<String> labels, RknnJNI.ModelVersion version) {
             synchronized (lock) {
                 objPointer = RknnJNI.create(modelPath, labels.size(), version.ordinal(), -1);
-                detectors.add(objPointer);
+                detectors.add(this);
-                System.out.println(
+                logger.debug(
-                        "Created " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));
+                        "Created detector "
+                                + objPointer
+                                + " from path "
+                                + modelPath
+                                + "! Detectors: "
+                                + Arrays.toString(detectors.toArray()));
             }
             this.labels = labels;
+
+            // the kernel should probably alredy deal with this for us, but I'm gunna be paranoid anyways.
+            if (!hook) {
+                Runtime.getRuntime()
+                        .addShutdownHook(
+                                new Thread(
+                                        () -> {
+                                            System.err.println("Shutdown hook rknn");
+                                            for (var d : detectors) {
+                                                d.release();
+                                            }
+                                        }));
+                hook = true;
+            }
         }
 
         public List<String> getClasses() {
@@ -89,14 +111,14 @@ public class RknnDetectorJNI extends PhotonJNICommon {
          * @param boxThresh Minimum confidence for a box to be added. Basically just confidence
          *     threshold
          */
-        public List<NeuralNetworkPipeResult> detect(CVMat in, double nmsThresh, double boxThresh) {
+        public List<NeuralNetworkPipeResult> detect(Mat in, double nmsThresh, double boxThresh) {
             RknnResult[] ret;
             synchronized (lock) {
                 // We can technically be asked to detect and the lock might be acquired _after_ release has
                 // been called. This would mean objPointer would be invalid which would call everything to
                 // explode.
                 if (objPointer > 0) {
-                    ret = RknnJNI.detect(objPointer, in.getMat().getNativeObjAddr(), nmsThresh, boxThresh);
+                    ret = RknnJNI.detect(objPointer, in.getNativeObjAddr(), nmsThresh, boxThresh);
                 } else {
                     logger.warn("Detect called after destroy -- giving up");
                     return List.of();
@@ -114,7 +136,7 @@ public class RknnDetectorJNI extends PhotonJNICommon {
             synchronized (lock) {
                 if (objPointer > 0) {
                     RknnJNI.destroy(objPointer);
-                    detectors.remove(objPointer);
+                    detectors.remove(this);
                     System.out.println(
                             "Killed " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));
                     objPointer = -1;
@@ -124,14 +146,4 @@ public class RknnDetectorJNI extends PhotonJNICommon {
             }
         }
     }
-
-    // public static void createRknnDetector() {
-    //     objPointer =
-    //             RknnJNI.create(
-    //                     NeuralNetworkModelManager.getInstance()
-    //                             .getDefaultRknnModel()
-    //                             .getAbsolutePath()
-    //                             .toString(),
-    //                     NeuralNetworkModelManager.getInstance().getLabels().size());
-    // }
 }

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

@@ -270,9 +270,13 @@ public class USBCameraSource extends VisionSource {
                         if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281)) {
                             propMin = 1;
                             propMax = 75;
+                        } else if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
+                            propMin = 1;
+                            propMax = 140;
                         }
 
                         var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, propMin, propMax);
+                        logger.debug("Setting camera exposure to " + exposure_manual_val);
                         prop.set((int) exposure_manual_val);
                     } else {
                         scaledExposure = (int) Math.round(exposure);

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

@@ -189,15 +189,15 @@ public class Calibrate3dPipe
         int imageWidth = (int) in.get(0).size.width;
         int imageHeight = (int) in.get(0).size.height;
 
-        MrCalResult result =
+        MrCalResult result = null;
-                MrCalJNI.calibrateCamera(
+                // MrCalJNI.calibrateCamera(
-                        corner_locations,
+                //         corner_locations,
-                        params.boardWidth,
+                //         params.boardWidth,
-                        params.boardHeight,
+                //         params.boardHeight,
-                        params.squareSize,
+                //         params.squareSize,
-                        imageWidth,
+                //         imageWidth,
-                        imageHeight,
+                //         imageHeight,
-                        (fxGuess + fyGuess) / 2.0);
+                //         (fxGuess + fyGuess) / 2.0);
 
