Actually properly match cameras by name fr this time (#1237 )

Our current code matches cameras in this order (which I think is objectively wrong and stupid) - by-id (/dev/v4l/by-id/product-string) - by path (/dev/videoN) - product string/name, but ascii only - asks cscore to reconnect to cameras using `path`, which on linux is actually /dev/videoN. This isn't guaranteed to stick to a camera if you replug them weirdly at runtime. This is silly and does not consider the actual physical usb port. I propose instead, in this order: - By physical usb port path and base name - by physical usb port path and USB VID/PID - By base name only (with a toggle switch to disable this, and create a new VisionModule instead) - Give cscore /dev/video/by-path on Linux systems, pinning Photon USBCameras to a particular usb port once created. This changes lots of things so stay paranoid!
Load libwinpthread-1.dll before libgcc_s_seh-1 (#1228 )
2026-06-21 01:01:41 +00:00 · 2024-02-16 16:05:47 -05:00 · 2024-02-16 16:05:16 -05:00
22 changed files with 841 additions and 134 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -2,14 +2,123 @@ 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
@@ -79,3 +188,179 @@ 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
+  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/v2024.0.6/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/v2024.0.6/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 }}
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -0,0 +1,86 @@
+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/
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -0,0 +1,88 @@
+name: Lint and Format
+
+on:
+  push:
+    branches: [ master ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ master ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.8
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v3
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
+  javaformat:
+    name: "Java Formatting"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: |
+          chmod +x gradlew
+          ./gradlew spotlessCheck
+
+  client-lint-format:
+    name: "PhotonClient Lint and Formatting"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: 18
+      - name: Install Dependencies
+        run: npm ci
+      - name: Check Linting
+        run: npm run lint-ci
+      - name: Check Formatting
+        run: npm run format-ci
+  server-index:
+    name: "Check server index.html not changed"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Check index.html not changed
+        run: git --no-pager diff --exit-code origin/master photon-server/src/main/resources/web/index.html
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -0,0 +1,60 @@
+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
--- a/build.gradle
+++ b/build.gradle
@@ -13,9 +13,8 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/releases" }
-        maven { url = "https://maven.photonvision.org/snapshots" }
-        maven { url = "https://jogamp.org/deployment/maven/" }
+        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
    }
    wpilibRepositories.addAllReleaseRepositories(it)
    wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -51,10 +50,6 @@ 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 {
--- a/photon-client/src/components/settings/NetworkingCard.vue
+++ b/photon-client/src/components/settings/NetworkingCard.vue
@@ -59,7 +59,8 @@ const settingsHaveChanged = (): boolean => {
    a.shouldPublishProto !== b.shouldPublishProto ||
    a.networkManagerIface !== b.networkManagerIface ||
    a.setStaticCommand !== b.setStaticCommand ||
-    a.setDHCPcommand !== b.setDHCPcommand
+    a.setDHCPcommand !== b.setDHCPcommand ||
+    a.matchCamerasOnlyByPath !== b.matchCamerasOnlyByPath
  );
 };

@@ -77,6 +78,7 @@ const saveGeneralSettings = () => {
    setStaticCommand: tempSettingsStruct.value.setStaticCommand || "",
    shouldManage: tempSettingsStruct.value.shouldManage,
    shouldPublishProto: tempSettingsStruct.value.shouldPublishProto,
+    matchCamerasOnlyByPath: tempSettingsStruct.value.matchCamerasOnlyByPath,
    staticIp: tempSettingsStruct.value.staticIp
  };

