Backport maven changes

This means we can see even more logs about mjpeg server status as well

.github/workflows/build.yml

@@ -2,100 +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
@@ -188,179 +102,3 @@ 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
-  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 }}

.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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
     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 = "2024.2.1"
+    wpilibVersion = "2024.3.1"
     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-v2024.0.0-7-gc976aaa";
+    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 {

devTools/calibrationUtils.py

@@ -162,9 +162,9 @@ def __convert_cal_to_mrcal_cameramodel(
         "indices_point_camintrinsics_camextrinsics": None,
         "lensmodel": model,
         "imagersizes": np.array([imagersize], dtype=np.int32),
-        "calobject_warp": np.array(cal.calobjectWarp)
+        "calobject_warp": (
-        if len(cal.calobjectWarp) > 0
+            np.array(cal.calobjectWarp) if len(cal.calobjectWarp) > 0 else None
-        else None,
+        ),
         # We always do all the things
         "do_optimize_intrinsics_core": True,
         "do_optimize_intrinsics_distortions": True,

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

@@ -281,11 +281,29 @@ watchEffect(() => {
         </v-banner>
         <pv-switch
           v-model="tempSettingsStruct.matchCamerasOnlyByPath"
-          label="Match cameras by-path ONLY"
+          label="Strictly match ONLY known cameras"
-          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"
+          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. Also disables automatic detection of new cameras."
           class="mt-3 mb-2"
           :label-cols="4"
         />
+        <v-banner
+          v-show="tempSettingsStruct.matchCamerasOnlyByPath"
+          rounded
+          color="red"
+          class="mb-3"
+          text-color="white"
+          icon="mdi-information-outline"
+        >
+          Physical cameras will be strictly matched to camera configurations using physical USB port they are plugged
+          into, in addition to device name and other USB metadata. Additionally, no new cameras are allowed to be added.
+          This setting is useful for guaranteeing that an already known and configured camera can never be matched as an
+          "unknown"/"new" camera, which resets pipelines and calibration data.
+          <p />
+          Cameras will NOT be matched if they change USB ports, and new cameras plugged into this coprocessor will NOT
+          be automatically recognized or configured for vision processing.
+          <p />
+          To add a new camera to this coprocessor, disable this setting, connect the camera, and re-enable.
+        </v-banner>
         <v-divider class="mb-3" />
       </v-form>
       <v-btn

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

@@ -41,7 +41,9 @@ public class NetworkConfig {
 
     /**
      * If we should ONLY match cameras by path, and NEVER only by base-name. For now default to false
-     * to preserve old matching logic
+     * to preserve old matching logic.
+     *
+     * <p>This also disables creating new CameraConfigurations for detected "new" cameras.
      */
     public boolean matchCamerasOnlyByPath = false;
 

photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java

@@ -23,5 +23,6 @@ public enum LogGroup {
     VisionModule,
     Data,
     General,
-    Config
+    Config,
+    CSCore,
 }

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -99,6 +99,7 @@ public class Logger {
         levelMap.put(LogGroup.Data, LogLevel.INFO);
         levelMap.put(LogGroup.VisionModule, LogLevel.INFO);
         levelMap.put(LogGroup.Config, LogLevel.INFO);
+        levelMap.put(LogGroup.CSCore, LogLevel.TRACE);
     }
 
     static {
@@ -194,7 +195,7 @@ public class Logger {
         return logLevel.code <= levelMap.get(group).code;
     }
 
-    private void log(String message, LogLevel level) {
+    void log(String message, LogLevel level) {
         if (shouldLog(level)) {
             log(message, level, group, className);
         }