         // intrinsics are fx fy cx cy from mrcal
         JsonMatOfDouble cameraMatrixMat =

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

@@ -41,7 +41,7 @@ public class FilterObjectDetectionsPipe
     }
 
     private void filterContour(NeuralNetworkPipeResult contour) {
-        var boc = contour.box;
+        var boc = contour.bbox;
 
         // Area filtering
         double areaPercentage = boc.area() / params.getFrameStaticProperties().imageArea * 100.0;

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

@@ -20,13 +20,13 @@ package org.photonvision.vision.pipe.impl;
 import org.opencv.core.Rect2d;
 
 public class NeuralNetworkPipeResult {
-    public NeuralNetworkPipeResult(Rect2d box2, Integer classIdx, Float confidence) {
+    public NeuralNetworkPipeResult(Rect2d boundingBox, int classIdx, double confidence) {
-        box = box2;
+        bbox = boundingBox;
         this.classIdx = classIdx;
         this.confidence = confidence;
     }
 
     public final int classIdx;
-    public final Rect2d box;
+    public final Rect2d bbox;
     public final double confidence;
 }

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

@@ -17,8 +17,17 @@
 
 package org.photonvision.vision.pipe.impl;
 
+import java.awt.Color;
+import java.util.ArrayList;
 import java.util.List;
+import org.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.core.Rect2d;
+import org.opencv.core.Scalar;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
+import org.photonvision.common.util.ColorHelper;
 import org.photonvision.jni.RknnDetectorJNI.RknnObjectDetector;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
@@ -30,8 +39,10 @@ public class RknnDetectionPipe
     private RknnObjectDetector detector;
 
     public RknnDetectionPipe() {
-        // For now this is hard-coded to defaults. Should be refactored into set pipe params, though.
+        // For now this is hard-coded to defaults. Should be refactored into set pipe
-        // And ideally a little wrapper helper for only changing native stuff on content change created.
+        // params, though.
+        // And ideally a little wrapper helper for only changing native stuff on content
+        // change created.
         this.detector =
                 new RknnObjectDetector(
                         NeuralNetworkModelManager.getInstance().getDefaultRknnModel().getAbsolutePath(),
@@ -39,6 +50,18 @@ public class RknnDetectionPipe
                         NeuralNetworkModelManager.getInstance().getModelVersion());
     }
 
+    private static class Letterbox {
+        double dx;
+        double dy;
+        double scale;
+
+        public Letterbox(double dx, double dy, double scale) {
+            this.dx = dx;
+            this.dy = dy;
+            this.scale = scale;
+        }
+    }
+
     @Override
     protected List<NeuralNetworkPipeResult> process(CVMat in) {
         var frame = in.getMat();
@@ -48,7 +71,67 @@ public class RknnDetectionPipe
             return List.of();
         }
 
