Backport maven changes

.github/workflows/build.yml

@@ -2,123 +2,14 @@ name: Build
 
 on:
   push:
-    branches: [ master ]
+    branches: 
+      - master
     tags:
       - 'v*'
   pull_request:
     branches: [ master ]
 
 jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-  build-examples:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
-      - name: Publish photonlib to maven local
-        run: |
-          chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
-  build-offline-docs:
-    name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-      - name: Build the docs
-        run: |
-          make html
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
   build-photonlib-host:
     env:
       MACOSX_DEPLOYMENT_TARGET: 12
@@ -188,179 +79,3 @@ jobs:
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push'
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-latest
-            artifact-name: LinuxArm32
-            architecture: x64
-            arch-override: linuxarm32
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            architecture: x64
-            arch-override: linuxarm64
-
-    runs-on: ${{ matrix.os }}
-    name: "Build fat JAR - ${{ matrix.artifact-name }}"
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: |
-          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p photon-server/src/main/resources/web/docs
-        if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: |
-          del photon-server\src\main\resources\web\*.*
-          mkdir photon-server\src\main\resources\web\docs
-        if: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
-        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
-        if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-          path: photon-server/build/libs
-  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

@@ -13,8 +13,9 @@ allprojects {
     repositories {
         mavenCentral()
         mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
-        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
+        maven { url = "https://maven.photonvision.org/releases" }
+        maven { url = "https://maven.photonvision.org/snapshots" }
+        maven { url = "https://jogamp.org/deployment/maven/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -50,6 +51,10 @@ ext {
     println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
     println("Using Wpilib: " + wpilibVersion)
     println("Using OpenCV: " + openCVversion)
+
+
+    photonMavenURL = 'https://maven.photonvision.org/' + (isDev ? 'snapshots' : 'releases');
+    println("Publishing Photonlib to " + photonMavenURL)
 }
 
 spotless {

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

@@ -26,9 +26,7 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
       const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
       if (calib !== undefined) {
         // For each error, square it, sum the squares, and divide by total points N
-        if (calib.meanErrors.length)
-          format.mean = calib.meanErrors.reduce((a, b) => a + b, 0) / calib.meanErrors.length;
-        else format.mean = NaN;
+        format.mean = calib.meanErrors.reduce((a, b) => a + b) / calib.meanErrors.length;
 
         format.horizontalFOV =
           2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
@@ -104,7 +102,7 @@ const downloadCalibBoard = () => {
           const yPos = chessboardStartY + squareY * squareSizeIn.value;
 
           // Only draw the odd squares to create the chessboard pattern
-          if (squareY % 2 != squareX % 2) {
+          if ((xPos + yPos + 0.25) % 2 === 0) {
             doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
           }
         }
@@ -258,7 +256,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               >
                 <td>{{ getResolutionString(value.resolution) }}</td>
                 <td>
-                  {{ value.mean !== undefined ? (isNaN(value.mean) ? "Unknown" : value.mean.toFixed(2) + "px") : "-" }}
+                  {{ value.mean !== undefined ? (isNaN(value.mean) ? "NaN" : value.mean.toFixed(2) + "px") : "-" }}
                 </td>
                 <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
                 <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>

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

@@ -59,8 +59,7 @@ const settingsHaveChanged = (): boolean => {
     a.shouldPublishProto !== b.shouldPublishProto ||
     a.networkManagerIface !== b.networkManagerIface ||
     a.setStaticCommand !== b.setStaticCommand ||
-    a.setDHCPcommand !== b.setDHCPcommand ||
-    a.matchCamerasOnlyByPath !== b.matchCamerasOnlyByPath
+    a.setDHCPcommand !== b.setDHCPcommand
   );
 };
 
@@ -78,7 +77,6 @@ const saveGeneralSettings = () => {
     setStaticCommand: tempSettingsStruct.value.setStaticCommand || "",
     shouldManage: tempSettingsStruct.value.shouldManage,
     shouldPublishProto: tempSettingsStruct.value.shouldPublishProto,
-    matchCamerasOnlyByPath: tempSettingsStruct.value.matchCamerasOnlyByPath,
     staticIp: tempSettingsStruct.value.staticIp
   };
 
@@ -139,8 +137,6 @@ 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">
@@ -258,9 +254,6 @@ 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"
@@ -279,14 +272,6 @@ 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"

