From 9b183ebb85be398f2e21474e3d18c0640027ea0f Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Mon, 20 Nov 2023 21:24:49 -0500
Subject: [PATCH 1/5] Add option to view streams fullscreen (#1006)

closes #1005
---
 .../components/app/photon-camera-stream.vue   | 32 +++++++++++++------
 .../src/components/cameras/CamerasView.vue    | 14 ++++++--
 2 files changed, 35 insertions(+), 11 deletions(-)

diff --git a/photon-client/src/components/app/photon-camera-stream.vue b/photon-client/src/components/app/photon-camera-stream.vue
index 13f3e75776..5485655ff5 100644
--- a/photon-client/src/components/app/photon-camera-stream.vue
+++ b/photon-client/src/components/app/photon-camera-stream.vue
@@ -8,7 +8,7 @@ import PvIcon from "@/components/common/pv-icon.vue";
 
 const props = defineProps<{
   streamType: "Raw" | "Processed";
-  id?: string;
+  id: string;
 }>();
 
 const streamSrc = computed<string>(() => {
@@ -25,8 +25,6 @@ const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
 const streamStyle = computed<StyleValue>(() => {
   if (useStateStore().colorPickingMode) {
     return { width: "100%", cursor: "crosshair" };
-  } else if (streamSrc.value !== loadingImage) {
-    return { width: "100%", cursor: "pointer" };
   }
 
   return { width: "100%" };
@@ -40,11 +38,6 @@ const overlayStyle = computed<StyleValue>(() => {
   }
 });
 
-const handleStreamClick = () => {
-  if (!useStateStore().colorPickingMode && streamSrc.value !== loadingImage) {
-    window.open(streamSrc.value);
-  }
-};
 const handleCaptureClick = () => {
   if (props.streamType === "Raw") {
     useCameraSettingsStore().saveInputSnapshot();
@@ -52,6 +45,14 @@ const handleCaptureClick = () => {
     useCameraSettingsStore().saveOutputSnapshot();
   }
 };
+const handlePopoutClick = () => {
+  window.open(streamSrc.value);
+};
+const handleFullscreenRequest = () => {
+  const stream = document.getElementById(props.id);
+  if (!stream) return;
+  stream.requestFullscreen();
+};
 </script>
 
 <template>
@@ -62,7 +63,7 @@ const handleCaptureClick = () => {
       :src="streamSrc"
       :alt="streamDesc"
       :style="streamStyle"
-      @click="handleStreamClick"
+      onclick="this.requestFullscreen()"
     />
     <div class="stream-overlay" :style="overlayStyle">
       <pv-icon
@@ -71,6 +72,18 @@ const handleCaptureClick = () => {
         class="ma-1 mr-2"
         @click="handleCaptureClick"
       />
+      <pv-icon
+        icon-name="mdi-fullscreen"
+        tooltip="Open this stream in fullscreen"
+        class="ma-1 mr-2"
+        @click="handleFullscreenRequest"
+      />
+      <pv-icon
+        icon-name="mdi-open-in-new"
+        tooltip="Open this stream in a new window"
+        class="ma-1 mr-2"
+        @click="handlePopoutClick"
+      />
     </div>
   </div>
 </template>
@@ -81,6 +94,7 @@ const handleCaptureClick = () => {
 }
 
 .stream-overlay {
+  display: flex;
   opacity: 0;
   transition: 0.1s ease;
   position: absolute;
diff --git a/photon-client/src/components/cameras/CamerasView.vue b/photon-client/src/components/cameras/CamerasView.vue
index f7c110cf62..1d52bfcf05 100644
--- a/photon-client/src/components/cameras/CamerasView.vue
+++ b/photon-client/src/components/cameras/CamerasView.vue
@@ -78,10 +78,20 @@ const fpsTooLow = computed<boolean>(() => {
     </v-card-title>
     <div class="stream-container pb-4">
       <div class="stream">
-        <photon-camera-stream v-show="value.includes(0)" stream-type="Raw" style="max-width: 100%" />
+        <photon-camera-stream
+          v-show="value.includes(0)"
+          id="input-camera-stream"
+          stream-type="Raw"
+          style="max-width: 100%"
+        />
       </div>
       <div class="stream">
-        <photon-camera-stream v-show="value.includes(1)" stream-type="Processed" style="max-width: 100%" />
+        <photon-camera-stream
+          v-show="value.includes(1)"
+          id="output-camera-stream"
+          stream-type="Processed"
+          style="max-width: 100%"
+        />
       </div>
     </div>
     <v-divider />