-        return detector.detect(in, params.nms, params.confidence);
+        // letterbox
+        var letterboxed = new Mat();
+        var scale =
+                letterbox(frame, letterboxed, new Size(640, 640), ColorHelper.colorToScalar(Color.GRAY));
+
+        if (letterboxed.width() != 640 || letterboxed.height() != 640) {
+            // huh whack give up lol
+            throw new RuntimeException("RGA bugged but still wrong size");
+        }
+        var ret = detector.detect(letterboxed, params.nms, params.confidence);
+        letterboxed.release();
+
+        return resizeDetections(ret, scale);
+    }
+
+    private List<NeuralNetworkPipeResult> resizeDetections(
+            List<NeuralNetworkPipeResult> unscaled, Letterbox letterbox) {
+        var ret = new ArrayList<NeuralNetworkPipeResult>();
+
+        for (var t : unscaled) {
+            var scale = 1.0 / letterbox.scale;
+            var boundingBox = t.bbox;
+            double x = (boundingBox.x - letterbox.dx) * scale;
+            double y = (boundingBox.y - letterbox.dy) * scale;
+            double width = boundingBox.width * scale;
+            double height = boundingBox.height * scale;
+
+            ret.add(
+                    new NeuralNetworkPipeResult(new Rect2d(x, y, width, height), t.classIdx, t.confidence));
+        }
+
+        return ret;
+    }
+
+    private static Letterbox letterbox(Mat frame, Mat letterboxed, Size newShape, Scalar color) {
+        // from https://github.com/ultralytics/yolov5/issues/8427#issuecomment-1172469631
+        var frameSize = frame.size();
+        var r = Math.min(newShape.height / frameSize.height, newShape.width / frameSize.width);
+
+        var newUnpad = new Size(Math.round(frameSize.width * r), Math.round(frameSize.height * r));
+
+        if (!(frameSize.equals(newUnpad))) {
+            Imgproc.resize(frame, letterboxed, newUnpad, Imgproc.INTER_LINEAR);
+        } else {
+            frame.copyTo(letterboxed);
+        }
+
+        var dw = newShape.width - newUnpad.width;
+        var dh = newShape.height - newUnpad.height;
+
+        dw /= 2;
+        dh /= 2;
+
+        int top = (int) (Math.round(dh - 0.1f));
+        int bottom = (int) (Math.round(dh + 0.1f));
+        int left = (int) (Math.round(dw - 0.1f));
+        int right = (int) (Math.round(dw + 0.1f));
+        Core.copyMakeBorder(
+                letterboxed, letterboxed, top, bottom, left, right, Core.BORDER_CONSTANT, color);
+
+        return new Letterbox(dw, dh, r);
     }
 
     public static class RknnDetectionPipeParams {

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

@@ -61,7 +61,8 @@ public class PipelineManager {
     PipelineManager(
             DriverModePipelineSettings driverSettings,
             List<CVPipelineSettings> userPipelines,
-            String uniqueName) {
+            String uniqueName,
+            int defaultIndex) {
         this.userPipelineSettings = new ArrayList<>(userPipelines);
         // This is to respect the default res idx for vendor cameras
 
@@ -70,10 +71,19 @@ public class PipelineManager {
         if (userPipelines.isEmpty()) addPipeline(PipelineType.Reflective);
 
         calibration3dPipeline = new Calibrate3dPipeline(uniqueName);
+
+        // We know that at this stage, VisionRunner hasn't yet started so we're good to do this from
+        // this thread
+        this.setIndex(defaultIndex);
+        updatePipelineFromRequested();
     }
 
     public PipelineManager(CameraConfiguration config) {
-        this(config.driveModeSettings, config.pipelineSettings, config.uniqueName);
+        this(
+                config.driveModeSettings,
+                config.pipelineSettings,
+                config.uniqueName,
+                config.currentPipelineIndex);
     }
 
     /**
@@ -173,6 +183,14 @@ public class PipelineManager {
 
     private volatile int requestedIndex = 0;
 
+    /**
+     * Grab the currently requested pipeline index. The VisionRunner may not have changed over to this
+     * pipeline yet.
+     */
+    public int getRequestedIndex() {
+        return requestedIndex;
+    }
+
     /**
      * Internal method for setting the active pipeline. <br>
      * <br>
@@ -208,44 +226,10 @@ public class PipelineManager {
             return;
         }
 
-        // Cleanup potential old native resources before swapping over for user pipelines
-        if (currentUserPipeline != null && !(newIndex < 0)) {
-            currentUserPipeline.release();
-        }
-
         currentPipelineIndex = newIndex;
-        if (newIndex >= 0) {
-            var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
-            switch (desiredPipelineSettings.pipelineType) {
-                case Reflective:
-                    logger.debug("Creating Reflective pipeline");
-                    currentUserPipeline =
-                            new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
-                    break;
-                case ColoredShape:
-                    logger.debug("Creating ColoredShape pipeline");
-                    currentUserPipeline =
-                            new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
-                    break;
-                case AprilTag:
-                    logger.debug("Creating AprilTag pipeline");
-                    currentUserPipeline =
-                            new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
-                    break;
 