@@ -137,6 +139,8 @@ watchEffect(() => {

 <template>
  <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>Global Settings</v-card-title>
+    <v-divider />
    <v-card-title>Networking</v-card-title>
    <div class="ml-5">
      <v-form ref="form" v-model="settingsValid">
@@ -254,6 +258,9 @@ watchEffect(() => {
        >
          This mode is intended for debugging; it should be off for proper usage. PhotonLib will NOT work!
        </v-banner>
+
+        <v-divider />
+        <v-card-title>Miscellaneous</v-card-title>
        <pv-switch
          v-model="tempSettingsStruct.shouldPublishProto"
          label="Also Publish Protobuf"
@@ -272,6 +279,14 @@ watchEffect(() => {
          This mode is intended for debugging; it should be off for field use. You may notice a performance hit by using
          this mode.
        </v-banner>
+        <pv-switch
+          v-model="tempSettingsStruct.matchCamerasOnlyByPath"
+          label="Match cameras by-path ONLY"
+          tooltip="ONLY match cameras by the USB port they're plugged into + (basename or USB VID/PID), and never only by the device product string"
+          class="mt-3 mb-2"
+          :label-cols="4"
+        />
+        <v-divider class="mb-3" />
      </v-form>
      <v-btn
        color="accent"
--- a/photon-client/src/stores/settings/GeneralSettingsStore.ts
+++ b/photon-client/src/stores/settings/GeneralSettingsStore.ts
@@ -44,7 +44,9 @@ export const useSettingsStore = defineStore("settings", {
          connName: "Example Wired Connection",
          devName: "eth0"
        }
-      ]
+      ],
+      networkingDisabled: false,
+      matchCamerasOnlyByPath: false
    },
    lighting: {
      supported: true,
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -47,6 +47,7 @@ export interface NetworkSettings {
  setDHCPcommand?: string;
  networkInterfaceNames: NetworkInterfaceType[];
  networkingDisabled: boolean;
+  matchCamerasOnlyByPath: boolean;
 }

 export type ConfigurableNetworkSettings = Omit<
--- a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -23,6 +23,7 @@ import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
+import java.util.Optional;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
@@ -51,6 +52,12 @@ public class CameraConfiguration {

    @JsonIgnore public String[] otherPaths = {};

+    @JsonProperty("usbVID")
+    public int usbVID = -1;
+
+    @JsonProperty("usbPID")
+    public int usbPID = -1;
+
    public CameraType cameraType = CameraType.UsbCamera;
    public double FOV = 70;
    public final List<CameraCalibrationCoefficients> calibrations;
@@ -98,7 +105,9 @@ public class CameraConfiguration {
            @JsonProperty("cameraType") CameraType cameraType,
            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
            @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
+            @JsonProperty("usbVID") int usbVID,
+            @JsonProperty("usbPID") int usbPID) {
        this.baseName = baseName;
        this.uniqueName = uniqueName;
        this.nickname = nickname;
@@ -108,6 +117,8 @@ public class CameraConfiguration {
        this.cameraQuirks = cameraQuirks;
        this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
        this.currentPipelineIndex = currentPipelineIndex;
+        this.usbPID = usbPID;
+        this.usbVID = usbVID;

        logger.debug(
                "Creating camera configuration for "
@@ -156,6 +167,17 @@ public class CameraConfiguration {
        calibrations.add(calibration);
    }

+    /**
+     * Get a unique descriptor of the USB port this camera is attached to. EG
+     * "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1.3:1.0-video-index0"
+     *
+     * @return
+     */
+    @JsonIgnore
+    public Optional<String> getUSBPath() {
+        return Arrays.stream(otherPaths).filter(path -> path.contains("/by-path/")).findFirst();
+    }
+
    @Override
    public String toString() {
        return "CameraConfiguration [baseName="
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
@@ -20,6 +20,24 @@ package org.photonvision.common.configuration;
 public class HardwareSettings {
    public int ledBrightnessPercentage = 100;

+    @Override
+    public int hashCode() {
+        final int prime = 31;
+        int result = 1;
+        result = prime * result + ledBrightnessPercentage;
+        return result;
+    }
+
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        HardwareSettings other = (HardwareSettings) obj;
+        if (ledBrightnessPercentage != other.ledBrightnessPercentage) return false;
+        return true;
+    }
+
    @Override
    public String toString() {
        return "HardwareSettings [ledBrightnessPercentage=" + ledBrightnessPercentage + "]";
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -39,6 +39,12 @@ public class NetworkConfig {
    public boolean shouldManage;
    public boolean shouldPublishProto = false;