From 5a9cf418d460fc41cbe72845103df5802b20f47f Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Tue, 21 Nov 2023 22:15:08 -0500
Subject: [PATCH 2/5] Fix bug with always opening stream fullscreen onclick
 (#1018)

* Update photon-camera-stream.vue

* formatting fixes
---
 .../src/components/app/photon-camera-stream.vue          | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/photon-client/src/components/app/photon-camera-stream.vue b/photon-client/src/components/app/photon-camera-stream.vue
index 5485655ff5..a836e4b362 100644
--- a/photon-client/src/components/app/photon-camera-stream.vue
+++ b/photon-client/src/components/app/photon-camera-stream.vue
@@ -57,14 +57,7 @@ const handleFullscreenRequest = () => {
 
 <template>
   <div class="stream-container">
-    <img
-      :id="id"
-      crossorigin="anonymous"
-      :src="streamSrc"
-      :alt="streamDesc"
-      :style="streamStyle"
-      onclick="this.requestFullscreen()"
-    />
+    <img :id="id" crossorigin="anonymous" :src="streamSrc" :alt="streamDesc" :style="streamStyle" />
     <div class="stream-overlay" :style="overlayStyle">
       <pv-icon
         icon-name="mdi-camera-image"

From 5d93515429fa37c1fa2c649ec33ced2d9d301883 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Tue, 21 Nov 2023 23:01:59 -0500
Subject: [PATCH 3/5] Update RequestHandler.java (#1020)

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
---
 .../main/java/org/photonvision/server/RequestHandler.java    | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index 81f669c4c2..d277f2904f 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -89,8 +89,9 @@ public static void onSettingsImportRequest(Context ctx) {
 
         if (ConfigManager.saveUploadedSettingsZip(tempFilePath.get())) {
             ctx.status(200);
-            ctx.result("Successfully saved the uploaded settings zip");
-            logger.info("Successfully saved the uploaded settings zip");
+            ctx.result("Successfully saved the uploaded settings zip, rebooting");
+            logger.info("Successfully saved the uploaded settings zip, rebooting");
+            restartProgram();
         } else {
             ctx.status(500);
             ctx.result("There was an error while saving the uploaded zip file");

From 773c6352d06dc4793afa5ce8f5458ae7fa97c732 Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Wed, 22 Nov 2023 20:08:23 -0500
Subject: [PATCH 4/5] [build] Gradle Cleanup (#1021)

Cleanup project-wide gradle configuration.

    removes native dependencies from java only projects
    increases readability
    Pass generated headers in setup instead of modifying model
---
 build.gradle                                  | 12 ++--
 photon-core/build.gradle                      | 18 +-----
 photon-lib/build.gradle                       | 63 ++-----------------
 photon-lib/src/main/driver/cpp/VendorJNI.cpp  | 53 ----------------
 .../src/main/driver/cpp/driversource.cpp      | 29 ---------
 .../src/main/driver/include/driverheader.h    | 29 ---------
 photon-lib/src/main/driver/symbols.txt        |  4 --
 photon-server/build.gradle                    | 34 +++-------
 photon-targeting/build.gradle                 | 43 +------------
 shared/common.gradle                          | 47 ++++++--------
 shared/config.gradle                          |  5 +-
 shared/javacommon.gradle                      | 24 +++++++
 shared/{ => javacpp}/publish.gradle           |  0
 shared/{ => javacpp}/setupBuild.gradle        | 25 +++++++-
 14 files changed, 93 insertions(+), 293 deletions(-)
 delete mode 100644 photon-lib/src/main/driver/cpp/VendorJNI.cpp
 delete mode 100644 photon-lib/src/main/driver/cpp/driversource.cpp
 delete mode 100644 photon-lib/src/main/driver/include/driverheader.h
 delete mode 100644 photon-lib/src/main/driver/symbols.txt
 rename shared/{ => javacpp}/publish.gradle (100%)
 rename shared/{ => javacpp}/setupBuild.gradle (68%)