-                case Aruco:
+        if (newIndex >= 0) {
-                    logger.debug("Creating Aruco Pipeline");
+            recreateUserPipeline();
-                    currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
-                    break;
-                case ObjectDetection:
-                    logger.debug("Creating ObjectDetection Pipeline");
-                    currentUserPipeline =
-                            new ObjectDetectionPipeline(
-                                    (ObjectDetectionPipelineSettings) desiredPipelineSettings);
-                default:
-                    // Can be calib3d or drivermode, both of which are special cases
-                    break;
-            }
         }
 
         DataChangeService.getInstance()
@@ -254,6 +238,48 @@ public class PipelineManager {
                                 "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
     }
 
+    /**
+     * Recreate the current user pipeline with the current pipeline index. Useful to force a
+     * recreation after changing pipeline type
+     */
+    private void recreateUserPipeline() {
+        // Cleanup potential old native resources before swapping over from a user pipeline
+        if (currentUserPipeline != null && !(currentPipelineIndex < 0)) {
+            currentUserPipeline.release();
+        }
+
+        var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
+        switch (desiredPipelineSettings.pipelineType) {
+            case Reflective:
+                logger.debug("Creating Reflective pipeline");
+                currentUserPipeline =
+                        new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
+                break;
+            case ColoredShape:
+                logger.debug("Creating ColoredShape pipeline");
+                currentUserPipeline =
+                        new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
+                break;
+            case AprilTag:
+                logger.debug("Creating AprilTag pipeline");
+                currentUserPipeline =
+                        new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
+                break;
+
+            case Aruco:
+                logger.debug("Creating Aruco Pipeline");
+                currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
+                break;
+            case ObjectDetection:
+                logger.debug("Creating ObjectDetection Pipeline");
+                currentUserPipeline =
+                        new ObjectDetectionPipeline((ObjectDetectionPipelineSettings) desiredPipelineSettings);
+            default:
+                // Can be calib3d or drivermode, both of which are special cases
+                break;
+        }
+    }
+
     /**
      * Enters or exits calibration mode based on the parameter. <br>
      * <br>
@@ -484,5 +510,6 @@ public class PipelineManager {
         userPipelineSettings.set(idx, newSettings);
         setPipelineInternal(idx);
         reassignIndexes();
+        recreateUserPipeline();
     }
 }

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

@@ -143,7 +143,7 @@ public class VisionModule {
         ntConsumer =
                 new NTDataPublisher(
                         visionSource.getSettables().getConfiguration().nickname,
-                        pipelineManager::getCurrentPipelineIndex,
+                        pipelineManager::getRequestedIndex,
                         this::setPipeline,
                         pipelineManager::getDriverMode,
                         this::setDriverMode);
@@ -156,6 +156,7 @@ public class VisionModule {
                 (result) ->
                         lastPipelineResultBestTarget = result.hasTargets() ? result.targets.get(0) : null);
 
+        // Sync VisionModule state with the first pipeline index
         setPipeline(visionSource.getSettables().getConfiguration().currentPipelineIndex);
 
         // Set vendor FOV
@@ -321,7 +322,7 @@ public class VisionModule {
 
     void changePipelineType(int newType) {
         pipelineManager.changePipelineType(newType);
-        setPipeline(pipelineManager.getCurrentPipelineIndex());
+        setPipeline(pipelineManager.getRequestedIndex());
         saveAndBroadcastAll();
     }
 
@@ -329,9 +330,7 @@ public class VisionModule {
         pipelineManager.setDriverMode(isDriverMode);
         setVisionLEDs(!isDriverMode);
         setPipeline(
-                isDriverMode
+                isDriverMode ? PipelineManager.DRIVERMODE_INDEX : pipelineManager.getRequestedIndex());
-                        ? PipelineManager.DRIVERMODE_INDEX
-                        : pipelineManager.getCurrentPipelineIndex());
         saveAndBroadcastAll();
     }
 
