From 66b82bdc45635c54cd541ce57203b3758ea2e40e Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Sun, 23 Jun 2024 20:13:49 -0500
Subject: [PATCH 01/34] wip - tied to libcamera PR to remove some of the hacks
 associated with libipcam

---
 .../vision/camera/LibcameraGpuSettables.java         | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index 81cfd75823..7a44b4902c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -125,21 +125,17 @@ public void setExposure(double exposure) {
 
         // Minimum exposure can't be below 1uS cause otherwise it would be 0 and 0 is auto exposure.
         double minExposure = 1;
+        double maxExposure = 80000;
+
 
-        // HACKS!
-        // If we set exposure too low, libcamera crashes or slows down
-        // Very weird and smelly
-        // For now, band-aid this by just not setting it lower than the "it breaks" limit
-        // is different depending on camera.
-        // All units are uS.
         if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
-            minExposure = 4800;
+            minExposure = 7;
         } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
             minExposure = 560;
         }
         // 80,000 uS seems like an exposure value that will be greater than ever needed while giving
         // enough control over exposure.
-        exposure = MathUtils.map(exposure, 0, 100, minExposure, 80000);
+        exposure = MathUtils.map(exposure, 0, 100, minExposure, maxExposure);
 
         var success = LibCameraJNI.setExposure(r_ptr, (int) exposure);
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera exposure");

From 9c0a32243e6ba46eeef8e23f80c7e85f88637567 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Tue, 25 Jun 2024 21:58:10 -0500
Subject: [PATCH 02/34] WIP changing all camera settings to be absolute time

---
 .../cameras/CameraCalibrationCard.vue         |  14 +-
 .../components/dashboard/tabs/InputTab.vue    |  14 +-
 photon-client/src/types/PipelineTypes.ts      |  14 +-
 .../common/util/math/MathUtils.java           |  10 +
 .../raspi/LibCameraJNILoader.java             |  27 +-
 .../vision/camera/FileVisionSource.java       |   2 +-
 .../vision/camera/LibcameraGpuSettables.java  |  13 +-
 .../vision/camera/USBCameraSource.java        | 364 ++++++++----------
 .../pipeline/AprilTagPipelineSettings.java    |   2 +-
 .../pipeline/ArucoPipelineSettings.java       |   2 +-
 .../vision/pipeline/CVPipelineSettings.java   |  10 +-
 .../ColoredShapePipelineSettings.java         |   2 +-
 .../ObjectDetectionPipelineSettings.java      |   2 +-
 .../pipeline/ReflectivePipelineSettings.java  |   2 +-
 .../vision/processes/VisionModule.java        |   6 +-
 .../processes/VisionSourceSettables.java      |   2 +-
 .../processes/VisionModuleManagerTest.java    |   2 +-
 .../src/main/resources/web/index.html         |  16 +-
 18 files changed, 235 insertions(+), 269 deletions(-)

diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index c24cb4dbe7..f217462640 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -389,15 +389,15 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
         <v-row v-if="isCalibrating">
           <v-col cols="12" class="pt-0">
             <pv-slider
-              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureUs"
               :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
-              label="Exposure"
-              tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
-              :min="0"
-              :max="100"
+              label="Exposure (μS)"
+              tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
+              :min="1"
+              :max="80000"
               :slider-cols="8"
-              :step="0.1"
-              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+              :step="1"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"
             />
             <pv-slider
               v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue
index 086cb32207..6090ced75c 100644
--- a/photon-client/src/components/dashboard/tabs/InputTab.vue
+++ b/photon-client/src/components/dashboard/tabs/InputTab.vue
@@ -74,15 +74,15 @@ const interactiveCols = computed(() =>
 <template>
   <div>
     <pv-slider
-      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureUs"
       :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
-      label="Exposure"
-      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
-      :min="0"
-      :max="100"
+      label="Exposure (μS)"
+      tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
+      :min="1"
+      :max="80000"
       :slider-cols="interactiveCols"
-      :step="0.1"
-      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+      :step="1"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"
     />
     <pv-slider
       v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
index 6315a23e72..51592b53e8 100644
--- a/photon-client/src/types/PipelineTypes.ts
+++ b/photon-client/src/types/PipelineTypes.ts
@@ -64,7 +64,7 @@ export interface PipelineSettings {
   hueInverted: boolean;
   outputShowMultipleTargets: boolean;
   contourSortMode: number;
-  cameraExposure: number;
+  cameraExposureUs: number;
   offsetSinglePoint: { x: number; y: number };
   cameraBrightness: number;
   offsetDualPointAArea: number;
@@ -97,7 +97,7 @@ export type ConfigurablePipelineSettings = Partial<
 // Omitted settings are changed for all pipeline types
 export const DefaultPipelineSettings: Omit<
   PipelineSettings,
-  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposure" | "pipelineType"
+  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposureUs" | "pipelineType"
 > = {
   offsetRobotOffsetMode: RobotOffsetPointMode.None,
   streamingFrameDivisor: 0,
@@ -151,7 +151,7 @@ export const DefaultReflectivePipelineSettings: ReflectivePipelineSettings = {
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposure: 6,
+  cameraExposureUs: 6,
   pipelineType: PipelineType.Reflective,
 
   contourFilterRangeY: 2,
@@ -182,7 +182,7 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposure: 20,
+  cameraExposureUs: 20,
   pipelineType: PipelineType.ColoredShape,
 
   erode: false,
@@ -222,7 +222,7 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   targetModel: TargetModel.AprilTag6p5in_36h11,
   ledMode: false,
   outputShowMultipleTargets: true,
-  cameraExposure: 20,
+  cameraExposureUs: 20,
   pipelineType: PipelineType.AprilTag,
 
   hammingDist: 0,
@@ -264,7 +264,7 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   cameraGain: 75,
   outputShowMultipleTargets: true,
   targetModel: TargetModel.AprilTag6p5in_36h11,
-  cameraExposure: -1,
+  cameraExposureUs: -1,
   cameraAutoExposure: true,
   ledMode: false,
   pipelineType: PipelineType.Aruco,
@@ -299,7 +299,7 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposure: 6,
+  cameraExposureUs: 6,
   confidence: 0.9,
   nms: 0.45,
   box_thresh: 0.25
diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index a22dab7451..21f59c70c7 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -71,6 +71,16 @@ public static long nanosToMicros(long nanos) {
         return nanos / 1000;
     }
 
+    public static double limit(double value, double out_min, double out_max) {
+        double retVal = value;
+        if (value > out_max) {
+            retVal = out_max;
+        } else if (value < out_min) {
+            retVal = out_min;
+        }
+        return retVal;
+    }
+
     public static double map(
             double value, double in_min, double in_max, double out_min, double out_max) {
         return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
index 60256faa42..be512b5702 100644
--- a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
@@ -18,7 +18,6 @@
 package org.photonvision.raspi;
 
 import java.io.File;
-import java.io.FileOutputStream;
 import java.io.IOException;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -37,29 +36,8 @@ public static synchronized void forceLoad() throws IOException {
         var libraryName = "photonlibcamera";
 
         try {
-            // We always extract the shared object (we could hash each so, but that's a lot of work)
-            var arch_name = "linuxarm64";
-            var nativeLibName = System.mapLibraryName(libraryName);
-            var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
-            var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
-
-            if (in == null) {
-                logger.error("Failed to find internal native library at path " + resourcePath);
-                libraryLoaded = false;
-                return;
-            }
-
-            // It's important that we don't mangle the names of these files on Windows at least
-            File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
-            FileOutputStream fos = new FileOutputStream(temp);
-
-            int read = -1;
-            byte[] buffer = new byte[1024];
-            while ((read = in.read(buffer)) != -1) {
-                fos.write(buffer, 0, read);
-            }
-            fos.close();
-            in.close();
+            // Temp - use the one we built here
+            File temp = new File("/home/pi/photon-libcamera-gl-driver/cmake_build/libphotonlibcamera.so");
 
             System.load(temp.getAbsolutePath());
 
@@ -68,7 +46,6 @@ public static synchronized void forceLoad() throws IOException {
         } catch (UnsatisfiedLinkError e) {
             logger.error("Couldn't load shared object " + libraryName, e);
             e.printStackTrace();
-            // logger.error(System.getProperty("java.library.path"));
         }
         libraryLoaded = true;
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index 0ae1fa9076..9b83cf0251 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -93,7 +93,7 @@ private static class FileSourceSettables extends VisionSourceSettables {
         }
 