photon-core/src/main/java/org/photonvision/common/logging/PvCSCoreLogger.java

@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.logging;
+
+import edu.wpi.first.cscore.CameraServerJNI;
+import java.nio.file.Path;
+
+/** Redirect cscore logs to our logger */
+public class PvCSCoreLogger {
+    private static PvCSCoreLogger INSTANCE;
+
+    public static PvCSCoreLogger getInstance() {
+        if (INSTANCE == null) {
+            INSTANCE = new PvCSCoreLogger();
+        }
+        return INSTANCE;
+    }
+
+    private Logger logger;
+
+    private PvCSCoreLogger() {
+        CameraServerJNI.setLogger(this::logMsg, 7);
+        this.logger = new Logger(getClass(), LogGroup.CSCore);
+    }
+
+    private void logMsg(int level, String file, int line, String msg) {
+        if (level == 20) {
+            logger.info(msg);
+            return;
+        }
+
+        file = Path.of(file).getFileName().toString();
+
+        String levelmsg;
+        LogLevel pvlevel;
+        if (level >= 50) {
+            levelmsg = "CRITICAL";
+            pvlevel = LogLevel.ERROR;
+        } else if (level >= 40) {
+            levelmsg = "ERROR";
+            pvlevel = LogLevel.ERROR;
+        } else if (level >= 30) {
+            levelmsg = "WARNING";
+            pvlevel = LogLevel.WARN;
+        } else if (level >= 20) {
+            levelmsg = "INFO";
+            pvlevel = LogLevel.INFO;
+        } else {
+            levelmsg = "DEBUG";
+            pvlevel = LogLevel.DEBUG;
+        }
+        logger.log(
+                "CS: " + levelmsg + " " + level + ": " + msg + " (" + file + ":" + line + ")", pvlevel);
+    }
+}

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

@@ -20,6 +20,7 @@ package org.photonvision.vision.camera;
 import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.Arrays;
 import java.util.Optional;
+import org.photonvision.common.hardware.Platform;
 
 public class CameraInfo extends UsbCameraInfo {
     public final CameraType cameraType;
@@ -80,27 +81,41 @@ public class CameraInfo extends UsbCameraInfo {
     }
 
     @Override
-    public boolean equals(Object o) {
+    public boolean equals(Object obj) {
-        if (o == this) return true;
+        if (this == obj) return true;
-        if (!(o instanceof UsbCameraInfo || o instanceof CameraInfo)) return false;
+        if (obj == null) return false;
-        UsbCameraInfo other = (UsbCameraInfo) o;
+        if (getClass() != obj.getClass()) return false;
-        return path.equals(other.path)
+        CameraInfo other = (CameraInfo) obj;
-                // && a.dev == b.dev (dev is not constant in Windows)
+
-                && name.equals(other.name)
+        // Windows device number is not significant. See
-                && productId == other.productId
+        // https://github.com/wpilibsuite/allwpilib/blob/4b94a64b06057c723d6fcafeb1a45f55a70d179a/cscore/src/main/native/windows/UsbCameraImpl.cpp#L1128
-                && vendorId == other.vendorId;
+        if (!Platform.isWindows()) {
+            if (dev != other.dev) return false;
+        }
+
+        if (!path.equals(other.path)) return false;
+        if (!name.equals(other.name)) return false;
+        if (!Arrays.asList(this.otherPaths).containsAll(Arrays.asList(other.otherPaths))) return false;
+        if (vendorId != other.vendorId) return false;
+        if (productId != other.productId) return false;
+
+        // Don't trust super.equals, as it compares references. Should PR this to allwpilib at some
+        // point
+        return true;
     }
 
     @Override
     public String toString() {
         return "CameraInfo [cameraType="
                 + cameraType
-                + "baseName="
+                + ", baseName="
                 + getBaseName()
                 + ", vid="
                 + vendorId
                 + ", pid="
                 + productId
+                + ", path="
+                + path
                 + ", otherPaths="
                 + Arrays.toString(otherPaths)
                 + "]";

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

@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.camera;
+
+import java.util.*;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.opencv.ImageRotationMode;
+import org.photonvision.vision.pipe.impl.HSVPipe.HSVParams;
+import org.photonvision.vision.processes.VisionSource;
+import org.photonvision.vision.processes.VisionSourceSettables;
+
+/** Dummy class for unit testing the vision source manager */
+public class TestSource extends VisionSource {
+    private FrameProvider usbFrameProvider;
+
+    public TestSource(CameraConfiguration config) {
+        super(config);
+
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(config.usbVID, config.usbVID, config.baseName);
+    }
+
+    @Override
+    public FrameProvider getFrameProvider() {
+        return new FrameProvider() {
+            @Override
+            public Frame get() {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'get'");
+            }
+
+            @Override
+            public String getName() {
+                return cameraConfiguration.uniqueName;
+            }
+
+            @Override
+            public void requestFrameThresholdType(FrameThresholdType type) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestFrameThresholdType'");
+            }
+
+            @Override
+            public void requestFrameRotation(ImageRotationMode rotationMode) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestFrameRotation'");
+            }
+
+            @Override
+            public void requestFrameCopies(boolean copyInput, boolean copyOutput) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestFrameCopies'");
+            }
+
+            @Override
+            public void requestHsvSettings(HSVParams params) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestHsvSettings'");
+            }
+        };
+    }
+
+    @Override
+    public VisionSourceSettables getSettables() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'getSettables'");
+    }
+
+    @Override
+    public boolean isVendorCamera() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'isVendorCamera'");
+    }
+}