diff --git a/build.gradle b/build.gradle
index c0792d03f2..f772c89e32 100644
--- a/build.gradle
+++ b/build.gradle
@@ -21,6 +21,7 @@ apply from: "versioningHelper.gradle"
 
 ext {
     wpilibVersion = "2024.1.1-beta-3"
+    wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
@@ -36,16 +37,11 @@ ext {
     if (nativeName == "macx64") nativeName = "osxx86-64";
     if (nativeName == "macarm64") nativeName = "osxarm64";
     jniPlatform = nativeName
-    println("Building for platform " + jniPlatform)
+    println("Building for platform: " + jniPlatform)
+    println("Using Wpilib: " + wpilibVersion)
+    println("Using OpenCV: " + openCVversion)
 }
 
-wpilibTools.deps.wpilibVersion = wpilibVersion
-
-// Tell gradlerio what version of things to use (that we care about)
-// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
-wpi.getVersions().getOpencvVersion().convention(openCVversion);
-wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
-
 spotless {
     java {
         target fileTree('.') {
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
index 6fbf407797..d5de014915 100644
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -1,38 +1,24 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
 import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
-    implementation project(':photon-targeting')
-
-    implementation "io.javalin:javalin:$javalinVersion"
-
-    implementation 'org.msgpack:msgpack-core:0.9.0'
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
-
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion"
-
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
 
     // Zip
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
 }
 
-task writeCurrentVersionJava {
+task writeCurrentVersion {
     def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
     writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
             versionString)
 }
 
-build.dependsOn writeCurrentVersionJava
+build.dependsOn writeCurrentVersion
diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
index e5d880fb4a..099308f470 100644
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -9,54 +9,14 @@ import java.nio.file.Path
 ext {
     nativeName = "photonlib"
     includePhotonTargeting = true
+    // Include the generated Version file
+    generatedHeaders = "src/generate/native/include"
 }
 
-apply from: "${rootDir}/shared/setupBuild.gradle"
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 apply from: "${rootDir}/versioningHelper.gradle"
 
-
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
-
-def nativeConfigName = 'wpilibNatives'
-def nativeConfig = configurations.create(nativeConfigName)
-
-def nativeTasks = wpilibTools.createExtractionTasks {
-    configurationName = nativeConfigName
-}
-
-nativeTasks.addToSourceSetResources(sourceSets.main)
-
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
-
-dependencies {
-    implementation project(":photon-targeting")
-
-    implementation wpilibTools.deps.wpilibJava("wpiutil")
-    implementation wpilibTools.deps.wpilibJava("cameraserver")
-    implementation wpilibTools.deps.wpilibJava("cscore")
-    implementation wpilibTools.deps.wpilibJava("wpinet")
-    implementation wpilibTools.deps.wpilibJava("wpimath")
-    implementation wpilibTools.deps.wpilibJava("ntcore")
-    implementation wpilibTools.deps.wpilibJava("hal")
-    implementation wpilibTools.deps.wpilibJava("wpilibj")
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-    implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
-
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
-
-    implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
-    implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
-}
-
+// Include the version file in the distributed sources
 cppHeadersZip {
     from('src/generate/native/include') {
         into '/'
@@ -66,8 +26,6 @@ cppHeadersZip {
 def photonlibFileInput = file("src/generate/photonlib.json.in")
 ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")
 
-def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
-
 task generateVendorJson() {
     description = "Generates the vendor JSON file"
     group = "PhotonVision"
@@ -103,18 +61,9 @@ task writeCurrentVersion {
 
 build.mustRunAfter writeCurrentVersion
 
-model {
-    components {
-        all {
-            it.sources.each {
-                it.exportedHeaders {
-                    srcDirs "src/main/native/include"
-                    srcDirs "src/generate/native/include"
-                }
-            }
-        }
-    }
+def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
 