         @Override
-        public void setExposure(double exposure) {}
+        public void setExposureUs(double exposureUs) {}
 
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index 7a44b4902c..05b12021d2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -114,20 +114,19 @@ public void setAutoExposure(boolean cameraAutoExposure) {
     }
 
     @Override
-    public void setExposure(double exposure) {
-        if (exposure < 0.0 || lastAutoExposureActive) {
+    public void setExposureUs(double exposureUs) {
+        if (exposureUs < 0.0 || lastAutoExposureActive) {
             // Auto-exposure is active right now, don't set anything.
             return;
         }
 
         // Store the exposure for use when we need to recreate the camera.
-        lastManualExposure = exposure;
+        lastManualExposure = exposureUs;
 
         // Minimum exposure can't be below 1uS cause otherwise it would be 0 and 0 is auto exposure.
         double minExposure = 1;
         double maxExposure = 80000;
 
-
         if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
             minExposure = 7;
         } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
@@ -135,9 +134,9 @@ public void setExposure(double exposure) {
         }
         // 80,000 uS seems like an exposure value that will be greater than ever needed while giving
         // enough control over exposure.
-        exposure = MathUtils.map(exposure, 0, 100, minExposure, maxExposure);
+        exposureUs = MathUtils.limit(exposureUs, minExposure, maxExposure);
 
-        var success = LibCameraJNI.setExposure(r_ptr, (int) exposure);
+        var success = LibCameraJNI.setExposure(r_ptr, (int) exposureUs);
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera exposure");
     }
 
@@ -228,7 +227,7 @@ protected void setVideoModeInternal(VideoMode videoMode) {
 
         // We don't store last settings on the native side, and when you change video mode these get
         // reset on MMAL's end
-        setExposure(lastManualExposure);
+        setExposureUs(lastManualExposure);
         setAutoExposure(lastAutoExposureActive);
         setBrightness(lastBrightness);
         setGain(lastGain);
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 10f6fef578..6c34fe8638 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -22,7 +22,7 @@
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoProperty.Kind;
+import edu.wpi.first.cscore.VideoProperty;
 import edu.wpi.first.util.PixelFormat;
 import java.util.*;
 import java.util.stream.Collectors;
@@ -45,6 +45,12 @@ public class USBCameraSource extends VisionSource {
     private FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
+    private VideoProperty exposureAbsProp = null;
+    private VideoProperty autoExposureProp = null;
+
+    private static final int PROP_AUTO_EXPOSURE_ENABLED = 3;
+    private static final int PROP_AUTO_EXPOSURE_DISABLED = 1;
+
     public USBCameraSource(CameraConfiguration config) {
         super(config);
 
@@ -69,25 +75,46 @@ public USBCameraSource(CameraConfiguration config) {
             logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
         }
 
-        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
-            // set some defaults, as these should never be used.
+        // Aid to the development team - record the properties available for whatever the user plugged
+        // in
+        printCameraProperaties();
+
+        // Photonvision needs to be able to control absolute exposure. Make sure we can first.
+        var expProp = findProperty("raw_exposure_absolute", "raw_exposure_time_absolute");
+
+        // Photonvision needs to be able to control auto exposure. Make sure we can first.
+        var autoExpProp = findProperty("exposure_auto", "auto_exposure");
+
+        var cameraBroken =
+                getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)
+                        || expProp.isEmpty()
+                        || autoExpProp.isEmpty();
+
+        if (cameraBroken) {
+            // Known issues - Disable this camera
             logger.info(
                     "Camera "
                             + getCameraConfiguration().cameraQuirks.baseName
                             + " is not supported for PhotonVision");
+            // set some defaults, as these should never be used.
             usbCameraSettables = null;
             usbFrameProvider = null;
-        } else {
-            // Normal init
-            // auto exposure/brightness/gain will be set by the visionmodule later
-            disableAutoFocus();
 
+        } else {
+            // Camera is likely to work, set up the Settables
             usbCameraSettables = new USBCameraSettables(config);
+
             if (usbCameraSettables.getAllVideoModes().isEmpty()) {
+                // No video modes produced from settables, disable the camera
                 logger.info("Camera " + camera.getPath() + " has no video modes supported by PhotonVision");
                 usbFrameProvider = null;
+
             } else {
+                // Functional camera, set up the frame provider and configure defaults
                 usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
+                setAllCamDefaults();
+                exposureAbsProp = expProp.get();
+                autoExposureProp = autoExpProp.get();
             }
         }
     }
@@ -110,17 +137,90 @@ public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean uni
                             TestUtils.WPI2019Image.FOV);
     }
 
-    void disableAutoFocus() {
-        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
+    /**
+     * Returns the first property with a name in the list. Useful to find gandolf property that goes
+     * by many names in different os/releases/whatever
+     *
+     * @param options
+     * @return
+     */
+    private Optional<VideoProperty> findProperty(String... options) {
+        VideoProperty retProp = null;
+        for (var option : options) {
+            retProp = camera.getProperty(option);
+            if (retProp.getKind() != VideoProperty.Kind.kNone) {
+                // got em
+                break;
+            }
+        }
+
+        if (retProp == null) {
+            logger.warn(
+                    "Expected at least one of the following properties to be available: "
+                            + Arrays.toString(options));
+        }
+
+        return Optional.of(retProp);
+    }
+
+    /**
+     * Forgiving "set this property" action. Produces a debug message but skips properties if they
+     * aren't supported Errors if the property exists but the set fails.
+     *
+     * @param property
+     * @param value
+     */
+    private void softSet(String property, int value) {
+        VideoProperty prop = camera.getProperty(property);
+        if (prop.getKind() == VideoProperty.Kind.kNone) {
+            logger.debug("No property " + property + " for " + camera.getName() + " !");
+        } else {
             try {
-                camera.getProperty("focus_auto").set(0);
-                camera.getProperty("focus_absolute").set(0); // Focus into infinity
+                prop.set(value);
             } catch (VideoException e) {
-                logger.error("Unable to disable autofocus!", e);
+                logger.error("Failed to set " + property + " for " + camera.getName() + " !", e);
             }
         }
     }
 
+    private void printCameraProperaties() {
+        VideoProperty[] cameraProperties = camera.enumerateProperties();
+        String cameraPropertiesStr = "";
+
+        for (int i = 0; i < cameraProperties.length; i++) {
+            cameraPropertiesStr +=
+                    "Name: "
+                            + cameraProperties[i].getName()
+                            + ", Kind: "
+                            + cameraProperties[i].getKind()
+                            + ", Value: "
+                            + cameraProperties[i].getKind().getValue()
+                            + ", Min: "
+                            + cameraProperties[i].getMin()
+                            + ", Max: "
+                            + cameraProperties[i].getMax()
+                            + ", Dflt: "
+                            + cameraProperties[i].getDefault()
+                            + ", Step: "
+                            + cameraProperties[i].getStep()
+                            + "\n";
+        }
+
+        logger.debug(cameraPropertiesStr);
+    }
+
+    private void setAllCamDefaults() {
+        // Common settings for all cameras to attempt to get their image
+        // as close as possible to what we want for image processing
+        softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
+        softSet("power_line_frequency", 2); // Assume 60Hz USA
+        softSet("scene_mode", 0); // no presets
+        softSet("exposure_metering_mode", 0);
+        softSet("exposure_dynamic_framerate", 0);
+        softSet("focus_auto", 0);
+        softSet("focus_absolute", 0); // Focus into infinity
+    }
+
     public QuirkyCamera getCameraQuirks() {
         return getCameraConfiguration().cameraQuirks;
     }
@@ -136,9 +236,9 @@ public VisionSourceSettables getSettables() {
     }
 
     public class USBCameraSettables extends VisionSourceSettables {
-        // We need to remember the last exposure set when exiting auto exposure mode so we can restore
-        // it
-        private double last_exposure = -1;
+        // We need to remember the last exposure set when exiting
+        // auto exposure mode so we can restore it
+        private double lastExposureUs = -1;
 