+    /**
+     * If we should ONLY match cameras by path, and NEVER only by base-name. For now default to false
+     * to preserve old matching logic
+     */
+    public boolean matchCamerasOnlyByPath = false;
+
    @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
    @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";

@@ -76,7 +82,8 @@ public class NetworkConfig {
            @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
            @JsonProperty("networkManagerIface") String networkManagerIface,
            @JsonProperty("setStaticCommand") String setStaticCommand,
-            @JsonProperty("setDHCPcommand") String setDHCPcommand) {
+            @JsonProperty("setDHCPcommand") String setDHCPcommand,
+            @JsonProperty("matchCamerasOnlyByPath") boolean matchCamerasOnlyByPath) {
        this.ntServerAddress = ntServerAddress;
        this.connectionType = connectionType;
        this.staticIp = staticIp;
@@ -86,6 +93,7 @@ public class NetworkConfig {
        this.networkManagerIface = networkManagerIface;
        this.setStaticCommand = setStaticCommand;
        this.setDHCPcommand = setDHCPcommand;
+        this.matchCamerasOnlyByPath = matchCamerasOnlyByPath;
        setShouldManage(shouldManage);
    }

--- a/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
@@ -53,6 +53,7 @@ public class MrCalJNILoader extends PhotonJNICommon {
                            "libcolamd",
                            "libccolamd",
                            "openblas",
+                            "libwinpthread-1",
                            "libgcc_s_seh-1",
                            "libquadmath-0",
                            "libgfortran-5",
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
@@ -19,6 +19,7 @@ package org.photonvision.vision.camera;

 import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.Arrays;
+import java.util.Optional;

 public class CameraInfo extends UsbCameraInfo {
    public final CameraType cameraType;
@@ -68,6 +69,16 @@ public class CameraInfo extends UsbCameraInfo {
        return getBaseName().replaceAll(" ", "_");
    }

+    /**
+     * Get a unique descriptor of the USB port this camera is attached to. EG
+     * "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1.3:1.0-video-index0"
+     *
+     * @return
+     */
+    public Optional<String> getUSBPath() {
+        return Arrays.stream(otherPaths).filter(path -> path.contains("/by-path/")).findFirst();
+    }
+
    @Override
    public boolean equals(Object o) {
        if (o == this) return true;
@@ -79,4 +90,19 @@ public class CameraInfo extends UsbCameraInfo {
                && productId == other.productId
                && vendorId == other.vendorId;
    }
+
+    @Override
+    public String toString() {
+        return "CameraInfo [cameraType="
+                + cameraType
+                + "baseName="
+                + getBaseName()
+                + ", vid="
+                + vendorId
+                + ", pid="
+                + productId
+                + ", otherPaths="
+                + Arrays.toString(otherPaths)
+                + "]";
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -49,9 +49,17 @@ public class USBCameraSource extends VisionSource {
        super(config);

        logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        camera = new UsbCamera(config.nickname, config.path);
+        // cscore will auto-reconnect to the camera path we give it. v4l does not guarantee that if i
+        // swap cameras around, the same /dev/videoN ID will be assigned to that camera. So instead
+        // default to pinning to a particular USB port, or by "path" (appears to be a global identifier)
+        // on Windows.
+        camera = new UsbCamera(config.nickname, config.getUSBPath().orElse(config.path));
        cvSink = CameraServer.getVideo(this.camera);

+        // set vid/pid if not done already for future matching
+        if (config.usbVID < 0) config.usbVID = this.camera.getInfo().vendorId;
+        if (config.usbPID < 0) config.usbPID = this.camera.getInfo().productId;
+
        if (getCameraConfiguration().cameraQuirks == null)
            getCameraConfiguration().cameraQuirks =
                    QuirkyCamera.getQuirkyCamera(
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -23,6 +23,7 @@ import java.util.Arrays;
 import java.util.Collection;
 import java.util.List;
 import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.function.Predicate;
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -164,7 +165,7 @@ public class VisionSourceManager {