+model {
     // Publish the vendordep json
     publishing {
         publications {
diff --git a/photon-lib/src/main/driver/cpp/VendorJNI.cpp b/photon-lib/src/main/driver/cpp/VendorJNI.cpp
deleted file mode 100644
index c449ee05c9..0000000000
--- a/photon-lib/src/main/driver/cpp/VendorJNI.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * MIT License
- *
- * Copyright (c) PhotonVision
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-#include "com_vendor_jni_VendorJNI.h"
-#include "jni.h"
-
-JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
-  // Check to ensure the JNI version is valid
-
-  JNIEnv* env;
-  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
-    return JNI_ERR;
-
-  // In here is also where you store things like class references
-  // if they are ever needed
-
-  return JNI_VERSION_1_6;
-}
-
-JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {}
-
-/*
- * Class:     com_vendor_jni_VendorJNI
- * Method:    initialize
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_com_vendor_jni_VendorJNI_initialize
-  (JNIEnv*, jclass)
-{
-  return 0;
-}
diff --git a/photon-lib/src/main/driver/cpp/driversource.cpp b/photon-lib/src/main/driver/cpp/driversource.cpp
deleted file mode 100644
index 039fde6f8e..0000000000
--- a/photon-lib/src/main/driver/cpp/driversource.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-/*
- * MIT License
- *
- * Copyright (c) PhotonVision
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-#include "driverheader.h"
-
-extern "C" {
-void c_doThing(void) {}
-}  // extern "C"
diff --git a/photon-lib/src/main/driver/include/driverheader.h b/photon-lib/src/main/driver/include/driverheader.h
deleted file mode 100644
index eb2a4de816..0000000000
--- a/photon-lib/src/main/driver/include/driverheader.h
+++ /dev/null
@@ -1,29 +0,0 @@
-/*
- * MIT License
- *
- * Copyright (c) PhotonVision
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-#pragma once
-
-extern "C" {
-void c_doThing(void);
-}  // extern "C"
diff --git a/photon-lib/src/main/driver/symbols.txt b/photon-lib/src/main/driver/symbols.txt
deleted file mode 100644
index 2f9b64148a..0000000000
--- a/photon-lib/src/main/driver/symbols.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-JNI_OnLoad
-JNI_OnUnload
-Java_com_vendor_jni_VendorJNI_initialize
-c_doThing
diff --git a/photon-server/build.gradle b/photon-server/build.gradle
index 2fdfcff4ec..c60c441760 100644
--- a/photon-server/build.gradle
+++ b/photon-server/build.gradle
@@ -6,32 +6,20 @@ plugins {
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
-evaluationDependsOn(':photon-core')
-
-mainClassName = 'org.photonvision.Main'
-
-group 'org.photonvision'
-version versionString + (project.hasProperty('pionly') ? "-raspi" : "")
-
 apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
     implementation project(':photon-core')
-    implementation project(':photon-targeting')
 
-    implementation "io.javalin:javalin:$javalinVersion"
+    // Needed for Javalin Runtime Logging
     implementation "org.slf4j:slf4j-simple:2.0.7"
+}
 
-    implementation wpilibTools.deps.wpilibJava("wpiutil")
-    implementation wpilibTools.deps.wpilibJava("wpimath")
-    implementation wpilibTools.deps.wpilibJava("wpinet")
-    implementation wpilibTools.deps.wpilibJava("hal")
-    implementation wpilibTools.deps.wpilibJava("ntcore")
-    implementation wpilibTools.deps.wpilibJava("wpilibj")
-    implementation wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+group 'org.photonvision'
+version versionString + (project.hasProperty('pionly') ? "-raspi" : "")
 
-    implementation "org.msgpack:msgpack-core:0.9.0"
-    implementation "org.msgpack:jackson-dataformat-msgpack:0.9.0"
+application {
+    mainClass = 'org.photonvision.Main'
 }
 
 shadowJar {
@@ -43,7 +31,6 @@ shadowJar {
     ]
 }
 
-
 node {
     nodeProjectDir = file("${projectDir}/../photon-client")
 }
@@ -58,6 +45,10 @@ tasks.register("buildAndCopyUI") {
     finalizedBy "copyClientUIToResources"
 }
 
+run {
+    environment "PATH_PREFIX", "../"
+}
+
 run {
     if (project.hasProperty("profile")) {
         jvmArgs=[
@@ -70,7 +61,6 @@ run {
     }
 }
 
