Backport maven changes

* previously CSI cameras would always have a new config made and would never match

.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/v2024.0.9/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/v2024.0.9/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 {

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)
-        if len(cal.calobjectWarp) > 0
-        else None,
+        "calobject_warp": (
+            np.array(cal.calobjectWarp) if len(cal.calobjectWarp) > 0 else None
+        ),
         # We always do all the things
         "do_optimize_intrinsics_core": True,
         "do_optimize_intrinsics_distortions": True,

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

@@ -108,7 +108,7 @@ public class CameraInfo extends UsbCameraInfo {
     public String toString() {
         return "CameraInfo [cameraType="
                 + cameraType
-                + "baseName="
+                + ", baseName="
                 + getBaseName()
                 + ", vid="
                 + vendorId

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

@@ -255,6 +255,8 @@ public class VisionSourceManager {
                 matches &= (physicalCamera.path.equals(savedConfig.path));
             }
 
+            matches &= (physicalCamera.cameraType == savedConfig.cameraType);
+
             return matches;
         };
     }
@@ -309,51 +311,64 @@ public class VisionSourceManager {
         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));
-        }
+        logger.info("Matching CSI cameras by port & base name...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        unloadedConfigs,
+                        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() && !matchCamerasOnlyByPath) {
-            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));
-            }
+            logger.info("Matching USB cameras by windows-path & USB VID/PID only...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(
+                            detectedCameraList,
+                            unloadedConfigs,
+                            new CameraMatchingOptions(false, true, true, true, CameraType.UsbCamera)));
         }
 
-        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));
-        }
+        logger.info("Matching USB cameras by usb port & USB VID/PID...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        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
-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
-            logger.info("Matching by base-name & usb port...");
-            cameraConfigurations.addAll(
-                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, false, true, false));
-        }
+        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 by base-name & USB VID/PID only...");
-                cameraConfigurations.addAll(
-                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, false));
-            }
+            logger.info("Matching USB cameras by base-name & USB VID/PID only...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(
+                            detectedCameraList,
+                            unloadedConfigs,
+                            new CameraMatchingOptions(false, true, true, false, CameraType.UsbCamera)));
 
             // Legacy migration for if no USB VID/PID set
-            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
-                logger.info("Matching by base-name only...");
-                cameraConfigurations.addAll(
-                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, false, true, false));
-            }
+            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) {
@@ -392,41 +407,46 @@ public class VisionSourceManager {
     private List<CameraConfiguration> matchCamerasByStrategy(
             List<CameraInfo> detectedCamInfos,
             List<CameraConfiguration> unloadedConfigs,
-            boolean checkUSBPath,
-            boolean checkVidPid,
-            boolean checkBaseName,
-            boolean checkPath) {
+            CameraMatchingOptions matchingOptions) {
         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.
-            if (config.cameraType != CameraType.ZeroCopyPicam) {
+            // Only run match path by id if the camera type is allowed. This allows us to specify matching
+            // 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",
-                                config.baseName,
-                                checkUSBPath,
-                                checkVidPid,
-                                checkBaseName,
-                                checkPath,
-                                camCfgToString(config)));
+                                "Trying to find a match for loaded camera %s (%s) with camera config: %s",
+                                config.baseName, config.uniqueName, 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);
                 }
             }
         }
@@ -443,7 +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();

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

@@ -433,6 +433,73 @@ public class VisionSourceManagerTest {
         }
     }
 
+    @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);

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/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")