        // Debug prints
        for (var info : connectedCameras) {
-            logger.info("Adding local video device - \"" + info.name + "\" at \"" + info.path + "\"");
+            logger.info("Detected unmatched physical camera: " + info.toString());
        }

        if (!unmatchedLoadedConfigs.isEmpty())
@@ -216,6 +217,52 @@ public class VisionSourceManager {
        return sources;
    }

+    /**
+     * Get a predicate for checking cameras against a saved config.
+     *
+     * @param savedConfig The saved camera configuration to match against
+     * @param checkUSBPath If we should compare the USB port/bus IDs
+     * @param checkVidPid If we should compare USB VID and PID
+     * @param checkBaseName If we should compare {@link CameraInfo#getBaseName}
+     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
+     *     ?/usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
+     *     on Windows)
+     */
+    private final Predicate<CameraInfo> getCameraMatcher(
+            final CameraConfiguration savedConfig,
+            boolean checkUSBPath,
+            boolean checkVidPid,
+            boolean checkBaseName,
+            boolean checkPath) {
+        if (checkUSBPath && savedConfig.getUSBPath().isEmpty()) {
+            logger.debug(
+                    "WARN: Camera has empty USB path, but asked to match by name: "
+                            + camCfgToString(savedConfig));
+        }
+
+        return (CameraInfo physicalCamera) -> {
+            var matches = true;
+
+            if (checkUSBPath) {
+                var savedPath = savedConfig.getUSBPath();
+                matches &= (savedPath.isPresent() && physicalCamera.getUSBPath().equals(savedPath));
+            }
+            if (checkBaseName) {
+                matches &= physicalCamera.getBaseName().equals(savedConfig.baseName);
+            }
+            if (checkVidPid) {
+                matches &=
+                        (physicalCamera.vendorId == savedConfig.usbVID
+                                && physicalCamera.productId == savedConfig.usbPID);
+            }
+            if (checkPath) {
+                matches &= (physicalCamera.path.equals(savedConfig.path));
+            }
+
+            return matches;
+        };
+    }
+
    /**
     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
     * disk.
@@ -226,35 +273,111 @@ public class VisionSourceManager {
     */
    public List<CameraConfiguration> matchCameras(
            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> loadedCamConfigs) {
+        return matchCameras(
+                detectedCamInfos,
+                loadedCamConfigs,
+                ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath);
+    }
+
+    private static final String camCfgToString(CameraConfiguration c) {
+        return new StringBuilder()
+                .append("[baseName=")
+                .append(c.baseName)
+                .append(", uniqueName=")
+                .append(c.uniqueName)
+                .append(", otherPaths=")
+                .append(Arrays.toString(c.otherPaths))
+                .append(", vid=")
+                .append(c.usbVID)
+                .append(", pid=")
+                .append(c.usbPID)
+                .append("]")
+                .toString();
+    }
+
+    /**
+     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
+     * disk.
+     *
+     * @param detectedCamInfos Information about currently connected USB cameras.
+     * @param loadedCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
+     * @param matchCamerasOnlyByPath If we should never try to match only by (base name, vid, pid)
+     * @return the matched configurations.
+     */
+    public List<CameraConfiguration> matchCameras(
+            List<CameraInfo> detectedCamInfos,
+            List<CameraConfiguration> loadedCamConfigs,
+            boolean matchCamerasOnlyByPath) {
        var detectedCameraList = new ArrayList<>(detectedCamInfos);
        ArrayList<CameraConfiguration> cameraConfigurations = new ArrayList<CameraConfiguration>();
        ArrayList<CameraConfiguration> unloadedConfigs =
                new ArrayList<CameraConfiguration>(loadedCamConfigs);

-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
-            cameraConfigurations.addAll(matchByPathByID(detectedCameraList, unloadedConfigs));
-        else logger.debug("Skipping matchByPath no configs or cameras left to match");
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+            logger.info("Matching by usb port & name & USB VID/PID...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, true, false));
+        } else
+            logger.debug("Skipping match by usb port/name/vid/pid, no configs or cameras left to match");