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
@@ -150,144 +250,62 @@ protected USBCameraSettables(CameraConfiguration configuration) {
         public void setAutoExposure(boolean cameraAutoExposure) {
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
-            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                // Case, we know this is a picam. Go through v4l2-ctl interface directly
-
-                // Common settings
-                camera
-                        .getProperty("image_stabilization")
-                        .set(0); // No image stabilization, as this will throw off odometry
-                camera.getProperty("power_line_frequency").set(2); // Assume 60Hz USA
-                camera.getProperty("scene_mode").set(0); // no presets
-                camera.getProperty("exposure_metering_mode").set(0);
-                camera.getProperty("exposure_dynamic_framerate").set(0);
-
-                if (!cameraAutoExposure) {
-                    // Pick a bunch of reasonable setting defaults for vision processing retroreflective
-                    camera.getProperty("auto_exposure_bias").set(0);
-                    camera.getProperty("iso_sensitivity_auto").set(0); // Disable auto ISO adjustment
-                    camera.getProperty("iso_sensitivity").set(0); // Manual ISO adjustment
-                    camera.getProperty("white_balance_auto_preset").set(2); // Auto white-balance disabled
-                    camera.getProperty("auto_exposure").set(1); // auto exposure disabled
-                } else {
-                    // Pick a bunch of reasonable setting defaults for driver, fiducials, or otherwise
-                    // nice-for-humans
-                    camera.getProperty("auto_exposure_bias").set(12);
-                    camera.getProperty("iso_sensitivity_auto").set(1);
-                    camera.getProperty("iso_sensitivity").set(1); // Manual ISO adjustment by default
-                    camera.getProperty("white_balance_auto_preset").set(1); // Auto white-balance enabled
-                    camera.getProperty("auto_exposure").set(0); // auto exposure enabled
-                }
-
-            } else {
-                // Case - this is some other USB cam. Default to wpilib's implementation
-
-                var canSetWhiteBalance = !getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain);
-
-                if (!cameraAutoExposure) {
-                    // Pick a bunch of reasonable setting defaults for vision processing retroreflective
-                    if (canSetWhiteBalance) {
-                        // Linux kernel bump changed names -- now called white_balance_automatic and
-                        // white_balance_temperature
-                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
-                            // 1=auto, 0=manual
-                            camera.getProperty("white_balance_automatic").set(0);
-                            camera.getProperty("white_balance_temperature").set(4000);
-                        } else {
-                            camera.setWhiteBalanceManual(4000); // Auto white-balance disabled, 4000K preset
-                        }
+            if (!cameraAutoExposure) {
+                // Pick a bunch of reasonable setting defaults for vision processing
+                softSet("auto_exposure_bias", 0);
+                softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
+                softSet("iso_sensitivity", 0); // Manual ISO adjustment
+                softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
+                softSet("white_balance_automatic", 0);
+                softSet("white_balance_temperature", 4000);
+                autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
 
-                        // Most cameras leave exposure time absolute at the last value from their AE algorithm.
-                        // Set it back to the exposure slider value
-                        setExposure(this.last_exposure);
-                    }
-                } else {
-                    // Pick a bunch of reasonable setting defaults for driver, fiducials, or otherwise
-                    // nice-for-humans
-                    if (canSetWhiteBalance) {
-                        // Linux kernel bump changed names -- now called white_balance_automatic
-                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
-                            // 1=auto, 0=manual
-                            camera.getProperty("white_balance_automatic").set(1);
-                        } else {
-                            camera.setWhiteBalanceAuto(); // Auto white-balance enabled
-                        }
-                    }
+                // Most cameras leave exposure time absolute at the last value from their AE algorithm.
+                // Set it back to the exposure slider value
+                setExposureUs(this.lastExposureUs);
 
-                    // Linux kernel bump changed names -- exposure_auto is now called auto_exposure
-                    if (camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
-                        var prop = camera.getProperty("auto_exposure");
-                        // 3=auto-aperature
-                        prop.set((int) 3);
-                    } else {
-                        camera.setExposureAuto(); // auto exposure enabled
-                    }
-                }
+            } else {
+                // Pick a bunch of reasonable setting to make the picture nice-for-humans
+                softSet("auto_exposure_bias", 12);
+                softSet("iso_sensitivity_auto", 1);
+                softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
+                softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
+                softSet("white_balance_automatic", 1);
+                autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
             }
         }
 
-        private int timeToPiCamRawExposure(double time_us) {
-            int retVal =
-                    (int)
-                            Math.round(
-                                    time_us / 100.0); // Pi Cam's (both v1 and v2) need exposure time in units of
-            // 100us/bit
-            return Math.min(Math.max(retVal, 1), 10000); // Cap to allowable range for parameter
-        }
-
-        private double pctToExposureTimeUs(double pct_in) {
-            // Mirror the photonvision raspicam driver's algorithm for picking an exposure time
-            // from a 0-100% input
-            final double PADDING_LOW_US = 10;
-            final double PADDING_HIGH_US = 10;
-            return PADDING_LOW_US
-                    + (pct_in / 100.0) * ((1e6 / (double) camera.getVideoMode().fps) - PADDING_HIGH_US);
-        }
-
         @Override
-        public void setExposure(double exposure) {
-            if (exposure >= 0.0) {
+        public void setExposureUs(double exposureUs) {
+            if (exposureUs >= 0.0) {
                 try {
-                    int scaledExposure = 1;
-                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                        scaledExposure = Math.round(timeToPiCamRawExposure(pctToExposureTimeUs(exposure)));
-                        logger.debug("Setting camera raw exposure to " + scaledExposure);
-                        camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
-                        camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
-
-                        // Yay thanks v4l for changing names randomly
-                    } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone
-                            && camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
-                        // 1=manual-aperature
-                        camera.getProperty("auto_exposure").set(1);
-
-                        // Seems like the name changed at some point in v4l? set it ouyrselves too
-                        var prop = camera.getProperty("raw_exposure_time_absolute");
-
-                        var propMin = prop.getMin();
-                        var propMax = prop.getMax();
-
-                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281)) {
-                            propMin = 1;
-                            propMax = 75;
-                        } else if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
-                            propMin = 1;
-                            propMax = 140;
-                        }
 
-                        var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, propMin, propMax);
-                        logger.debug("Setting camera exposure to " + exposure_manual_val);
-                        prop.set((int) exposure_manual_val);
-                    } else {
-                        scaledExposure = (int) Math.round(exposure);
-                        logger.debug("Setting camera exposure to " + scaledExposure);
-                        camera.setExposureManual(scaledExposure);
-                        camera.setExposureManual(scaledExposure);
+                    autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
+
+                    var propMin = exposureAbsProp.getMin();
+                    var propMax = exposureAbsProp.getMax();
+
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
+                        // Property limits are incorrect
+                        propMin = 1;
+                        propMax = 120;
                     }
+
+                    var propVal = MathUtils.limit(exposureUs, propMin, propMax);
+                    logger.debug(
+                            "Setting camera exposure property to "
+                                    + propVal
+                                    + " (user requested "
+                                    + exposureUs
+                                    + " μs)");
+
+                    exposureAbsProp.set((int) propVal);
+
+                    this.lastExposureUs = exposureUs;
+
                 } catch (VideoException e) {
                     logger.error("Failed to set camera exposure!", e);
                 }
-                this.last_exposure = exposure;
             }
         }
 
@@ -295,7 +313,6 @@ public void setExposure(double exposure) {
         public void setBrightness(int brightness) {
             try {
                 camera.setBrightness(brightness);
-                camera.setBrightness(brightness);
             } catch (VideoException e) {
                 logger.error("Failed to set camera brightness!", e);
             }
@@ -303,14 +320,8 @@ public void setBrightness(int brightness) {
 
         @Override
         public void setGain(int gain) {
-            try {
-                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
-                    camera.getProperty("gain_automatic").set(0);
-                    camera.getProperty("gain").set(gain);
-                }
-            } catch (VideoException e) {
-                logger.error("Failed to set camera gain!", e);
-            }
+            softSet("gain_automatic", 0);
+            softSet("gain", gain);
         }
 
         @Override
@@ -338,26 +349,9 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
                     VideoMode[] modes;
-                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                        modes =
-                                new VideoMode[] {
-                                    new VideoMode(PixelFormat.kBGR, 320, 240, 90),
-                                    new VideoMode(PixelFormat.kBGR, 320, 240, 30),
-                                    new VideoMode(PixelFormat.kBGR, 320, 240, 15),
-                                    new VideoMode(PixelFormat.kBGR, 320, 240, 10),
-                                    new VideoMode(PixelFormat.kBGR, 640, 480, 90),
-                                    new VideoMode(PixelFormat.kBGR, 640, 480, 45),
-                                    new VideoMode(PixelFormat.kBGR, 640, 480, 30),
-                                    new VideoMode(PixelFormat.kBGR, 640, 480, 15),
-                                    new VideoMode(PixelFormat.kBGR, 640, 480, 10),
-                                    new VideoMode(PixelFormat.kBGR, 960, 720, 60),
-                                    new VideoMode(PixelFormat.kBGR, 960, 720, 10),
-                                    new VideoMode(PixelFormat.kBGR, 1280, 720, 45),
-                                    new VideoMode(PixelFormat.kBGR, 1920, 1080, 20),
-                                };
-                    } else {
-                        modes = camera.enumerateVideoModes();
-                    }
+
+                    modes = camera.enumerateVideoModes();
+
                     for (VideoMode videoMode : modes) {
                         // Filter grey modes
                         if (videoMode.pixelFormat == PixelFormat.kGray
@@ -365,13 +359,6 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                             continue;
                         }
 