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

@@ -57,8 +57,8 @@ public class USBCameraSource extends VisionSource {
         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.usbVID <= 0) config.usbVID = this.camera.getInfo().vendorId;
-        if (config.usbPID < 0) config.usbPID = this.camera.getInfo().productId;
+        if (config.usbPID <= 0) config.usbPID = this.camera.getInfo().productId;
 
         if (getCameraConfiguration().cameraQuirks == null)
             getCameraConfiguration().cameraQuirks =

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

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.processes;
+
+import java.util.List;
+import org.photonvision.vision.camera.CameraType;
+
+public class CameraMatchingOptions {
+    public CameraMatchingOptions(
+            boolean checkUSBPath,
+            boolean checkVidPid,
+            boolean checkBaseName,
+            boolean checkPath,
+            CameraType... allowedTypes) {
+        this.checkUSBPath = checkUSBPath;
+        this.checkVidPid = checkVidPid;
+        this.checkBaseName = checkBaseName;
+        this.checkPath = checkPath;
+        this.allowedTypes = List.of(allowedTypes);
+    }
+
+    public final boolean checkUSBPath;
+    public final boolean checkVidPid;
+    public final boolean checkBaseName;
+    public final boolean checkPath;
+    public final List<CameraType> allowedTypes;
+
+    @Override
+    public String toString() {
+        return "CameraMatchingOptions [checkUSBPath="
+                + checkUSBPath
+                + ", checkVidPid="
+                + checkVidPid
+                + ", checkBaseName="
+                + checkBaseName
+                + ", checkPath="
+                + checkPath
+                + ", allowedTypes="
+                + allowedTypes
+                + "]";
+    }
+}

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

@@ -39,6 +39,7 @@ import org.photonvision.vision.camera.CameraInfo;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.CameraType;
 import org.photonvision.vision.camera.LibcameraGpuSource;
+import org.photonvision.vision.camera.TestSource;
 import org.photonvision.vision.camera.USBCameraSource;
 
 public class VisionSourceManager {
@@ -146,8 +147,8 @@ public class VisionSourceManager {
         }
 
         // Return no new sources because there are no new sources
-        if (connectedCameras.isEmpty() && !cameraInfos.isEmpty()) {
+        if (connectedCameras.isEmpty()) {
-            if (hasWarnedNoCameras) {
+            if (!hasWarnedNoCameras) {
                 logger.warn(
                         "No cameras were detected! Check that all cameras are connected, and that the path is correct.");
                 hasWarnedNoCameras = true;
@@ -186,7 +187,7 @@ public class VisionSourceManager {
                     "Unloaded configs: "
                             + unmatchedLoadedConfigs.stream()
                                     .map(it -> it.nickname)
-                                    .collect(Collectors.joining()));
+                                    .collect(Collectors.joining(", ")));
             hasWarned = true;
         }
 
@@ -195,13 +196,8 @@ public class VisionSourceManager {
 
         if (matchedCameras.isEmpty()) return null;
 
-        // for unit tests only!
-        if (!createSources) {
-            return List.of();
-        }
-
         // Turn these camera configs into vision sources
-        var sources = loadVisionSourcesFromCamConfigs(matchedCameras);
+        var sources = loadVisionSourcesFromCamConfigs(matchedCameras, createSources);
 
         // Print info about each vision source
         for (var src : sources) {
@@ -259,6 +255,8 @@ public class VisionSourceManager {
                 matches &= (physicalCamera.path.equals(savedConfig.path));
             }
 
+            matches &= (physicalCamera.cameraType == savedConfig.cameraType);
+
             return matches;
         };
     }
@@ -313,44 +311,79 @@ public class VisionSourceManager {
         ArrayList<CameraConfiguration> unloadedConfigs =
                 new ArrayList<CameraConfiguration>(loadedCamConfigs);
 