-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
-            cameraConfigurations.addAll(matchByPath(detectedCameraList, unloadedConfigs));
-        else logger.debug("Skipping matchByPath no configs or cameras left to match");
+        // On windows, the v4l path is actually useful and tells us the port the camera is physically
+        // connected to which is neat
+        if (Platform.isWindows()) {
+            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+                logger.info("Matching by windows-path & USB VID/PID only...");
+                cameraConfigurations.addAll(
+                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, true));
+            } else
+                logger.debug(
+                        "Skipping matching by windiws-path/name/vid/pid, no configs or cameras left to match");
+        }

-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
-            cameraConfigurations.addAll(matchByName(detectedCameraList, unloadedConfigs));
-        else logger.debug("Skipping matchByName no configs or cameras left to match");
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+            logger.info("Matching by usb port & USB VID/PID...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, false, false));
+        } else logger.debug("Skipping match by port/vid/pid, no configs or cameras left to match");

-        if (detectedCameraList.size() > 0)
+        // handle disabling only-by-base-name matching
+        if (!matchCamerasOnlyByPath) {
+            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+                logger.info("Matching by base-name & USB VID/PID only...");
+                cameraConfigurations.addAll(
+                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, false));
+            } else
+                logger.debug("Skipping match by base-name/viid/pid, no configs or cameras left to match");
+        } else logger.info("Skipping match by filepath/vid/pid, disabled by user");
+
+        if (detectedCameraList.size() > 0) {
            cameraConfigurations.addAll(
                    createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
+        }

        logger.debug("Matched or created " + cameraConfigurations.size() + " camera configs!");
        return cameraConfigurations;
    }

-    // loop over all the configs loaded from disk, attempting to match each camera
-    // to a config by path-by-id on linux
-    private List<CameraConfiguration> matchByPathByID(
-            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> unloadedConfigs) {
+    /**
+     * Abstractly match cameras
+     *
+     * @param detectedCamInfos Physical cameras unmatched and attached to the device
+     * @param unloadedConfigs {@link CameraConfiguration}
+     * @param checkUSBPath If we should compare the USB port/bus IDs
+     * @param checkVidPid If we should compare USB VID and PID
+     * @param checkBaseName If we should check {@link CameraInfo::getBaseName}
+     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
+     *     usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
+     *     on Windows). Note that path may change based on order cameras are plugged in/unplugged on
+     *     Linux, and should not be trusted to remain the same.
+     * @return All matched or created new configs
+     */
+    private List<CameraConfiguration> matchCamerasByStrategy(
+            List<CameraInfo> detectedCamInfos,
+            List<CameraConfiguration> unloadedConfigs,
+            boolean checkUSBPath,
+            boolean checkVidPid,
+            boolean checkBaseName,
+            boolean checkPath) {
        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
        List<CameraConfiguration> unloadedConfigsCopy =
                new ArrayList<CameraConfiguration>(unloadedConfigs);
@@ -262,111 +385,43 @@ public class VisionSourceManager {
        for (CameraConfiguration config : unloadedConfigsCopy) {
            // Only run match path by id if the camera is not a CSI camera.
            if (config.cameraType != CameraType.ZeroCopyPicam) {
-                CameraInfo cameraInfo;
-                if (config.otherPaths.length == 0) {
-                    logger.debug("No valid path-by-id found for config with name " + config.baseName);
-                } else {
-                    // attempt matching by path and basename
-                    logger.debug(
-                            "Trying to find a match for loaded camera "
-                                    + config.baseName
-                                    + " with path-by-id "
-                                    + config.otherPaths[0]);
-                    cameraInfo =
-                            detectedCamInfos.stream()
-                                    .filter(
-                                            usbCameraInfo ->
-                                                    usbCameraInfo.otherPaths.length != 0
-                                                            && usbCameraInfo.otherPaths[0].equals(config.otherPaths[0])
-                                                            && usbCameraInfo.getBaseName().equals(config.baseName))
-                                    .findFirst()
-                                    .orElse(null);
+                logger.debug(
+                        String.format(
+                                "Trying to find a match for loaded camera %s by strategy (path %s vid/pid %s basename %s path %s) with camera config: %s",
+                                config.baseName,
+                                checkUSBPath,
+                                checkVidPid,
+                                checkBaseName,
+                                checkPath,
+                                camCfgToString(config)));