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

@@ -44,9 +44,7 @@ export const useSettingsStore = defineStore("settings", {
           connName: "Example Wired Connection",
           devName: "eth0"
         }
-      ],
-      networkingDisabled: false,
-      matchCamerasOnlyByPath: false
+      ]
     },
     lighting: {
       supported: true,

photon-client/src/types/SettingTypes.ts

@@ -47,7 +47,6 @@ export interface NetworkSettings {
   setDHCPcommand?: string;
   networkInterfaceNames: NetworkInterfaceType[];
   networkingDisabled: boolean;
-  matchCamerasOnlyByPath: boolean;
 }
 
 export type ConfigurableNetworkSettings = Omit<

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

@@ -23,7 +23,6 @@ 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;
@@ -52,12 +51,6 @@ 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;
@@ -105,9 +98,7 @@ public class CameraConfiguration {
             @JsonProperty("cameraType") CameraType cameraType,
             @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
-            @JsonProperty("usbVID") int usbVID,
-            @JsonProperty("usbPID") int usbPID) {
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.baseName = baseName;
         this.uniqueName = uniqueName;
         this.nickname = nickname;
@@ -117,8 +108,6 @@ 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 "
@@ -167,17 +156,6 @@ 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="

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

@@ -20,24 +20,6 @@ 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 + "]";

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

@@ -39,12 +39,6 @@ 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}";
 
@@ -82,8 +76,7 @@ public class NetworkConfig {
             @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
             @JsonProperty("networkManagerIface") String networkManagerIface,
             @JsonProperty("setStaticCommand") String setStaticCommand,
-            @JsonProperty("setDHCPcommand") String setDHCPcommand,
-            @JsonProperty("matchCamerasOnlyByPath") boolean matchCamerasOnlyByPath) {
+            @JsonProperty("setDHCPcommand") String setDHCPcommand) {
         this.ntServerAddress = ntServerAddress;
         this.connectionType = connectionType;
         this.staticIp = staticIp;
@@ -93,7 +86,6 @@ public class NetworkConfig {
         this.networkManagerIface = networkManagerIface;
         this.setStaticCommand = setStaticCommand;
         this.setDHCPcommand = setDHCPcommand;
-        this.matchCamerasOnlyByPath = matchCamerasOnlyByPath;
         setShouldManage(shouldManage);
     }
 

photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java

@@ -53,7 +53,6 @@ public class MrCalJNILoader extends PhotonJNICommon {
                             "libcolamd",
                             "libccolamd",
                             "openblas",
-                            "libwinpthread-1",
                             "libgcc_s_seh-1",
                             "libquadmath-0",
                             "libgfortran-5",

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

@@ -19,7 +19,6 @@ 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;
@@ -69,16 +68,6 @@ 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;
@@ -90,19 +79,4 @@ 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)
-                + "]";
-    }
 }

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

@@ -49,17 +49,9 @@ public class USBCameraSource extends VisionSource {
         super(config);
 
         logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        // 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));
+        camera = new UsbCamera(config.nickname, 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(
@@ -403,7 +395,6 @@ public class USBCameraSource extends VisionSource {
                 // Sort by resolution
                 var sortedList =
                         videoModesList.stream()
-                                .distinct() // remove redundant video mode entries
                                 .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
                                 .collect(Collectors.toList());
                 Collections.reverse(sortedList);

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

@@ -23,7 +23,6 @@ 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;
@@ -165,7 +164,7 @@ public class VisionSourceManager {
 
         // Debug prints
         for (var info : connectedCameras) {
-            logger.info("Detected unmatched physical camera: " + info.toString());
+            logger.info("Adding local video device - \"" + info.name + "\" at \"" + info.path + "\"");
         }
 
         if (!unmatchedLoadedConfigs.isEmpty())
@@ -217,52 +216,6 @@ 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.
@@ -273,111 +226,35 @@ 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) {
-            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(matchByPathByID(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(matchByPath(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 & 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 || unloadedConfigs.size() > 0)
+            cameraConfigurations.addAll(matchByName(detectedCameraList, unloadedConfigs));
+        else logger.debug("Skipping matchByName no configs or cameras left to match");
 
-        // 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) {
+        if (detectedCameraList.size() > 0)
             cameraConfigurations.addAll(
                     createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
-        }
 
         logger.debug("Matched or created " + cameraConfigurations.size() + " camera configs!");
         return cameraConfigurations;
     }
 
-    /**
-     * 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) {
+    // 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) {
         List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
         List<CameraConfiguration> unloadedConfigsCopy =
                 new ArrayList<CameraConfiguration>(unloadedConfigs);
@@ -385,43 +262,111 @@ 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) {
-                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)));
-
-                // 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);
+                CameraInfo cameraInfo;
+                if (config.otherPaths.length == 0) {
+                    logger.debug("No valid path-by-id found for config with name " + config.baseName);
                 } else {
-                    logger.debug("No camera found for the config " + config.baseName);
+                    // 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);
+
+                    // 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;
     }
 