-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+        logger.info("Matching CSI cameras by port & base name...");
-            logger.info("Matching by usb port & name & USB VID/PID...");
+        cameraConfigurations.addAll(
-            cameraConfigurations.addAll(
+                matchCamerasByStrategy(
-                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, true, false));
+                        detectedCameraList,
-        } else
+                        unloadedConfigs,
-            logger.debug("Skipping match by usb port/name/vid/pid, no configs or cameras left to match");
+                        new CameraMatchingOptions(false, false, true, true, CameraType.ZeroCopyPicam)));
+
+        logger.info("Matching USB cameras by usb port & name & USB VID/PID...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        unloadedConfigs,
+                        new CameraMatchingOptions(true, true, true, false, CameraType.UsbCamera)));
 
         // 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 (Platform.isWindows() && !matchCamerasOnlyByPath) {
-            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+            logger.info("Matching USB cameras by windows-path & USB VID/PID only...");
-                logger.info("Matching by windows-path & USB VID/PID only...");
+            cameraConfigurations.addAll(
-                cameraConfigurations.addAll(
+                    matchCamerasByStrategy(
-                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, true));
+                            detectedCameraList,
-            } else
+                            unloadedConfigs,
-                logger.debug(
+                            new CameraMatchingOptions(false, true, true, true, CameraType.UsbCamera)));
-                        "Skipping matching by windiws-path/name/vid/pid, no configs or cameras left to match");
         }
 
-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+        logger.info("Matching USB cameras by usb port & USB VID/PID...");
-            logger.info("Matching by usb port & USB VID/PID...");
+        cameraConfigurations.addAll(
-            cameraConfigurations.addAll(
+                matchCamerasByStrategy(
-                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, false, false));
+                        detectedCameraList,
-        } else logger.debug("Skipping match by port/vid/pid, no configs or cameras left to match");
+                        unloadedConfigs,
+                        new CameraMatchingOptions(true, true, false, false, CameraType.UsbCamera)));
+
+        // Legacy migration -- VID/PID will be unset, so we have to try with our most relaxed strategy
+        // at least once. We _should_ still have a valid USB path (assuming cameras have not moved), so
+        // try that first, then fallback to base name only beloow
+        logger.info("Matching USB cameras by base-name & usb port...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        unloadedConfigs,
+                        new CameraMatchingOptions(true, false, true, false, CameraType.UsbCamera)));
 
         // handle disabling only-by-base-name matching
         if (!matchCamerasOnlyByPath) {
-            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+            logger.info("Matching USB cameras by base-name & USB VID/PID only...");
-                logger.info("Matching by base-name & USB VID/PID only...");
+            cameraConfigurations.addAll(
-                cameraConfigurations.addAll(
+                    matchCamerasByStrategy(
-                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, false));
+                            detectedCameraList,
-            } else
+                            unloadedConfigs,
-                logger.debug("Skipping match by base-name/viid/pid, no configs or cameras left to match");
+                            new CameraMatchingOptions(false, true, true, false, CameraType.UsbCamera)));
+
+            // Legacy migration for if no USB VID/PID set
+            logger.info("Matching USB cameras by base-name only...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(
+                            detectedCameraList,
+                            unloadedConfigs,
+                            new CameraMatchingOptions(false, false, true, false, CameraType.UsbCamera)));
         } else logger.info("Skipping match by filepath/vid/pid, disabled by user");
 
         if (detectedCameraList.size() > 0) {
-            cameraConfigurations.addAll(
+            // handle disabling only-by-base-name matching
-                    createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
+            if (!matchCamerasOnlyByPath) {
+                cameraConfigurations.addAll(
+                        createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
+            } else {
+                logger.warn(
+                        "Not creating 'new' Photon CameraConfigurations for ["
+                                + detectedCamInfos.stream()
+                                        .map(CameraInfo::toString)
+                                        .collect(Collectors.joining(";"))
+                                + "], disabled by user");
+            }
         }
 
         logger.debug("Matched or created " + cameraConfigurations.size() + " camera configs!");
@@ -374,41 +407,46 @@ public class VisionSourceManager {
     private List<CameraConfiguration> matchCamerasByStrategy(
             List<CameraInfo> detectedCamInfos,
             List<CameraConfiguration> unloadedConfigs,
-            boolean checkUSBPath,
+            CameraMatchingOptions matchingOptions) {
-            boolean checkVidPid,
-            boolean checkBaseName,
-            boolean checkPath) {
         List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
         List<CameraConfiguration> unloadedConfigsCopy =
                 new ArrayList<CameraConfiguration>(unloadedConfigs);
 