-                    // If we actually matched a camera to a config, remove that camera from the list
-                    // and add it to the output
-                    if (cameraInfo != null) {
-                        logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
-                        ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                        detectedCamInfos.remove(cameraInfo);
-                        unloadedConfigs.remove(config);
-                    }
+                // Get matcher and filter against it, picking out the first match
+                Predicate<CameraInfo> matches =
+                        getCameraMatcher(config, checkUSBPath, checkVidPid, checkBaseName, checkPath);
+                var cameraInfo = detectedCamInfos.stream().filter(matches).findFirst().orElse(null);
+
+                // If we actually matched a camera to a config, remove that camera from the list
+                // and add it to the output
+                if (cameraInfo != null) {
+                    logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
+                    ret.add(mergeInfoIntoConfig(config, cameraInfo));
+                    detectedCamInfos.remove(cameraInfo);
+                    unloadedConfigs.remove(config);
+                } else {
+                    logger.debug("No camera found for the config " + config.baseName);
                }
            }
        }
        return ret;
    }

-    private List<CameraConfiguration> matchByPath(
-            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> unloadedConfigs) {
-        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
-        List<CameraConfiguration> unloadedConfigsCopy =
-                new ArrayList<CameraConfiguration>(unloadedConfigs);
-        // now attempt to match the cameras and configs remaining by normal path
-        for (CameraConfiguration config : unloadedConfigsCopy) {
-            CameraInfo cameraInfo;
-
-            // attempt matching by path and basename
-            logger.debug(
-                    "Trying to find a match for loaded camera "
-                            + config.baseName
-                            + " with path "
-                            + config.path);
-            cameraInfo =
-                    detectedCamInfos.stream()
-                            .filter(
-                                    usbCameraInfo ->
-                                            usbCameraInfo.path.equals(config.path)
-                                                    && usbCameraInfo.getBaseName().equals(config.baseName))
-                            .findFirst()
-                            .orElse(null);
-
-            // If we actually matched a camera to a config, remove that camera from the list
-            // and add it to the output
-            if (cameraInfo != null) {
-                logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
-                ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                detectedCamInfos.remove(cameraInfo);
-                unloadedConfigs.remove(config);
-            }
-        }
-        return ret;
-    }
-
-    // Try matching cameras to configs by name.
-    private List<CameraConfiguration> matchByName(
-            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> unloadedConfigs) {
-        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
-        List<CameraConfiguration> unloadedConfigsCopy =
-                new ArrayList<CameraConfiguration>(unloadedConfigs);
-        // if both path and ID based matching fails, attempt basename only match
-        for (CameraConfiguration config : unloadedConfigsCopy) {
-            CameraInfo cameraInfo;
-
-            logger.debug("Trying to find a match for loaded camera with name " + config.baseName);
-
-            cameraInfo =
-                    detectedCamInfos.stream()
-                            .filter(CameraInfo -> CameraInfo.getBaseName().equals(config.baseName))
-                            .findFirst()
-                            .orElse(null);
-
-            // If we actually matched a camera to a config, remove that camera from the list
-            // and add it to the output
-            if (cameraInfo != null) {
-                logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
-                ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                detectedCamInfos.remove(cameraInfo);
-                unloadedConfigs.remove(config);
-            }
-        }
-        return ret;
-    }
-
-    // If we have any unmatched cameras left, create a new CameraConfiguration for
-    // them here.
+    /**
+     * Create new {@link CameraConfiguration}s for unmatched cameras, and assign them a unique name
+     * (unique in the set of (loaded configs, unloaded configs, loaded vision modules) at least)
+     */
    private List<CameraConfiguration> createConfigsForCameras(
            List<CameraInfo> detectedCameraList,
-            List<CameraConfiguration> loadedCamConfigs,
+            List<CameraConfiguration> unloadedCamConfigs,
            List<CameraConfiguration> loadedConfigs) {
        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
        logger.debug(
@@ -377,7 +432,9 @@ public class VisionSourceManager {
            String uniqueName = info.getHumanReadableName();

