Backport maven changes

.github/workflows/build.yml

@@ -10,29 +10,6 @@ on:
     branches: [ master ]
 
 jobs:
-  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

build.gradle

@@ -4,7 +4,7 @@ plugins {
     id "com.diffplug.spotless" version "6.24.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
 }
@@ -25,15 +25,15 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.3.1"
+    wpilibVersion = "2024.2.1"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
-    joglVersion = "2.4.0"
+    joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
-    photonGlDriverLibVersion = "dev-v2023.1.0-11-g2b7036f"
-    rknnVersion = "dev-v2024.0.1-4-g0db16ac"
+    photonGlDriverLibVersion = "dev-v2023.1.0-9-g75fc678"
+    rknnVersion = "dev-v2024.0.0-64-gc0836a6"
     frcYear = "2024"
-    mrcalVersion = "dev-v2024.0.0-24-gc1efcf0";
+    mrcalVersion = "dev-v2024.0.0-7-gc976aaa";
 
 
     pubVersion = versionString

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-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);
@@ -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"
@@ -279,32 +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="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. 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
         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

@@ -39,14 +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.
-     *
-     * <p>This also disables creating new CameraConfigurations for detected "new" cameras.
-     */
-    public boolean matchCamerasOnlyByPath = false;
-
     @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
     @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
 
@@ -84,8 +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;
@@ -95,7 +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/common/logging/LogGroup.java

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

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

@@ -99,7 +99,6 @@ 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 {
@@ -195,7 +194,7 @@ public class Logger {
         return logLevel.code <= levelMap.get(group).code;
     }
 
-    void log(String message, LogLevel level) {
+    private 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

@@ -1,70 +0,0 @@
-/*
- * 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/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

@@ -19,8 +19,6 @@ 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;
@@ -70,54 +68,15 @@ 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 obj) {
-        if (this == obj) return true;
-        if (obj == null) return false;
-        if (getClass() != obj.getClass()) return false;
-        CameraInfo other = (CameraInfo) obj;
-
-        // Windows device number is not significant. See
-        // https://github.com/wpilibsuite/allwpilib/blob/4b94a64b06057c723d6fcafeb1a45f55a70d179a/cscore/src/main/native/windows/UsbCameraImpl.cpp#L1128
-        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="
-                + getBaseName()
-                + ", vid="
-                + vendorId
-                + ", pid="
-                + productId
-                + ", path="
-                + path
-                + ", otherPaths="
-                + Arrays.toString(otherPaths)
-                + "]";
+    public boolean equals(Object o) {
+        if (o == this) return true;
+        if (!(o instanceof UsbCameraInfo || o instanceof CameraInfo)) return false;
+        UsbCameraInfo other = (UsbCameraInfo) o;
+        return path.equals(other.path)
+                // && a.dev == b.dev (dev is not constant in Windows)
+                && name.equals(other.name)
+                && productId == other.productId
+                && vendorId == other.vendorId;
     }
 }

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

@@ -1,93 +0,0 @@
-/*
- * 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

@@ -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(

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

@@ -1,57 +0,0 @@
-/*
- * 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

@@ -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;
@@ -39,7 +38,6 @@ 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 {
@@ -147,8 +145,8 @@ public class VisionSourceManager {
         }
 
         // Return no new sources because there are no new sources
-        if (connectedCameras.isEmpty()) {
-            if (!hasWarnedNoCameras) {
+        if (connectedCameras.isEmpty() && !cameraInfos.isEmpty()) {
+            if (hasWarnedNoCameras) {
                 logger.warn(
                         "No cameras were detected! Check that all cameras are connected, and that the path is correct.");
                 hasWarnedNoCameras = true;
@@ -166,7 +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())
@@ -187,7 +185,7 @@ public class VisionSourceManager {
                     "Unloaded configs: "
                             + unmatchedLoadedConfigs.stream()
                                     .map(it -> it.nickname)
-                                    .collect(Collectors.joining(", ")));
+                                    .collect(Collectors.joining()));
             hasWarned = true;
         }
 
@@ -196,8 +194,13 @@ 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, createSources);
+        var sources = loadVisionSourcesFromCamConfigs(matchedCameras);
 
         // Print info about each vision source
         for (var src : sources) {
@@ -213,54 +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));
-            }
-
-            matches &= (physicalCamera.cameraType == savedConfig.cameraType);
-
-            return matches;
-        };
-    }
-
     /**
      * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
      * disk.
@@ -271,212 +226,158 @@ 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);
 
-        logger.info("Matching CSI cameras by port & base name...");
-        cameraConfigurations.addAll(
-                matchCamerasByStrategy(
-                        detectedCameraList,
-                        unloadedConfigs,
-                        new CameraMatchingOptions(false, false, true, true, CameraType.ZeroCopyPicam)));
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
+            cameraConfigurations.addAll(matchByPathByID(detectedCameraList, unloadedConfigs));
+        else logger.debug("Skipping matchByPath no configs or cameras left to match");
 
-        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)));
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
+            cameraConfigurations.addAll(matchByPath(detectedCameraList, unloadedConfigs));
+        else logger.debug("Skipping matchByPath no configs or cameras left to match");
 