@@ -385,7 +384,7 @@ public class VisionModule {
         var ret = pipelineManager.calibration3dPipeline.tryCalibration();
         pipelineManager.setCalibrationMode(false);
 
-        setPipeline(pipelineManager.getCurrentPipelineIndex());
+        setPipeline(pipelineManager.getRequestedIndex());
 
         if (ret != null) {
             logger.debug("Saving calibration...");
@@ -447,7 +446,7 @@ public class VisionModule {
         setVisionLEDs(pipelineSettings.ledMode);
 
         visionSource.getSettables().getConfiguration().currentPipelineIndex =
-                pipelineManager.getCurrentPipelineIndex();
+                pipelineManager.getRequestedIndex();
 
         return true;
     }
@@ -511,7 +510,7 @@ public class VisionModule {
         ret.uniqueName = visionSource.getSettables().getConfiguration().uniqueName;
         ret.currentPipelineSettings =
                 SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
-        ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
+        ret.currentPipelineIndex = pipelineManager.getRequestedIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
         ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
 
@@ -553,7 +552,7 @@ public class VisionModule {
         var config = visionSource.getSettables().getConfiguration();
         config.setPipelineSettings(pipelineManager.userPipelineSettings);
         config.driveModeSettings = pipelineManager.driverModePipeline.getSettings();
-        config.currentPipelineIndex = Math.max(pipelineManager.getCurrentPipelineIndex(), -1);
+        config.currentPipelineIndex = Math.max(pipelineManager.getRequestedIndex(), -1);
 
         return config;
     }

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

@@ -88,7 +88,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         parentModule.saveAndBroadcastAll();
                         return;
                     case "deleteCurrPipeline":
-                        var indexToDelete = parentModule.pipelineManager.getCurrentPipelineIndex();
+                        var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
                         logger.info("Deleting current pipe at index " + indexToDelete);
                         int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
                         parentModule.setPipeline(newIndex);
@@ -96,7 +96,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         return;
                     case "changePipeline": // change active pipeline
                         var index = (Integer) newPropValue;
-                        if (index == parentModule.pipelineManager.getCurrentPipelineIndex()) {
+                        if (index == parentModule.pipelineManager.getRequestedIndex()) {
                             logger.debug("Skipping pipeline change, index " + index + " already active");
                             return;
                         }
@@ -181,6 +181,9 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         parentModule.changePipelineType((Integer) newPropValue);
                         parentModule.saveAndBroadcastAll();
                         return;
+                    case "isDriverMode":
+                        parentModule.setDriverMode((Boolean) newPropValue);
+                        return;
                 }
 
                 // special case for camera settables

photon-core/src/main/java/org/photonvision/vision/target/PotentialTarget.java

@@ -56,7 +56,7 @@ public class PotentialTarget implements Releasable {
     }
 
     public PotentialTarget(NeuralNetworkPipeResult det) {
-        this.shape = new CVShape(new Contour(det.box), ContourShape.Quadrilateral);
+        this.shape = new CVShape(new Contour(det.bbox), ContourShape.Quadrilateral);
         this.m_mainContour = this.shape.getContour();
         m_subContours = List.of();
         this.clsId = det.classIdx;

photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java

@@ -30,7 +30,7 @@ public class PipelineManagerTest {
     public void testUniqueName() {
         TestUtils.loadLibraries();
         PipelineManager manager =
-                new PipelineManager(new DriverModePipelineSettings(), List.of(), "meme_name");
+                new PipelineManager(new DriverModePipelineSettings(), List.of(), "meme_name", -1);
         manager.addPipeline(PipelineType.Reflective, "Another");
 