-                        // On picam, filter non-bgr modes for performance
-                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                            if (videoMode.pixelFormat != PixelFormat.kBGR) {
-                                continue;
-                            }
-                        }
-
                         if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
                             if (videoMode.fps > 100) {
                                 continue;
@@ -379,25 +366,6 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                         }
 
                         videoModesList.add(videoMode);
-
-                        // TODO - do we want to trim down FPS modes? in cases where the camera has no gain
-                        // control,
-                        // lower FPS might be needed to ensure total exposure is acceptable.
-                        // We look for modes with the same height/width/pixelformat as this mode
-                        // and remove all the ones that are slower. This is sorted low to high.
-                        // So we remove the last element (the fastest FPS) from the duplicate list,
-                        // and remove all remaining elements from the final list
-                        // var duplicateModes =
-                        //         videoModesList.stream()
-                        //                 .filter(
-                        //                         it ->
-                        //                                 it.height == videoMode.height
-                        //                                         && it.width == videoMode.width
-                        //                                         && it.pixelFormat == videoMode.pixelFormat)
-                        //                 .sorted(Comparator.comparingDouble(it -> it.fps))
-                        //                 .collect(Collectors.toList());
-                        // duplicateModes.remove(duplicateModes.size() - 1);
-                        // videoModesList.removeAll(duplicateModes);
                     }
                 } catch (Exception e) {
                     logger.error("Exception while enumerating video modes!", e);
@@ -427,11 +395,9 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
         }
     }
 
-    // TODO improve robustness of this detection
     @Override
     public boolean isVendorCamera() {
-        return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
-                && getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+        return false; // Vendors do not supply USB Cameras
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
index 8583cd4d5f..8696fd68f2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
@@ -42,7 +42,7 @@ public AprilTagPipelineSettings() {
         pipelineType = PipelineType.AprilTag;
         outputShowMultipleTargets = true;
         targetModel = TargetModel.kAprilTag6p5in_36h11;
-        cameraExposure = 20;
+        cameraExposureUs = 20;
         cameraAutoExposure = false;
         ledMode = false;
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
index 972951c2a6..1bf37e6540 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
@@ -47,7 +47,7 @@ public ArucoPipelineSettings() {
         pipelineType = PipelineType.Aruco;
         outputShowMultipleTargets = true;
         targetModel = TargetModel.kAprilTag6p5in_36h11;
-        cameraExposure = -1;
+        cameraExposureUs = -1;
         cameraAutoExposure = true;
         ledMode = false;
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index 5cbfc58903..360262b40d 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -42,7 +42,7 @@ public class CVPipelineSettings implements Cloneable {
     public String pipelineNickname = "New Pipeline";
     public boolean cameraAutoExposure = false;
     // manual exposure only used if cameraAutoExposure is false
-    public double cameraExposure = 20;
+    public double cameraExposureUs = 20;
     public int cameraBrightness = 50;
     // Currently only used by a few cameras (notably the zero-copy Pi Camera driver) with the Gain
     // quirk
@@ -62,7 +62,7 @@ public boolean equals(Object o) {
         if (o == null || getClass() != o.getClass()) return false;
         CVPipelineSettings that = (CVPipelineSettings) o;
         return pipelineIndex == that.pipelineIndex
-                && Double.compare(that.cameraExposure, cameraExposure) == 0
+                && Double.compare(that.cameraExposureUs, cameraExposureUs) == 0
                 && Double.compare(that.cameraBrightness, cameraBrightness) == 0
                 && Double.compare(that.cameraGain, cameraGain) == 0
                 && Double.compare(that.cameraRedGain, cameraRedGain) == 0
@@ -84,7 +84,7 @@ public int hashCode() {
                 pipelineType,
                 inputImageRotationMode,
                 pipelineNickname,
-                cameraExposure,
+                cameraExposureUs,
                 cameraBrightness,
                 cameraGain,
                 cameraRedGain,
@@ -118,8 +118,8 @@ public String toString() {
                 + ", pipelineNickname='"
                 + pipelineNickname
                 + '\''
-                + ", cameraExposure="
-                + cameraExposure
+                + ", cameraExposureUs="
+                + cameraExposureUs
                 + ", cameraBrightness="
                 + cameraBrightness
                 + ", cameraGain="
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
index 62db7bc9ee..83c303e77d 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
@@ -42,7 +42,7 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
     public ColoredShapePipelineSettings() {
         super();
         pipelineType = PipelineType.ColoredShape;
-        cameraExposure = 20;
+        cameraExposureUs = 20;
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java
index f074bf1f5a..d9a8d2a208 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java
@@ -25,7 +25,7 @@ public ObjectDetectionPipelineSettings() {
         super();
         this.pipelineType = PipelineType.ObjectDetection; // TODO: FIX this
         this.outputShowMultipleTargets = true;
-        cameraExposure = 20;
+        cameraExposureUs = 20;
         cameraAutoExposure = false;
         ledMode = false;
         confidence = .9;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
index b06dcaddef..f417c1a0da 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
@@ -27,7 +27,7 @@ public class ReflectivePipelineSettings extends AdvancedPipelineSettings {
     public ReflectivePipelineSettings() {
         super();
         pipelineType = PipelineType.Reflective;
-        cameraExposure = 6;
+        cameraExposureUs = 6;
         cameraGain = 20;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 29d1e39c91..09d64a74b2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -411,11 +411,11 @@ boolean setPipeline(int index) {
 
         // If manual exposure, force exposure slider to be valid
         if (!pipelineSettings.cameraAutoExposure) {
-            if (pipelineSettings.cameraExposure < 0)
-                pipelineSettings.cameraExposure = 10; // reasonable default
+            if (pipelineSettings.cameraExposureUs < 0)
+                pipelineSettings.cameraExposureUs = 10; // reasonable default
         }
 
-        visionSource.getSettables().setExposure(pipelineSettings.cameraExposure);
+        visionSource.getSettables().setExposureUs(pipelineSettings.cameraExposureUs);
         try {
             visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
         } catch (VideoException e) {
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
index f2057a18db..43523f34cd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -42,7 +42,7 @@ public CameraConfiguration getConfiguration() {
         return configuration;
     }
 
-    public abstract void setExposure(double exposure);
+    public abstract void setExposureUs(double exposureUs);
 
     public abstract void setAutoExposure(boolean cameraAutoExposure);
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index 6ba98876e6..1f714242db 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -76,7 +76,7 @@ protected TestSettables(CameraConfiguration configuration) {
         }
 
         @Override
-        public void setExposure(double exposure) {}
+        public void setExposureUs(double exposure) {}
 
         @Override
         public void setBrightness(int brightness) {}
diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html
index 988f55e6a3..c003428351 100644
--- a/photon-server/src/main/resources/web/index.html
+++ b/photon-server/src/main/resources/web/index.html
@@ -1 +1,15 @@
-<p>UI has not been copied!</p>
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <link rel="icon" href="./favicon.ico" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Photon Client</title>
+    <script type="module" crossorigin src="./assets/index-dccae33c.js"></script>
+    <link rel="stylesheet" href="./assets/index-76214e22.css">
+  </head>
+  <body>
+    <div id="app"></div>
+    
+  </body>
+</html>

From 3d43a1581b9715368e0d9614f0370c2410313f42 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Tue, 25 Jun 2024 22:15:23 -0500
Subject: [PATCH 03/34] bugfix

---
 .../org/photonvision/vision/camera/USBCameraSource.java    | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 6c34fe8638..b02f3da6bd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -146,18 +146,21 @@ public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean uni
      */
     private Optional<VideoProperty> findProperty(String... options) {
         VideoProperty retProp = null;
+        boolean found = false;
         for (var option : options) {
             retProp = camera.getProperty(option);
             if (retProp.getKind() != VideoProperty.Kind.kNone) {
                 // got em
+                found = true;
                 break;
-            }
+            } 
         }
 