-    /**
-     * 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> 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.
     private List<CameraConfiguration> createConfigsForCameras(
             List<CameraInfo> detectedCameraList,
-            List<CameraConfiguration> unloadedCamConfigs,
+            List<CameraConfiguration> loadedCamConfigs,
             List<CameraConfiguration> loadedConfigs) {
         List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
         logger.debug(
@@ -432,9 +377,7 @@ public class VisionSourceManager {
             String uniqueName = info.getHumanReadableName();
 
             int suffix = 0;
-            while (containsName(loadedConfigs, uniqueName)
-                    || containsName(uniqueName)
-                    || containsName(unloadedCamConfigs, uniqueName)) {
+            while (containsName(loadedConfigs, uniqueName) || containsName(uniqueName)) {
                 suffix++;
                 uniqueName = String.format("%s (%d)", uniqueName, suffix);
             }
@@ -517,7 +460,7 @@ public class VisionSourceManager {
             List<CameraConfiguration> camConfigs) {
         var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
-            logger.debug("Creating VisionSource for " + camCfgToString(configuration));
+            logger.debug("Creating VisionSource for " + configuration);
 
             boolean is_pi = Platform.isRaspberryPi();
 

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

@@ -139,31 +139,8 @@ public class ConfigTest {
         writer.write(str);
         writer.flush();
         writer.close();
-        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();
-        }
+        Assertions.assertDoesNotThrow(
+                () -> JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class));
 
         tempFile.delete();
     }

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

@@ -84,9 +84,7 @@ public class SQLConfigTest {
                         CameraType.UsbCamera,
                         QuirkyCamera.getQuirkyCamera(-1, -1),
                         List.of(),
-                        0,
-                        -1,
-                        -1);
+                        0);
         testcamcfg.pipelineSettings =
                 List.of(
                         new ReflectivePipelineSettings(),

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

@@ -24,20 +24,14 @@ 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);
@@ -49,8 +43,6 @@ public class VisionSourceManagerTest {
                         "thirdTestVideo",
                         "dev/video1",
                         new String[] {"by-id/123"});
-        config3.usbVID = 3;
-        config3.usbPID = 4;
         var config4 =
                 new CameraConfiguration(
                         "fourthTestVideo",
@@ -58,8 +50,6 @@ 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);
 

photon-lib/py/photonlibpy/photonCamera.py

@@ -90,7 +90,7 @@ class PhotonCamera:
             retVal.populateFromPacket(pkt)
             # NT4 allows us to correct the timestamp based on when the message was sent
             retVal.setTimestampSeconds(
-                timestamp / 1e6 - retVal.getLatencyMillis() / 1e3
+                timestamp / 1e-6 - retVal.getLatencyMillis() / 1e-3
             )
             return retVal
 

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -408,8 +408,8 @@ public class PhotonPoseEstimator {
                 return Optional.empty();
         }
 
-        if (estimatedPose.isPresent()) {
-            lastPose = estimatedPose.get().estimatedPose;
+        if (estimatedPose.isEmpty()) {
+            lastPose = null;
         }
 
         return estimatedPose;

photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp

@@ -186,9 +186,6 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
       ret = std::nullopt;
   }
 
-  if (ret) {
-    lastPose = ret.value().estimatedPose;
-  }
   return ret;
 }
 

photonlib-cpp-examples/aimattarget/src/main/include/Robot.h

@@ -39,8 +39,8 @@ class Robot : public frc::TimedRobot {
   void TeleopPeriodic() override;
 
  private:
-  // Change this to match the name of your camera as shown in the web UI
-  photon::PhotonCamera camera{"YOUR_CAMERA_NAME_HERE"};
+  // Change this to match the name of your camera
+  photon::PhotonCamera camera{"photonvision"};
   // PID constants should be tuned per robot
   frc::PIDController controller{.1, 0, 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-java-examples/aimattarget/src/main/java/frc/robot/Robot.java

@@ -48,8 +48,8 @@ public class Robot extends TimedRobot {
     // How far from the target we want to be
     final double GOAL_RANGE_METERS = Units.feetToMeters(3);
 
-    // Change this to match the name of your camera as shown in the web UI
-    PhotonCamera camera = new PhotonCamera("YOUR_CAMERA_NAME_HERE");
+    // Change this to match the name of your camera
+    PhotonCamera camera = new PhotonCamera("photonvision");
 
     // PID constants should be tuned per robot
     final double LINEAR_P = 0.1;

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" }
     }
 }
 

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")