+        if (unloadedConfigsCopy.isEmpty()) return List.of();
+
+        logger.debug("Matching with options " + matchingOptions.toString());
+
         for (CameraConfiguration config : unloadedConfigsCopy) {
-            // Only run match path by id if the camera is not a CSI camera.
+            // Only run match path by id if the camera type is allowed. This allows us to specify matching
-            if (config.cameraType != CameraType.ZeroCopyPicam) {
+            // behavior per-camera-type
+            if (matchingOptions.allowedTypes.contains(config.cameraType)) {
                 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",
+                                "Trying to find a match for loaded camera %s (%s) with camera config: %s",
-                                config.baseName,
+                                config.baseName, config.uniqueName, camCfgToString(config)));
-                                checkUSBPath,
-                                checkVidPid,
-                                checkBaseName,
-                                checkPath,
-                                camCfgToString(config)));
 
                 // Get matcher and filter against it, picking out the first match
                 Predicate<CameraInfo> matches =
-                        getCameraMatcher(config, checkUSBPath, checkVidPid, checkBaseName, checkPath);
+                        getCameraMatcher(
+                                config,
+                                matchingOptions.checkUSBPath,
+                                matchingOptions.checkVidPid,
+                                matchingOptions.checkBaseName,
+                                matchingOptions.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!");
+                    logger.debug(
+                            "Matched the config for "
+                                    + config.uniqueName
+                                    + " to the physical camera config above!");
                     ret.add(mergeInfoIntoConfig(config, cameraInfo));
                     detectedCamInfos.remove(cameraInfo);
                     unloadedConfigs.remove(config);
                 } else {
-                    logger.debug("No camera found for the config " + config.baseName);
+                    logger.debug("No camera found for the config " + config.uniqueName);
                 }
             }
         }
@@ -425,7 +463,10 @@ public class VisionSourceManager {
             List<CameraConfiguration> loadedConfigs) {
         List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
         logger.debug(
-                "After matching loaded configs " + detectedCameraList.size() + " cameras were unmatched.");
+                "After matching loaded configs, these configs remained unmatched: "
+                        + detectedCameraList.stream()
+                                .map(n -> String.valueOf(n))
+                                .collect(Collectors.joining("-", "{", "}")));
         for (CameraInfo info : detectedCameraList) {
             // create new camera config for all new cameras
             String baseName = info.getBaseName();
@@ -434,7 +475,8 @@ public class VisionSourceManager {
             int suffix = 0;
             while (containsName(loadedConfigs, uniqueName)
                     || containsName(uniqueName)
-                    || containsName(unloadedCamConfigs, uniqueName)) {
+                    || containsName(unloadedCamConfigs, uniqueName)
+                    || containsName(ret, uniqueName)) {
                 suffix++;
                 uniqueName = String.format("%s (%d)", uniqueName, suffix);
             }
@@ -514,11 +556,17 @@ public class VisionSourceManager {
     }
 
     private static List<VisionSource> loadVisionSourcesFromCamConfigs(
-            List<CameraConfiguration> camConfigs) {
+            List<CameraConfiguration> camConfigs, boolean createSources) {
         var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
             logger.debug("Creating VisionSource for " + camCfgToString(configuration));
 
+            // In unit tests, create dummy
+            if (!createSources) {
+                cameraSources.add(new TestSource(configuration));
+                continue;
+            }
+
             boolean is_pi = Platform.isRaspberryPi();
 