-        // On windows, the v4l path is actually useful and tells us the port the camera is physically
-        // connected to which is neat
-        if (Platform.isWindows() && !matchCamerasOnlyByPath) {
-            logger.info("Matching USB cameras by windows-path & USB VID/PID only...");
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
+            cameraConfigurations.addAll(matchByName(detectedCameraList, unloadedConfigs));
+        else logger.debug("Skipping matchByName no configs or cameras left to match");
+
+        if (detectedCameraList.size() > 0)
             cameraConfigurations.addAll(
-                    matchCamerasByStrategy(
-                            detectedCameraList,
-                            unloadedConfigs,
-                            new CameraMatchingOptions(false, true, true, true, CameraType.UsbCamera)));
-        }
-
-        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
-        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) {
-            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
-            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) {
-            // handle disabling only-by-base-name matching
-            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");
-            }
-        }
+                    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,
-            CameraMatchingOptions matchingOptions) {
+    // 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);
 
-        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 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 (%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,
-                                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.uniqueName
-                                    + " to the physical camera config above!");
-                    ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                    detectedCamInfos.remove(cameraInfo);
-                    unloadedConfigs.remove(config);
+            // Only run match path by id if the camera is not a CSI camera.
+            if (config.cameraType != CameraType.ZeroCopyPicam) {
+                CameraInfo cameraInfo;
+                if (config.otherPaths.length == 0) {
+                    logger.debug("No valid path-by-id found for config with name " + config.baseName);
                 } else {
-                    logger.debug("No camera found for the config " + config.uniqueName);
+                    // 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(
-                "After matching loaded configs, these configs remained unmatched: "
-                        + detectedCameraList.stream()
-                                .map(n -> String.valueOf(n))
-                                .collect(Collectors.joining("-", "{", "}")));
+                "After matching loaded configs " + detectedCameraList.size() + " cameras were unmatched.");
         for (CameraInfo info : detectedCameraList) {
             // create new camera config for all new cameras
             String baseName = info.getBaseName();
             String uniqueName = info.getHumanReadableName();
 
             int suffix = 0;
-            while (containsName(loadedConfigs, uniqueName)
-                    || containsName(uniqueName)
-                    || containsName(unloadedCamConfigs, uniqueName)
-                    || containsName(ret, uniqueName)) {
+            while (containsName(loadedConfigs, uniqueName) || containsName(uniqueName)) {
                 suffix++;
                 uniqueName = String.format("%s (%d)", uniqueName, suffix);
             }
@@ -556,16 +457,10 @@ public class VisionSourceManager {
     }
 
     private static List<VisionSource> loadVisionSourcesFromCamConfigs(
-            List<CameraConfiguration> camConfigs, boolean createSources) {
+            List<CameraConfiguration> camConfigs) {
         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;
-            }
+            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

@@ -21,24 +21,17 @@ 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;
-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);
@@ -50,8 +43,6 @@ public class VisionSourceManagerTest {
                         "thirdTestVideo",
                         "dev/video1",
                         new String[] {"by-id/123"});
-        config3.usbVID = 3;
-        config3.usbPID = 4;
         var config4 =
                 new CameraConfiguration(
                         "fourthTestVideo",
@@ -59,8 +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);
 
@@ -272,335 +261,4 @@ 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/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/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

@@ -256,8 +256,7 @@ class VisionSystemSimTest {
         cameraSim.setMinTargetAreaPixels(0.0);
         visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
 
-        // 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));
+        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
         visionSysSim.update(robotPose);
         var res = camera.getLatestResult();
         assertTrue(res.hasTargets());

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

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

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

@@ -35,7 +35,6 @@ 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;
@@ -66,7 +65,6 @@ 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;
 
@@ -92,11 +90,6 @@ 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);
@@ -134,10 +127,6 @@ public class Main {
             if (cmd.hasOption("clear-config")) {
                 ConfigManager.getInstance().clearConfig();
             }
-
-            if (cmd.hasOption("smoketest")) {
-                isSmoketest = true;
-            }
         }
         return true;
     }
@@ -348,17 +337,11 @@ public class Main {
 
     public static void main(String[] args) {
         try {
-            boolean success = TestUtils.loadLibraries();
-
-            if (!success) {
-                logger.error("Failed to load native libraries! Giving up :(");
-                System.exit(1);
-            }
+            TestUtils.loadLibraries();
+            logger.info("Native libraries loaded.");
         } catch (Exception e) {
             logger.error("Failed to load native libraries!", e);
-            System.exit(1);
         }
-        logger.info("Native libraries loaded.");
 
         try {
             if (Platform.isRaspberryPi()) {
@@ -410,8 +393,6 @@ 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();
@@ -431,11 +412,6 @@ 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 "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
 
     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 "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

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/apriltagExample/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/getinrange/build.gradle

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

photonlib-java-examples/aimattarget/build.gradle

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

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/getinrange/build.gradle

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

photonlib-java-examples/simaimandrange/build.gradle

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

photonlib-java-examples/swervedriveposeestsim/build.gradle

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

scripts/install.sh

@@ -80,9 +80,6 @@ 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."
@@ -139,9 +136,6 @@ 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