-        if (retProp == null) {
+        if (!found) {
             logger.warn(
                     "Expected at least one of the following properties to be available: "
                             + Arrays.toString(options));
+            retProp = null;
         }
 
         return Optional.of(retProp);

From b1d4d5f076b882f1499e6e3fcecc552a3e7bd093 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Thu, 27 Jun 2024 15:15:56 -0500
Subject: [PATCH 04/34] picam cleanup, better lifecam support

---
 .../common/util/math/MathUtils.java           | 17 ++++
 .../vision/camera/CameraQuirk.java            |  4 +-
 .../vision/camera/CameraQuirkConstants.java   | 25 +++++
 .../vision/camera/FileVisionSource.java       |  5 +
 .../vision/camera/LibcameraGpuSource.java     |  5 +
 .../vision/camera/QuirkyCamera.java           | 33 ++++---
 .../vision/camera/TestSource.java             | 10 +-
 .../vision/camera/USBCameraSource.java        | 91 ++++++++++++-------
 .../vision/pipeline/DriverModePipeline.java   |  5 -
 .../vision/processes/VisionModule.java        |  5 +-
 .../vision/processes/VisionSource.java        |  2 +
 .../photonvision/vision/QuirkyCameraTest.java | 12 ---
 .../processes/VisionModuleManagerTest.java    |  5 +
 .../photon/simulation/SimCameraProperties.h   | 12 +--
 .../src/main/resources/web/index.html         |  4 +-
 15 files changed, 158 insertions(+), 77 deletions(-)
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java

diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index 21f59c70c7..93d8562442 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -71,6 +71,23 @@ public static long nanosToMicros(long nanos) {
         return nanos / 1000;
     }
 
+    /**
+     * Constrain a value to only take on certain values. Pick the next-highest allowed value in the
+     * array if in-between.
+     *
+     * @param value value to quantize
+     * @param allowableSteps sorted array of the allowed values
+     * @return quantized value
+     */
+    public static int quantize(int value, int[] allowableSteps) {
+        for (int step : allowableSteps) {
+            if (value <= step) {
+                return step;
+            }
+        }
+        return allowableSteps[allowableSteps.length - 1];
+    }
+
     public static double limit(double value, double out_min, double out_max) {
         double retVal = value;
         if (value > out_max) {
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index 02afa9ac1d..d23ad86990 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -20,8 +20,8 @@
 public enum CameraQuirk {
     /** Camera settable for controllable image gain */
     Gain,
-    /** For the Raspberry Pi Camera */
-    PiCam,
+    /** Only certain discrete exposure settings work */
+    LifeCamExposure,
     /** Cap at 100FPS for high-bandwidth cameras */
     FPSCap100,
     /** Separate red/blue gain controls available */
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java
new file mode 100644
index 0000000000..5f8be1405c
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java
@@ -0,0 +1,25 @@
+/*
+ * 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;
+
+/** Mr. Photonvision's Home for Peculiar Camera Constants */
+public class CameraQuirkConstants {
+    public static int[] LifecamAllowableExposures = {
+        5, 10, 20, 39, 78, 156, 312, 625, 1250, 2500, 5000, 10000, 20000
+    };
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index 9b83cf0251..5475263e9e 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -74,6 +74,11 @@ public boolean isVendorCamera() {
         return false;
     }
 
+    @Override
+    public boolean hasLEDs() {
+        return false; // Assume USB cameras do not have photonvision-controlled LEDs
+    }
+
     private static class FileSourceSettables extends VisionSourceSettables {
         private final VideoMode videoMode;
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
index a26a198191..6783f61e3c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
@@ -88,4 +88,9 @@ public FPSRatedVideoMode(
     public boolean isVendorCamera() {
         return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV();
     }
+
+    @Override
+    public boolean hasLEDs() {
+        return (ConfigManager.getInstance().getConfig().getHardwareConfig().ledPins.size() > 0);
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index a73e6e188c..f08f4092f5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -44,10 +44,11 @@ public class QuirkyCamera {
                             -1,
                             "FaceTime HD Camera",
                             CameraQuirk.CompletelyBroken), // Mac Facetime Camera shared into Windows in Bootcamp
-                    new QuirkyCamera(0x2000, 0x1415, CameraQuirk.Gain, CameraQuirk.FPSCap100), // PS3Eye
                     new QuirkyCamera(
-                            -1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
-                    new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
+                            -1, -1, "LifeCam HD-3000", CameraQuirk.LifeCamExposure), // Microsoft Lifecam
+                    new QuirkyCamera(
+                            -1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamExposure), // Microsoft Lifecam
+                    new QuirkyCamera(0x2000, 0x1415, CameraQuirk.Gain, CameraQuirk.FPSCap100), // PS3Eye
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
                     // Generic arducam. Since OV2311 can't be differentiated at first boot, apply stickyFPS to
                     // the generic case, too
@@ -81,10 +82,9 @@ public class QuirkyCamera {
             new QuirkyCamera(
                     -1,
                     -1,
-                    "mmal service 16.1",
-                    CameraQuirk.PiCam,
+                    "mmal service 16.1", // TODO - is this still accurate in the libpicam days?
                     CameraQuirk.Gain,
-                    CameraQuirk.AWBGain); // PiCam (special zerocopy version)
+                    CameraQuirk.AWBGain); // PiCam (using libpicam GPU Driver on raspberry pi)
 
     @JsonProperty("baseName")
     public final String baseName;
@@ -173,11 +173,22 @@ public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid) {
 
     public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid, String baseName) {
         for (var qc : quirkyCameras) {
-            boolean hasBaseName = !qc.baseName.isEmpty();
-            boolean matchesBaseName = qc.baseName.equals(baseName) || !hasBaseName;
-            // If we have a quirkycamera we need to copy the quirks from our predefined object and create
-            // a quirkycamera object with the baseName.
-            if (qc.usbVid == usbVid && qc.usbPid == usbPid && matchesBaseName) {
+            boolean useBaseNameMatch = !qc.baseName.isEmpty();
+            boolean matchesBaseName = true; // default to matching
+            if (useBaseNameMatch) {
+                matchesBaseName = baseName.endsWith(qc.baseName);
+            }
+
+            boolean usePidVidMatch = (qc.usbVid != -1) && (qc.usbPid != -1);
+            boolean matchesPidVid = true; // default to matching
+            if (usePidVidMatch) {
+                matchesPidVid = (qc.usbVid == usbVid && qc.usbPid == usbPid);
+            }
+
+            if (matchesPidVid && matchesBaseName) {
+                // We have a quirky camera!
+                // Copy the quirks from our predefined object and create
+                // a QuirkyCamera object with the complete properties
                 List<CameraQuirk> quirks = new ArrayList<CameraQuirk>();
                 for (var q : CameraQuirk.values()) {
                     if (qc.hasQuirk(q)) quirks.add(q);
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java
index 51a5cef580..deef4b69a8 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java
@@ -34,9 +34,8 @@ public class TestSource extends VisionSource {
     public TestSource(CameraConfiguration config) {
         super(config);
 
-        if (getCameraConfiguration().cameraQuirks == null)
-            getCameraConfiguration().cameraQuirks =
-                    QuirkyCamera.getQuirkyCamera(config.usbVID, config.usbVID, config.baseName);
+        getCameraConfiguration().cameraQuirks =
+                QuirkyCamera.getQuirkyCamera(config.usbVID, config.usbVID, config.baseName);
     }
 
     @Override
@@ -90,4 +89,9 @@ public boolean isVendorCamera() {
         // TODO Auto-generated method stub
         throw new UnsupportedOperationException("Unimplemented method 'isVendorCamera'");
     }
+
+    @Override
+    public boolean hasLEDs() {
+        return false; // Assume USB cameras do not have photonvision-controlled LEDs
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index b02f3da6bd..84831b558b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -66,10 +66,9 @@ public USBCameraSource(CameraConfiguration config) {
         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(
-                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
+        getCameraConfiguration().cameraQuirks =
+                QuirkyCamera.getQuirkyCamera(
+                        camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
 
         if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
             logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
@@ -125,9 +124,7 @@ public USBCameraSource(CameraConfiguration config) {
     public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
         this(config);
 