             if (configuration.cameraType == CameraType.ZeroCopyPicam && is_pi) {

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

@@ -21,6 +21,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import java.util.ArrayList;
+import java.util.List;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -271,4 +272,335 @@ public class VisionSourceManagerTest {
         assertEquals(10, inst.knownCameras.size());
         assertEquals(0, inst.unmatchedLoadedConfigs.size());
     }
+
+    @Test
+    public void testDisableInhibitPathChangeIdenticalCams() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+
+        var CAM2_OLD_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"};
+        var CAM2_NEW_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880080.usb-usb-0:1:1.3-video-index0"};
+
+        var CAM1_OLD_PATHS =
+                new String[] {
+                    "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                    "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                };
+
+        var camera1_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera",
+                        "fromt-left",
+                        "/dev/video0",
+                        CAM1_OLD_PATHS);
+        camera1_saved_config.usbVID = 3141;
+        camera1_saved_config.usbPID = 25446;
+        var camera2_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera (1)",
+                        "fromt-left",
+                        "/dev/video2",
+                        CAM2_OLD_PATH);
+        camera2_saved_config.usbVID = 3141;
+        camera2_saved_config.usbPID = 25446;
+
+        // And load our "old" configs
+        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
+
+        // Camera attached to new port, but strict matching disabled
+        {
+            CameraInfo info1 =
+                    new CameraInfo(
+                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
+            CameraInfo info2 =
+                    new CameraInfo(
+                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_NEW_PATH, 3141, 25446);
+
+            var cameraInfos = new ArrayList<CameraInfo>();
+            cameraInfos.add(info1);
+            cameraInfos.add(info2);
+            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+            // and check the new one got matched got matched
+            assertEquals(2, ret1.size());
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+        }
+    }
+
+    @Test
+    public void testInhibitPathChangeIdenticalCams() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = true;
+
+        var CAM2_OLD_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"};
+        var CAM2_NEW_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880080.usb-usb-0:1:1.3-video-index0"};
+
+        var CAM1_OLD_PATHS =
+                new String[] {
+                    "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                    "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                };
+
+        var camera1_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera (1)",
+                        "fromt-left",
+                        "/dev/video0",
+                        CAM1_OLD_PATHS);
+        camera1_saved_config.usbVID = 3141;
+        camera1_saved_config.usbPID = 25446;
+        var camera2_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera (1)",
+                        "fromt-left",
+                        "/dev/video2",
+                        CAM2_OLD_PATH);
+        camera2_saved_config.usbVID = 3141;
+        camera2_saved_config.usbPID = 25446;
+
+        // And load our "old" configs
+        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
+
+        // initial pass with camera in the wrong spot
+        {
+            // Give our cameras new "paths" to fake the windows logic out. this should not
+            // affect strict matching
+            CameraInfo info1 =
+                    new CameraInfo(
+                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
+            CameraInfo info2 =
+                    new CameraInfo(
+                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_NEW_PATH, 3141, 25446);
+
+            var cameraInfos = new ArrayList<CameraInfo>();
+            cameraInfos.add(info1);
+            cameraInfos.add(info2);
+            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+            // Our cameras should be "known"
+            assertTrue(inst.knownCameras.contains(info1));
+            assertTrue(inst.knownCameras.contains(info2));
+            assertEquals(2, inst.knownCameras.size());
+
+            // And we should have matched one camera
+            assertEquals(1, ret1.size());
+            // and only matched camera1, not 2
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
+            assertEquals(
+                    0, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+        }
+
+        // Now move our camera back
+        {
+            CameraInfo info1 =
+                    new CameraInfo(
+                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
+            CameraInfo info2 =
+                    new CameraInfo(
+                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_OLD_PATH, 3141, 25446);
+
+            var cameraInfos = new ArrayList<CameraInfo>();
+            cameraInfos.add(info1);
+            cameraInfos.add(info2);
+            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+            // and check the new one got matched got matched
+            assertEquals(1, ret1.size());
+            assertEquals(
+                    0, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+        }
+    }
+
+    @Test
+    public void testCSICameraMatching() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        // List of known cameras
+        var cameraInfos = new ArrayList<CameraInfo>();
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+
+        CameraInfo info1 =
+                new CameraInfo(
+                        -1,
+                        "/base/soc/i2c0mux/i2c@0/ov9281@60",
+                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
+                        new String[] {},
+                        -1,
+                        -1,
+                        CameraType.ZeroCopyPicam);
+
+        CameraInfo info2 =
+                new CameraInfo(
+                        -1,
+                        "/base/soc/i2c0mux/i2c@1/ov9281@60",
+                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
+                        new String[] {},
+                        -1,
+                        -1,
+                        CameraType.ZeroCopyPicam);
+
+        var camera1_saved_config =
+                new CameraConfiguration(
+                        "OV9281", "OV9281", "test-1", "/base/soc/i2c0mux/i2c@0/ov9281@60", new String[0]);
+        camera1_saved_config.cameraType = CameraType.ZeroCopyPicam;
+        camera1_saved_config.usbVID = -1;
+        camera1_saved_config.usbPID = -1;
+
+        var camera2_saved_config =
+                new CameraConfiguration(
+                        "OV9281", "OV9281 (1)", "test-2", "/base/soc/i2c0mux/i2c@1/ov9281@60", new String[0]);
+        camera2_saved_config.usbVID = -1;
+        camera2_saved_config.usbPID = -1;
+        camera2_saved_config.cameraType = CameraType.ZeroCopyPicam;
+
+        cameraInfos.add(info1);
+        cameraInfos.add(info2);
+
+        // Try matching with both cameras being "known"
+        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
+        var ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+        // Our cameras should be "known"
+        assertTrue(inst.knownCameras.contains(info1));
+        assertTrue(inst.knownCameras.contains(info2));
+        assertEquals(2, inst.knownCameras.size());
+        assertEquals(2, ret1.size());
+
+        // Exactly one camera should have the path we put in
+        for (int i = 0; i < cameraInfos.size(); i++) {
+            var testPath = cameraInfos.get(i).path;
+            assertEquals(
+                    1, ret1.stream().filter(it -> testPath.equals(it.cameraConfiguration.path)).count());
+        }
+    }
+
+    @Test
+    public void testIdenticalCameras() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        // List of known cameras
+        var cameraInfos = new ArrayList<CameraInfo>();
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+
+        // Match empty camera infos
+        inst.tryMatchCamImpl(cameraInfos);
+
+        CameraInfo info1 =
+                new CameraInfo(
+                        0,
+                        "/dev/video0",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+        CameraInfo info2 =
+                new CameraInfo(
+                        0,
+                        "/dev/video2",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+
+        cameraInfos.add(info1);
+        cameraInfos.add(info2);
+
+        // Match two "new" cameras
+        var ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+        // Our cameras should be "known"
+        assertTrue(inst.knownCameras.contains(info1));
+        assertTrue(inst.knownCameras.contains(info2));
+        assertEquals(2, inst.knownCameras.size());
+        assertEquals(2, ret1.size());
+
+        // Exactly one camera should have the path we put in
+        for (int i = 0; i < cameraInfos.size(); i++) {
+            var testPath = cameraInfos.get(i).getUSBPath().get();
+            assertEquals(
+                    1,
+                    ret1.stream()
+                            .filter(it -> testPath.equals(it.cameraConfiguration.getUSBPath().get()))
+                            .count());
+        }
+
+        // and the names should be unique
+        for (int i = 0; i < ret1.size(); i++) {
+            var thisName = ret1.get(i).cameraConfiguration.uniqueName;
+            assertEquals(
+                    1,
+                    ret1.stream().filter(it -> thisName.equals(it.cameraConfiguration.uniqueName)).count());
+        }
+
+        // duplciate cameras, same info, new ref
+        var duplicateCameraInfos = new ArrayList<CameraInfo>();
+        CameraInfo info1_dup =
+                new CameraInfo(
+                        0,
+                        "/dev/video0",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+        CameraInfo info2_dup =
+                new CameraInfo(
+                        0,
+                        "/dev/video2",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+
+        duplicateCameraInfos.add(info1_dup);
+        duplicateCameraInfos.add(info2_dup);
+
+        inst.tryMatchCamImpl(duplicateCameraInfos);
+
+        // Our cameras should be "known", and we should only "know" two cameras still
+        assertTrue(inst.knownCameras.contains(info1_dup));
+        assertTrue(inst.knownCameras.contains(info2_dup));
+        assertEquals(2, inst.knownCameras.size());
+    }
 }

photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java

@@ -431,7 +431,7 @@ public class PhotonCameraSim implements AutoCloseable {
 
             detectableTgts.add(
                     new PhotonTrackedTarget(
-                            Math.toDegrees(centerRot.getZ()),
+                            -Math.toDegrees(centerRot.getZ()),
                             -Math.toDegrees(centerRot.getY()),
                             areaPercent,
                             Math.toDegrees(centerRot.getX()),

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

@@ -260,7 +260,7 @@ class PhotonCameraSim {
       std::vector<std::pair<double, double>> cornersDouble{cornersFloat.begin(),
                                                            cornersFloat.end()};
       detectableTgts.emplace_back(PhotonTrackedTarget{
-          centerRot.Z().convert<units::degrees>().to<double>(),
+          -centerRot.Z().convert<units::degrees>().to<double>(),
           -centerRot.Y().convert<units::degrees>().to<double>(), areaPercent,
           centerRot.X().convert<units::degrees>().to<double>(), tgt.fiducialId,
           pnpSim.best, pnpSim.alt, pnpSim.ambiguity, smallVec, cornersDouble});

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

@@ -256,7 +256,8 @@ class VisionSystemSimTest {
         cameraSim.setMinTargetAreaPixels(0.0);
         visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
 
-        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
+        // If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
+        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(testYaw));
         visionSysSim.update(robotPose);
         var res = camera.getLatestResult();
         assertTrue(res.hasTargets());

photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp

@@ -220,8 +220,9 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
   visionSysSim.AddVisionTargets({photon::VisionTargetSim{
       targetPose, photon::TargetModel{0.5_m, 0.5_m}, 3}});
 