         // We now have ["New Pipeline", "Another"]

photon-lib/src/generate/native/cpp/PhotonVersion.cpp

@@ -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/>.
+ */
+
+#include <string.h>
+#include <regex>
+
+/*
+ * Autogenerated file! Do not manually edit this file. This version is
+ * regenerated any time the publish task is run, or when this file is deleted.
+ */
+
+static const char* dev_ = "dev";
+
+namespace photon {
+  namespace PhotonVersion {
+    const char* versionString = "dev-v2024.3.1-22-g38e2fdef";
+    const char* buildDate = "2024-5-29 10:05:11";
+    const bool isRelease = strncmp(dev_, versionString, strlen(dev_)) != 0;
+  }
+}

photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h

@@ -96,12 +96,12 @@ class SimCameraProperties {
                                       units::radian_t{std::numbers::pi / 2.0}})
                                      .Radians()}},
         frc::Translation3d{
-            1_m, frc::Rotation3d{0_rad,
+            1_m,
-                                 (GetPixelPitch(0) +
+            frc::Rotation3d{0_rad,
-                                  frc::Rotation2d{
+                            (GetPixelPitch(0) + frc::Rotation2d{units::radian_t{
-                                      units::radian_t{std::numbers::pi / 2.0}})
+                                                    std::numbers::pi / 2.0}})
-                                     .Radians(),
+                                .Radians(),
-                                 0_rad}},
+                            0_rad}},
         frc::Translation3d{
             1_m, frc::Rotation3d{0_rad,
                                  (GetPixelPitch(height) +

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

@@ -131,18 +131,16 @@ public class DataSocketHandler {
                         case SMT_DRIVERMODE:
                             {
                                 // TODO: what is this event?
-                                var data = (HashMap<String, Object>) entryValue;
+                                var data = (Boolean) entryValue;
-                                var dmExpEvent =
-                                        new IncomingWebSocketEvent<Integer>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE, "driverExposure", data);
-                                var dmBrightEvent =
-                                        new IncomingWebSocketEvent<Integer>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE, "driverBrightness", data);
                                 var dmIsDriverEvent =
                                         new IncomingWebSocketEvent<Boolean>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE, "isDriver", data);
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "isDriverMode",
+                                                data,
+                                                cameraIndex,
+                                                context);
 
-                                dcService.publishEvents(dmExpEvent, dmBrightEvent, dmIsDriverEvent);
+                                dcService.publishEvents(dmIsDriverEvent);
                                 break;
                             }
                         case SMT_CHANGECAMERANAME:

photonlib-cpp-examples/aimandrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/aimattarget/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/apriltagExample/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/build.gradle

@@ -6,7 +6,7 @@ allprojects {
     repositories {
         mavenCentral()
         mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/releases" }
     }
 }
 

photonlib-cpp-examples/getinrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/swervedriveposeestsim/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }
@@ -12,8 +12,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.1"
+wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.1"
+wpi.versions.wpimathVersion = "2024.3.2"
 
 apply from: "${rootDir}/../shared/examples_common.gradle"
 

photonlib-java-examples/aimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/aimattarget/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/build.gradle

@@ -8,7 +8,7 @@ allprojects {
     repositories {
         mavenCentral()
         mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/releases" }
     }
 }
 

photonlib-java-examples/getinrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/simaimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/swervedriveposeestsim/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -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 = "2024.3.1"
+wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.1"
+wpi.versions.wpimathVersion = "2024.3.2"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

shared/javacommon.gradle

@@ -79,7 +79,7 @@ publishing {
 
     repositories {
         maven {
-            url ('https://maven.photonvision.org/repository/' + (isDev ? 'snapshots' : 'internal'))
+            url(photonMavenURL)
             credentials {
                 username 'ghactions'
                 password System.getenv("ARTIFACTORY_API_KEY")

shared/javacpp/publish.gradle

@@ -70,7 +70,7 @@ model {
 
         repositories {
             maven {
-                url ('https://maven.photonvision.org/repository/' + (isDev ? 'snapshots' : 'internal'))
+                url(photonMavenURL)
                 credentials {
                     username 'ghactions'
                     password System.getenv("ARTIFACTORY_API_KEY")