-        if (getCameraConfiguration().cameraQuirks == null)
-            getCameraConfiguration().cameraQuirks =
-                    QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+        getCameraConfiguration().cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
 
         if (unitTest)
             usbFrameProvider =
@@ -153,7 +150,7 @@ private Optional<VideoProperty> findProperty(String... options) {
                 // got em
                 found = true;
                 break;
-            } 
+            }
         }
 
         if (!found) {
@@ -176,7 +173,7 @@ private Optional<VideoProperty> findProperty(String... options) {
     private void softSet(String property, int value) {
         VideoProperty prop = camera.getProperty(property);
         if (prop.getKind() == VideoProperty.Kind.kNone) {
-            logger.debug("No property " + property + " for " + camera.getName() + " !");
+            logger.debug("No property " + property + " for " + camera.getName() + " , skipping.");
         } else {
             try {
                 prop.set(value);
@@ -188,7 +185,7 @@ private void softSet(String property, int value) {
 
     private void printCameraProperaties() {
         VideoProperty[] cameraProperties = camera.enumerateProperties();
-        String cameraPropertiesStr = "";
+        String cameraPropertiesStr = "Cam Properties Dump:\n";
 
         for (int i = 0; i < cameraProperties.length; i++) {
             cameraPropertiesStr +=
@@ -215,13 +212,13 @@ private void printCameraProperaties() {
     private void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
-        softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
-        softSet("power_line_frequency", 2); // Assume 60Hz USA
-        softSet("scene_mode", 0); // no presets
-        softSet("exposure_metering_mode", 0);
-        softSet("exposure_dynamic_framerate", 0);
-        softSet("focus_auto", 0);
-        softSet("focus_absolute", 0); // Focus into infinity
+        // softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
+        // softSet("power_line_frequency", 2); // Assume 60Hz USA
+        // softSet("scene_mode", 0); // no presets
+        // softSet("exposure_metering_mode", 0);
+        // softSet("exposure_dynamic_framerate", 0);
+        // softSet("focus_auto", 0);
+        // softSet("focus_absolute", 0); // Focus into infinity
     }
 
     public QuirkyCamera getCameraQuirks() {
@@ -243,6 +240,10 @@ public class USBCameraSettables extends VisionSourceSettables {
         // auto exposure mode so we can restore it
         private double lastExposureUs = -1;
 
+        // Some cameras need logic where we re-apply brightness after
+        // changing exposure
+        private int lastBrightness = -1;
+
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
@@ -255,12 +256,12 @@ public void setAutoExposure(boolean cameraAutoExposure) {
 
             if (!cameraAutoExposure) {
                 // Pick a bunch of reasonable setting defaults for vision processing
-                softSet("auto_exposure_bias", 0);
-                softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
-                softSet("iso_sensitivity", 0); // Manual ISO adjustment
-                softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
-                softSet("white_balance_automatic", 0);
-                softSet("white_balance_temperature", 4000);
+                // softSet("auto_exposure_bias", 0);
+                // softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
+                // softSet("iso_sensitivity", 0); // Manual ISO adjustment
+                // softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
+                // softSet("white_balance_automatic", 0);
+                // softSet("white_balance_temperature", 4000);
                 autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
 
                 // Most cameras leave exposure time absolute at the last value from their AE algorithm.
@@ -269,12 +270,13 @@ public void setAutoExposure(boolean cameraAutoExposure) {
 
             } else {
                 // Pick a bunch of reasonable setting to make the picture nice-for-humans
-                softSet("auto_exposure_bias", 12);
-                softSet("iso_sensitivity_auto", 1);
-                softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
-                softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
-                softSet("white_balance_automatic", 1);
+                // softSet("auto_exposure_bias", 12);
+                // softSet("iso_sensitivity_auto", 1);
+                // softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
+                // softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
+                // softSet("white_balance_automatic", 1);
                 autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
+                camera.setExposureAuto(); // belt-and-suspenders with cscore's call too.
             }
         }
 
@@ -282,7 +284,6 @@ public void setAutoExposure(boolean cameraAutoExposure) {
         public void setExposureUs(double exposureUs) {
             if (exposureUs >= 0.0) {
                 try {
-
                     autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
                     var propMin = exposureAbsProp.getMin();
@@ -291,21 +292,39 @@ public void setExposureUs(double exposureUs) {
                     if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
                         // Property limits are incorrect
                         propMin = 1;
-                        propMax = 120;
+                        propMax = 75;
+                    }
+
+                    int propVal = (int) MathUtils.limit(exposureUs, propMin, propMax);
+
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
+                        // Lifecam only allows certain settings for exposure
+                        propVal = MathUtils.quantize(propVal, CameraQuirkConstants.LifecamAllowableExposures);
                     }
 
-                    var propVal = MathUtils.limit(exposureUs, propMin, propMax);
                     logger.debug(
-                            "Setting camera exposure property to "
+                            "Setting property "
+                                    + autoExposureProp.getName()
+                                    + " to "
                                     + propVal
                                     + " (user requested "
                                     + exposureUs
                                     + " μs)");
 
-                    exposureAbsProp.set((int) propVal);
+                    exposureAbsProp.set(propVal);
 
                     this.lastExposureUs = exposureUs;
 
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
+                        // Lifecam requires setting brightness again after exposure
+                        // And it requires setting it twice, ensuring the value is different
+                        // This camera is very bork.
+                        if (lastBrightness >= 0) {
+                            camera.setBrightness(0);
+                            camera.setBrightness(lastBrightness);
+                        }
+                    }
+
                 } catch (VideoException e) {
                     logger.error("Failed to set camera exposure!", e);
                 }
@@ -316,6 +335,7 @@ public void setExposureUs(double exposureUs) {
         public void setBrightness(int brightness) {
             try {
                 camera.setBrightness(brightness);
+                this.lastBrightness = brightness;
             } catch (VideoException e) {
                 logger.error("Failed to set camera brightness!", e);
             }
@@ -403,6 +423,11 @@ public boolean isVendorCamera() {
         return false; // Vendors do not supply USB Cameras
     }
 
+    @Override
+    public boolean hasLEDs() {
+        return false; // Assume USB cameras do not have photonvision-controlled LEDs
+    }
+
     @Override
     public boolean equals(Object obj) {
         if (this == obj) return true;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
index a78a0b1f1a..2da0f23a36 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -54,11 +54,6 @@ protected void setPipeParamsImpl() {
 
         resizeImagePipe.setParams(
                 new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));
-
-        // if (LibCameraJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-        // LibCameraJNI.setRotation(settings.inputImageRotationMode.value);
-        // LibCameraJNI.setShouldCopyColor(true);
-        // }
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 09d64a74b2..be354bc169 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -453,7 +453,7 @@ private boolean camShouldControlLEDs() {
         // Heuristic - if the camera has a known FOV or is a piCam, assume it's in use for
         // vision processing, and should command stuff to the LED's.
         // TODO: Make LED control a property of the camera itself and controllable in the UI.
-        return isVendorCamera() || cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+        return isVendorCamera();
     }
 
     private void setVisionLEDs(boolean on) {
@@ -541,8 +541,7 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
                         .collect(Collectors.toList());
 
         ret.isFovConfigurable =
-                !(ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
-                        && cameraQuirks.hasQuirk(CameraQuirk.PiCam));
+                !(ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV());
 
         return ret;
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java
index 65caf8bd0f..dd0ff14f8e 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java
@@ -36,4 +36,6 @@ public CameraConfiguration getCameraConfiguration() {
     public abstract VisionSourceSettables getSettables();
 
     public abstract boolean isVendorCamera();
+
+    public abstract boolean hasLEDs();
 }
diff --git a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
index 45517ee029..7305f21c4a 100644
--- a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
@@ -37,18 +37,6 @@ public void ps3EyeTest() {
         Assertions.assertEquals(psEye.quirks, ps3EyeQuirks);
     }
 