-
 remotes {
     pi {
         host = 'photonvision.local'
@@ -119,10 +109,6 @@ task findDeployTarget {
     }
 }
 
-run {
-    environment "PATH_PREFIX", "../"
-}
-
 task deploy {
     dependsOn findDeployTarget
     dependsOn assemble
diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
index 6f91d82dc6..4238e951e6 100644
--- a/photon-targeting/build.gradle
+++ b/photon-targeting/build.gradle
@@ -6,45 +6,4 @@ ext {
     nativeName = "photontargeting"
 }
 
-apply from: "${rootDir}/shared/setupBuild.gradle"
-
-
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
-
-def nativeConfigName = 'wpilibNatives'
-def nativeConfig = configurations.create(nativeConfigName)
-
-def nativeTasks = wpilibTools.createExtractionTasks {
-    configurationName = nativeConfigName
-}
-
-nativeTasks.addToSourceSetResources(sourceSets.main)
-
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
-
-dependencies {
-    implementation wpilibTools.deps.wpilibJava("wpiutil")
-    implementation wpilibTools.deps.wpilibJava("cameraserver")
-    implementation wpilibTools.deps.wpilibJava("cscore")
-    implementation wpilibTools.deps.wpilibJava("wpinet")
-    implementation wpilibTools.deps.wpilibJava("wpimath")
-    implementation wpilibTools.deps.wpilibJava("ntcore")
-    implementation wpilibTools.deps.wpilibJava("hal")
-    implementation wpilibTools.deps.wpilibJava("wpilibj")
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-    implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
-
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
-
-    implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
-    implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
-}
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
diff --git a/shared/common.gradle b/shared/common.gradle
index dc3331ff16..faeaa1f694 100644
--- a/shared/common.gradle
+++ b/shared/common.gradle
@@ -7,28 +7,22 @@ java {
     targetCompatibility = JavaVersion.VERSION_11
 }
 
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+wpilibTools.deps.wpilibVersion = wpilibVersion
 
-def nativeConfigName = 'wpilibTestNative'
-def nativeConfig = configurations.create(nativeConfigName)
+// Tell gradlerio what version of things to use (that we care about)
+// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
+wpi.getVersions().getOpencvVersion().convention(openCVversion);
+wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
+wpi.getVersions().getWpimathVersion().convention(wpimathVersion);
 
-def nativeTasks = wpilibTools.createExtractionTasks {
-    configurationName = nativeConfigName
-}
+dependencies {
+    implementation project(':photon-targeting')
 
-nativeTasks.addToSourceSetResources(sourceSets.main)
+    implementation "io.javalin:javalin:$javalinVersion"
 
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+    implementation 'org.msgpack:msgpack-core:0.9.0'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
 
-dependencies {
-    // WPILib deps
     implementation wpilibTools.deps.wpilibJava("wpiutil")
     implementation wpilibTools.deps.wpilibJava("cameraserver")
     implementation wpilibTools.deps.wpilibJava("cscore")
@@ -40,25 +34,22 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("apriltag")
     implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
 
-    // Jackson
     implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
     implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
     implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
 
-    // Apache commons
-    implementation group: "org.apache.commons", name: "commons-lang3", version: "3.12.0"
-    implementation group: "commons-io", name: "commons-io", version: "2.11.0"
-    implementation group: "commons-cli", name: "commons-cli", version: "1.5.0"
-    implementation "org.apache.commons:commons-collections4:4.4"
-    implementation "org.apache.commons:commons-exec:1.3"
-
     implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
     implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
 
-    testImplementation("org.junit.jupiter:junit-jupiter:5.8.2")
+    implementation "commons-io:commons-io:2.11.0"
+    implementation "commons-cli:commons-cli:1.5.0"
+    implementation "org.apache.commons:commons-lang3:3.12.0"
+    implementation "org.apache.commons:commons-collections4:4.4"
+    implementation "org.apache.commons:commons-exec:1.3"
 