-  robotPose = frc::Pose2d{frc::Translation2d{10_m, 0_m},
+  // If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
-                          frc::Rotation2d{-1 * GetParam()}};
+  robotPose =
+      frc::Pose2d{frc::Translation2d{10_m, 0_m}, frc::Rotation2d{GetParam()}};
   visionSysSim.Update(robotPose);
   ASSERT_TRUE(camera.GetLatestResult().HasTargets());
   ASSERT_NEAR(GetParam().to<double>(),

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

@@ -35,6 +35,7 @@ import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.common.logging.PvCSCoreLogger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
@@ -65,6 +66,7 @@ public class Main {
     private static final boolean isRelease = PhotonVersion.isRelease;
 
     private static boolean isTestMode = false;
+    private static boolean isSmoketest = false;
     private static Path testModeFolder = null;
     private static boolean printDebugLogs;
 
@@ -90,6 +92,11 @@ public class Main {
                 "clear-config",
                 false,
                 "Clears PhotonVision pipeline and networking settings. Preserves log files");
+        options.addOption(
+                "s",
+                "smoketest",
+                false,
+                "Exit Photon after loading native libraries and camera configs, but before starting up camera runners");
 
         CommandLineParser parser = new DefaultParser();
         CommandLine cmd = parser.parse(options, args);
@@ -127,6 +134,10 @@ public class Main {
             if (cmd.hasOption("clear-config")) {
                 ConfigManager.getInstance().clearConfig();
             }
+
+            if (cmd.hasOption("smoketest")) {
+                isSmoketest = true;
+            }
         }
         return true;
     }
@@ -337,11 +348,17 @@ public class Main {
 
     public static void main(String[] args) {
         try {
-            TestUtils.loadLibraries();
+            boolean success = TestUtils.loadLibraries();
-            logger.info("Native libraries loaded.");
+
+            if (!success) {
+                logger.error("Failed to load native libraries! Giving up :(");
+                System.exit(1);
+            }
         } catch (Exception e) {
             logger.error("Failed to load native libraries!", e);
+            System.exit(1);
         }
+        logger.info("Native libraries loaded.");
 
         try {
             if (Platform.isRaspberryPi()) {
@@ -393,6 +410,8 @@ public class Main {
                         + Platform.getPlatformName()
                         + (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : ""));
 
+        PvCSCoreLogger.getInstance();
+
         logger.debug("Loading ConfigManager...");
         ConfigManager.getInstance().load(); // init config manager
         ConfigManager.getInstance().requestSave();
@@ -412,6 +431,11 @@ public class Main {
         NeuralNetworkModelManager.getInstance()
                 .initialize(ConfigManager.getInstance().getModelsDirectory());
 
+        if (isSmoketest) {
+            logger.info("PhotonVision base functionality loaded -- smoketest complete");
+            System.exit(0);
+        }
+
         if (!isTestMode) {
             logger.debug("Loading VisionSourceManager...");
             VisionSourceManager.getInstance()

photonlib-cpp-examples/aimandrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 
     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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 
     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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 
     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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 
     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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }
@@ -12,8 +12,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.2.1"
+wpi.versions.wpilibVersion = "2024.3.1"
-wpi.versions.wpimathVersion = "2024.2.1"
+wpi.versions.wpimathVersion = "2024.3.1"
 
 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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/aimattarget/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/simaimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/swervedriveposeestsim/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 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 = "2024.2.1"
+wpi.versions.wpilibVersion = "2024.3.1"
-wpi.versions.wpimathVersion = "2024.2.1"
+wpi.versions.wpimathVersion = "2024.3.1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

scripts/install.sh

@@ -80,6 +80,9 @@ if [[ "$DISTRO" = "Ubuntu" && "$INSTALL_NETWORK_MANAGER" != "true" && -z "$QUIET
   fi
 fi
 
+echo "Update package list"
+apt-get update
+
 echo "Installing curl..."
 apt-get install --yes curl
 echo "curl installation complete."
@@ -136,6 +139,9 @@ echo "Installing v4l-utils..."
 apt-get install --yes v4l-utils
 echo "v4l-utils installation complete."
 
+echo "Installing sqlite3"
+apt-get install --yes sqlite3
+
 echo "Downloading latest stable release of PhotonVision..."
 mkdir -p /opt/photonvision
 cd /opt/photonvision

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")