-    @Test
-    public void picamTest() {
-        HashMap<CameraQuirk, Boolean> picamQuirks = new HashMap<>();
-        picamQuirks.put(CameraQuirk.PiCam, true);
-        for (var q : CameraQuirk.values()) {
-            picamQuirks.putIfAbsent(q, false);
-        }
-
-        QuirkyCamera picam = QuirkyCamera.getQuirkyCamera(-1, -1, "mmal service 16.1");
-        Assertions.assertEquals(picam.quirks, picamQuirks);
-    }
-
     @Test
     public void quirklessCameraTest() {
         HashMap<CameraQuirk, Boolean> noQuirks = new HashMap<>();
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index 1f714242db..fe91189b2a 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -68,6 +68,11 @@ public VisionSourceSettables getSettables() {
         public boolean isVendorCamera() {
             return false;
         }
+
+        @Override
+        public boolean hasLEDs() {
+            return false;
+        }
     }
 
     private static class TestSettables extends VisionSourceSettables {
diff --git a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
index e673154061..4ec796aa5c 100644
--- a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
+++ b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
@@ -96,12 +96,12 @@ class SimCameraProperties {
                                       units::radian_t{std::numbers::pi / 2.0}})
                                      .Radians()}},
         frc::Translation3d{
-            1_m,
-            frc::Rotation3d{0_rad,
-                            (GetPixelPitch(0) + frc::Rotation2d{units::radian_t{
-                                                    std::numbers::pi / 2.0}})
-                                .Radians(),
-                            0_rad}},
+            1_m, frc::Rotation3d{0_rad,
+                                 (GetPixelPitch(0) +
+                                  frc::Rotation2d{
+                                      units::radian_t{std::numbers::pi / 2.0}})
+                                     .Radians(),
+                                 0_rad}},
         frc::Translation3d{
             1_m, frc::Rotation3d{0_rad,
                                  (GetPixelPitch(height) +
diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html
index c003428351..1cffc9a5f0 100644
--- a/photon-server/src/main/resources/web/index.html
+++ b/photon-server/src/main/resources/web/index.html
@@ -5,8 +5,8 @@
     <link rel="icon" href="./favicon.ico" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <title>Photon Client</title>
-    <script type="module" crossorigin src="./assets/index-dccae33c.js"></script>
-    <link rel="stylesheet" href="./assets/index-76214e22.css">
+    <script type="module" crossorigin src="./assets/index-51a77745.js"></script>
+    <link rel="stylesheet" href="./assets/index-a60e9995.css">
   </head>
   <body>
     <div id="app"></div>

From d46efd124a0ef4363b20287e03151bab998730b6 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Thu, 27 Jun 2024 17:46:00 -0500
Subject: [PATCH 05/34] Further wip dynamic min/max

---
 .../cameras/CameraCalibrationCard.vue         |  4 +-
 .../components/dashboard/tabs/InputTab.vue    |  4 +-
 .../stores/settings/CameraSettingsStore.ts    |  8 +++
 photon-client/src/types/PipelineTypes.ts      |  2 +
 photon-client/src/types/SettingTypes.ts       |  7 +-
 photon-client/src/types/WebsocketDataTypes.ts |  2 +
 .../configuration/PhotonConfiguration.java    |  2 +
 .../vision/camera/FileVisionSource.java       | 10 +++
 .../vision/camera/LibcameraGpuSettables.java  | 28 +++++---
 .../vision/camera/USBCameraSource.java        | 70 +++++++++++--------
 .../vision/pipeline/CVPipelineSettings.java   |  6 ++
 .../vision/processes/VisionModule.java        |  2 +
 .../processes/VisionSourceSettables.java      |  4 ++
 .../processes/VisionModuleManagerTest.java    | 10 +++
 14 files changed, 117 insertions(+), 42 deletions(-)

diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index f217462640..0594b97de3 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -393,8 +393,8 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
               label="Exposure (μS)"
               tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
-              :min="1"
-              :max="80000"
+              :min="useCameraSettingsStore().minExposureUs"
+              :max="useCameraSettingsStore().maxExposureUs"
               :slider-cols="8"
               :step="1"
               @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"
diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue
index 6090ced75c..b0468e5348 100644
--- a/photon-client/src/components/dashboard/tabs/InputTab.vue
+++ b/photon-client/src/components/dashboard/tabs/InputTab.vue
@@ -78,8 +78,8 @@ const interactiveCols = computed(() =>
       :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
       label="Exposure (μS)"
       tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
-      :min="1"
-      :max="80000"
+      :min="useCameraSettingsStore().minExposureUs"
+      :max="useCameraSettingsStore().maxExposureUs"
       :slider-cols="interactiveCols"
       :step="1"
       @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"
diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
index e0b362264d..1965b55cf6 100644
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -68,6 +68,12 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     },
     isCSICamera(): boolean {
       return this.currentCameraSettings.isCSICamera;
+    },
+    minExposureUs(): number {
+      return this.currentCameraSettings.minExposureUs;
+    },
+    maxExposureUs(): number {
+      return this.currentCameraSettings.maxExposureUs;
     }
   },
   actions: {
@@ -102,6 +108,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           })),
         completeCalibrations: d.calibrations,
         isCSICamera: d.isCSICamera,
+        minExposureUs: d.minExposureUs,
+        maxExposureUs: d.maxExposureUs,
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
         pipelineSettings: d.currentPipelineSettings,
diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
index 51592b53e8..b9e068d021 100644
--- a/photon-client/src/types/PipelineTypes.ts
+++ b/photon-client/src/types/PipelineTypes.ts
@@ -65,6 +65,8 @@ export interface PipelineSettings {
   outputShowMultipleTargets: boolean;
   contourSortMode: number;
   cameraExposureUs: number;
+  cameraMinExposureUs: number;
+  cameraMaxExposureUs: number;
   offsetSinglePoint: { x: number; y: number };
   cameraBrightness: number;
   offsetDualPointAArea: number;
diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 87f954ce6c..1ab9fa3f70 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -189,6 +189,9 @@ export interface CameraSettings {
 
   cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
+
+  minExposureUs: number;
+  maxExposureUs: number;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -287,7 +290,9 @@ export const PlaceholderCameraSettings: CameraSettings = {
       StickyFPS: false
     }
   },
-  isCSICamera: false
+  isCSICamera: false,
+  minExposureUs: 1,
+  maxExposureUs: 100
 };
 
 export enum CalibrationBoardTypes {
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index de209e7f9d..ac4b8d95d4 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -58,6 +58,8 @@ export interface WebsocketCameraSettingsUpdate {
   pipelineNicknames: string[];
   videoFormatList: WebsocketVideoFormat;
   cameraQuirks: QuirkyCamera;
+  minExposureUs: number;
+  maxExposureUs: number;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index dd1eabe3b7..285ce85464 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -178,5 +178,7 @@ public static class UICameraConfiguration {
         public boolean isFovConfigurable = true;
         public QuirkyCamera cameraQuirks;
         public boolean isCSICamera;
+        public double minExposureUs;
+        public double maxExposureUs;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index 5475263e9e..55c86a8e5b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -122,5 +122,15 @@ protected void setVideoModeInternal(VideoMode videoMode) {
         public HashMap<Integer, VideoMode> getAllVideoModes() {
             return videoModes;
         }
+
+        @Override
+        public double getMinExposureUs() {
+            return 1f;
+        }
+
+        @Override
+        public double getMaxExposureUs() {
+            return 100f;
+        }
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index 05b12021d2..e76611dee2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -40,6 +40,9 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
 
     private final LibCameraJNI.SensorModel sensorModel;
 
+    private double minExposure = 1;
+    private double maxExposure = 80000;
+
     private ImageRotationMode m_rotationMode = ImageRotationMode.DEG_0;
 
     public final Object CAMERA_LOCK = new Object();
@@ -100,6 +103,12 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {
         // TODO need to add more video modes for new sensors here
 
         currentVideoMode = (FPSRatedVideoMode) videoModes.get(0);
+
+        if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
+            minExposure = 7;
+        } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
+            minExposure = 560;
+        }
     }
 
     @Override
@@ -123,15 +132,6 @@ public void setExposureUs(double exposureUs) {
         // Store the exposure for use when we need to recreate the camera.
         lastManualExposure = exposureUs;
 
-        // Minimum exposure can't be below 1uS cause otherwise it would be 0 and 0 is auto exposure.
-        double minExposure = 1;
-        double maxExposure = 80000;
-
-        if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
-            minExposure = 7;
-        } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
-            minExposure = 560;
-        }
         // 80,000 uS seems like an exposure value that will be greater than ever needed while giving
         // enough control over exposure.
         exposureUs = MathUtils.limit(exposureUs, minExposure, maxExposure);
@@ -246,4 +246,14 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
     public LibCameraJNI.SensorModel getModel() {
         return sensorModel;
     }
+
+    @Override
+    public double getMinExposureUs() {
+        return this.minExposure;
+    }
+
+    @Override
+    public double getMaxExposureUs() {
+        return this.maxExposure;
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 84831b558b..8cc8189fb9 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -212,13 +212,13 @@ private void printCameraProperaties() {
     private void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
-        // softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
-        // softSet("power_line_frequency", 2); // Assume 60Hz USA
-        // softSet("scene_mode", 0); // no presets
-        // softSet("exposure_metering_mode", 0);
-        // softSet("exposure_dynamic_framerate", 0);
-        // softSet("focus_auto", 0);
-        // softSet("focus_absolute", 0); // Focus into infinity
+        softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
+        softSet("power_line_frequency", 2); // Assume 60Hz USA
+        softSet("scene_mode", 0); // no presets
+        softSet("exposure_metering_mode", 0);
+        softSet("exposure_dynamic_framerate", 0);
+        softSet("focus_auto", 0);
+        softSet("focus_absolute", 0); // Focus into infinity
     }
 
     public QuirkyCamera getCameraQuirks() {
@@ -244,11 +244,23 @@ public class USBCameraSettables extends VisionSourceSettables {
         // changing exposure
         private int lastBrightness = -1;
 