            int suffix = 0;
-            while (containsName(loadedConfigs, uniqueName) || containsName(uniqueName)) {
+            while (containsName(loadedConfigs, uniqueName)
+                    || containsName(uniqueName)
+                    || containsName(unloadedCamConfigs, uniqueName)) {
                suffix++;
                uniqueName = String.format("%s (%d)", uniqueName, suffix);
            }
@@ -460,7 +517,7 @@ public class VisionSourceManager {
            List<CameraConfiguration> camConfigs) {
        var cameraSources = new ArrayList<VisionSource>();
        for (var configuration : camConfigs) {
-            logger.debug("Creating VisionSource for " + configuration);
+            logger.debug("Creating VisionSource for " + camCfgToString(configuration));

            boolean is_pi = Platform.isRaspberryPi();

--- a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -139,8 +139,31 @@ public class ConfigTest {
        writer.write(str);
        writer.flush();
        writer.close();
-        Assertions.assertDoesNotThrow(
-                () -> JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class));
+        CameraConfiguration result =
+                JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class);
+
+        tempFile.delete();
+    }
+
+    @Test
+    public void testJacksonAddUSBVIDPID() throws IOException {
+        var str =
+                "{\"baseName\":\"aaaaaa\",\"uniqueName\":\"aaaaaa\",\"nickname\":\"aaaaaa\",\"FOV\":70.0,\"path\":\"dev/vid\",\"cameraType\":\"UsbCamera\",\"currentPipelineIndex\":0,\"camPitch\":{\"radians\":0.0},\"calibrations\":[], \"usbVID\":3, \"usbPID\":4, \"cameraLEDs\":[]}";
+        File tempFile = File.createTempFile("test", ".json");
+        tempFile.deleteOnExit();
+        var writer = new FileWriter(tempFile);
+        writer.write(str);
+        writer.flush();
+        writer.close();
+
+        try {
+            CameraConfiguration result =
+                    JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class);
+            String ser = JacksonUtils.serializeToString(result);
+            System.out.println(ser);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }

        tempFile.delete();
    }
--- a/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
@@ -84,7 +84,9 @@ public class SQLConfigTest {
                        CameraType.UsbCamera,
                        QuirkyCamera.getQuirkyCamera(-1, -1),
                        List.of(),
-                        0);
+                        0,
+                        -1,
+                        -1);
        testcamcfg.pipelineSettings =
                List.of(
                        new ReflectivePipelineSettings(),
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
@@ -24,14 +24,20 @@ import java.util.ArrayList;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.LogLevel;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.camera.CameraInfo;
 import org.photonvision.vision.camera.CameraType;

 public class VisionSourceManagerTest {
    @Test
    public void visionSourceTest() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
        var inst = new VisionSourceManager();
        var cameraInfos = new ArrayList<CameraInfo>();
+        ConfigManager.getInstance().clearConfig();
        ConfigManager.getInstance().load();

        inst.tryMatchCamImpl(cameraInfos);
@@ -43,6 +49,8 @@ public class VisionSourceManagerTest {
                        "thirdTestVideo",
                        "dev/video1",
                        new String[] {"by-id/123"});
+        config3.usbVID = 3;
+        config3.usbPID = 4;
        var config4 =
                new CameraConfiguration(
                        "fourthTestVideo",
@@ -50,6 +58,8 @@ public class VisionSourceManagerTest {
                        "fourthTestVideo",
                        "dev/video2",
                        new String[] {"by-id/321"});
+        config4.usbVID = 5;
+        config4.usbPID = 6;

        CameraInfo info1 = new CameraInfo(0, "dev/video0", "testVideo", new String[0], 1, 2);

--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -6,7 +6,7 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/releases" }
+        maven { url = "https://maven.photonvision.org/repository/internal/" }
    }
 }

--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -8,7 +8,7 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/releases" }
+        maven { url = "https://maven.photonvision.org/repository/internal/" }
    }
 }

--- a/shared/javacommon.gradle
+++ b/shared/javacommon.gradle
@@ -79,7 +79,7 @@ publishing {

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

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