-    // wpilib serde
-    implementation 'us.hebi.quickbuf:quickbuf-runtime:1.3.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.0'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.10.0'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.0'
 }
 
 test {
diff --git a/shared/config.gradle b/shared/config.gradle
index 43300e26cc..b3c7781c84 100644
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -9,11 +9,12 @@ nativeUtils.withCrossLinuxArm64()
 // Configure WPI dependencies.
 nativeUtils.wpi.configureDependencies {
     wpiVersion = wpilibVersion
+    wpimathVersion = wpimathVersion
     opencvYear = 'frc2024'
     opencvVersion = openCVversion
-    googleTestYear = "frc2023"
+    googleTestYear = "frc2024"
+    googleTestVersion = "1.14.0-1"
     niLibVersion = "2024.1.1"
-    googleTestVersion = "1.12.1-2"
 }
 
 // Configure warnings and errors
diff --git a/shared/javacommon.gradle b/shared/javacommon.gradle
index 6792f61c73..c4e0ad3b56 100644
--- a/shared/javacommon.gradle
+++ b/shared/javacommon.gradle
@@ -97,7 +97,31 @@ test {
     finalizedBy jacocoTestReport
 }
 
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
 dependencies {
+    if(project.hasProperty('includePhotonTargeting')) {
+        implementation project(":photon-targeting")
+    }
+
+    implementation wpilibTools.deps.wpilibJava("wpiutil")
+    implementation wpilibTools.deps.wpilibJava("cameraserver")
+    implementation wpilibTools.deps.wpilibJava("cscore")
+    implementation wpilibTools.deps.wpilibJava("wpinet")
+    implementation wpilibTools.deps.wpilibJava("wpimath")
+    implementation wpilibTools.deps.wpilibJava("ntcore")
+    implementation wpilibTools.deps.wpilibJava("hal")
+    implementation wpilibTools.deps.wpilibJava("wpilibj")
+    implementation wpilibTools.deps.wpilibJava("apriltag")
+    implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
+
+    implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
+    implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
+
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.0'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.10.0'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.0'
diff --git a/shared/publish.gradle b/shared/javacpp/publish.gradle
similarity index 100%
rename from shared/publish.gradle
rename to shared/javacpp/publish.gradle
diff --git a/shared/setupBuild.gradle b/shared/javacpp/setupBuild.gradle
similarity index 68%
rename from shared/setupBuild.gradle
rename to shared/javacpp/setupBuild.gradle
index b90f87e154..66106c6057 100644
--- a/shared/setupBuild.gradle
+++ b/shared/javacpp/setupBuild.gradle
@@ -5,6 +5,26 @@ apply plugin: 'edu.wpi.first.NativeUtils'
 apply from: "${rootDir}/shared/config.gradle"
 apply from: "${rootDir}/shared/javacommon.gradle"
 
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
+}
+
+nativeTasks.addToSourceSetResources(sourceSets.main)
+
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+
 // Windows specific functionality to export all symbols from a binary automatically
 nativeUtils {
     exportsConfigs {
@@ -23,6 +43,9 @@ model {
                     }
                     exportedHeaders {
                         srcDirs 'src/main/native/include'
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
                         include "**/*.h"
                     }
                 }
@@ -73,4 +96,4 @@ model {
     }
 }
 
-apply from: "${rootDir}/shared/publish.gradle"
+apply from: "${rootDir}/shared/javacpp/publish.gradle"

From 3268e0d689fa507bdd843fd3605065a9ba87c4a7 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Wed, 22 Nov 2023 20:25:43 -0500
Subject: [PATCH 5/5] Add pi5 to pi version enum (#1023)

---------

Co-authored-by: Technologyman00 <collinost@gmail.com>
---
 .../main/java/org/photonvision/common/hardware/PiVersion.java    | 1 +
 1 file changed, 1 insertion(+)

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java b/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
index dbf23ac7e4..86e63512fb 100644
--- a/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
@@ -27,6 +27,7 @@ public enum PiVersion {
     ZERO_2_W("Raspberry Pi Zero 2"),
     PI_3("Pi 3"),
     PI_4("Pi 4"),
+    PI_5("Pi 5"),
     COMPUTE_MODULE_3("Compute Module 3"),
     UNKNOWN("UNKNOWN");