+        double minExposure = 1;
+        double maxExposure = 80000;
+
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
             if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
+
+            this.minExposure = exposureAbsProp.getMin();
+            this.maxExposure = exposureAbsProp.getMax();
+
+            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
+                // Property limits are incorrect
+                this.minExposure = 1;
+                this.maxExposure = 75;
+            }
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
@@ -256,12 +268,12 @@ public void setAutoExposure(boolean cameraAutoExposure) {
 
             if (!cameraAutoExposure) {
                 // Pick a bunch of reasonable setting defaults for vision processing
-                // softSet("auto_exposure_bias", 0);
-                // softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
-                // softSet("iso_sensitivity", 0); // Manual ISO adjustment
-                // softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
-                // softSet("white_balance_automatic", 0);
-                // softSet("white_balance_temperature", 4000);
+                softSet("auto_exposure_bias", 0);
+                softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
+                softSet("iso_sensitivity", 0); // Manual ISO adjustment
+                softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
+                softSet("white_balance_automatic", 0);
+                softSet("white_balance_temperature", 4000);
                 autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
 
                 // Most cameras leave exposure time absolute at the last value from their AE algorithm.
@@ -270,32 +282,34 @@ public void setAutoExposure(boolean cameraAutoExposure) {
 
             } else {
                 // Pick a bunch of reasonable setting to make the picture nice-for-humans
-                // softSet("auto_exposure_bias", 12);
-                // softSet("iso_sensitivity_auto", 1);
-                // softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
-                // softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
-                // softSet("white_balance_automatic", 1);
+                softSet("auto_exposure_bias", 12);
+                softSet("iso_sensitivity_auto", 1);
+                softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
+                softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
+                softSet("white_balance_automatic", 1);
                 autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
                 camera.setExposureAuto(); // belt-and-suspenders with cscore's call too.
             }
         }
 
+        @Override
+        public double getMinExposureUs() {
+            return this.minExposure;
+        }
+
+        @Override
+        public double getMaxExposureUs() {
+            return this.maxExposure;
+        }
+
         @Override
         public void setExposureUs(double exposureUs) {
             if (exposureUs >= 0.0) {
                 try {
-                    autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
-                    var propMin = exposureAbsProp.getMin();
-                    var propMax = exposureAbsProp.getMax();
-
-                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
-                        // Property limits are incorrect
-                        propMin = 1;
-                        propMax = 75;
-                    }
+                    autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
-                    int propVal = (int) MathUtils.limit(exposureUs, propMin, propMax);
+                    int propVal = (int) MathUtils.limit(exposureUs, this.minExposure, this.maxExposure);
 
                     if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
                         // Lifecam only allows certain settings for exposure
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index 360262b40d..c8c92ce6b2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -43,6 +43,8 @@ public class CVPipelineSettings implements Cloneable {
     public boolean cameraAutoExposure = false;
     // manual exposure only used if cameraAutoExposure is false
     public double cameraExposureUs = 20;
+    public double cameraMinExposureUs = 1;
+    public double cameraMaxExposureUs = 100;
     public int cameraBrightness = 50;
     // Currently only used by a few cameras (notably the zero-copy Pi Camera driver) with the Gain
     // quirk
@@ -63,6 +65,8 @@ public boolean equals(Object o) {
         CVPipelineSettings that = (CVPipelineSettings) o;
         return pipelineIndex == that.pipelineIndex
                 && Double.compare(that.cameraExposureUs, cameraExposureUs) == 0
+                && Double.compare(that.cameraMinExposureUs, cameraMinExposureUs) == 0
+                && Double.compare(that.cameraMaxExposureUs, cameraMaxExposureUs) == 0
                 && Double.compare(that.cameraBrightness, cameraBrightness) == 0
                 && Double.compare(that.cameraGain, cameraGain) == 0
                 && Double.compare(that.cameraRedGain, cameraRedGain) == 0
@@ -85,6 +89,8 @@ public int hashCode() {
                 inputImageRotationMode,
                 pipelineNickname,
                 cameraExposureUs,
+                cameraMinExposureUs,
+                cameraMaxExposureUs,
                 cameraBrightness,
                 cameraGain,
                 cameraRedGain,
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index be354bc169..0036205191 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -511,6 +511,8 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
         ret.currentPipelineIndex = pipelineManager.getRequestedIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
         ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
+        ret.maxExposureUs = visionSource.getSettables().getMaxExposureUs();
+        ret.minExposureUs = visionSource.getSettables().getMinExposureUs();
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
index 43523f34cd..a692ca9b2c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -44,6 +44,10 @@ public CameraConfiguration getConfiguration() {
 
     public abstract void setExposureUs(double exposureUs);
 
+    public abstract double getMinExposureUs();
+
+    public abstract double getMaxExposureUs();
+
     public abstract void setAutoExposure(boolean cameraAutoExposure);
 
     public abstract void setBrightness(int brightness);
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index fe91189b2a..4766eb8936 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -108,6 +108,16 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
 
         @Override
         public void setAutoExposure(boolean cameraAutoExposure) {}
+
+        @Override
+        public double getMinExposureUs() {
+            return 1;
+        }
+
+        @Override
+        public double getMaxExposureUs() {
+            return 1234;
+        }
     }
 
     private static class TestDataConsumer implements CVPipelineResultConsumer {

From 8b4a2de4e8a4b9233accea518b5ffbae058df5ca Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Thu, 27 Jun 2024 19:04:36 -0500
Subject: [PATCH 06/34] renamed things for better reflection of what it
 actually is

---
 .../cameras/CameraCalibrationCard.vue         | 12 +--
 .../components/dashboard/tabs/InputTab.vue    | 12 +--
 .../stores/settings/CameraSettingsStore.ts    | 12 +--
 photon-client/src/types/PipelineTypes.ts      | 18 ++---
 photon-client/src/types/SettingTypes.ts       |  8 +-
 photon-client/src/types/WebsocketDataTypes.ts |  4 +-
 .../configuration/PhotonConfiguration.java    |  4 +-
 .../vision/camera/CameraQuirk.java            |  2 +
 .../vision/camera/FileVisionSource.java       |  6 +-
 .../vision/camera/LibcameraGpuSettables.java  | 16 ++--
 .../vision/camera/QuirkyCamera.java           | 35 ++++++---
 .../vision/camera/USBCameraSource.java        | 74 +++++++++++--------
 .../pipeline/AprilTagPipelineSettings.java    |  2 +-
 .../pipeline/ArucoPipelineSettings.java       |  2 +-
 .../vision/pipeline/CVPipelineSettings.java   | 22 +++---
 .../ColoredShapePipelineSettings.java         |  2 +-
 .../ObjectDetectionPipelineSettings.java      |  2 +-
 .../pipeline/ReflectivePipelineSettings.java  |  2 +-
 .../vision/processes/VisionModule.java        | 10 +--
 .../processes/VisionSourceSettables.java      |  6 +-
 .../processes/VisionModuleManagerTest.java    |  6 +-
 21 files changed, 142 insertions(+), 115 deletions(-)

diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index 0594b97de3..c9ba6c3d34 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -389,15 +389,15 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
         <v-row v-if="isCalibrating">
           <v-col cols="12" class="pt-0">
             <pv-slider
-              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureUs"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureRaw"
               :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
-              label="Exposure (μS)"
-              tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
-              :min="useCameraSettingsStore().minExposureUs"
-              :max="useCameraSettingsStore().maxExposureUs"
+              label="Exposure"
+              tooltip="Directly controls how long the camera shutter remains open. Units are dependant on the underlying driver."
+              :min="useCameraSettingsStore().minExposureRaw"
+              :max="useCameraSettingsStore().maxExposureRaw"
               :slider-cols="8"
               :step="1"
-              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureRaw: args }, false)"
             />
             <pv-slider
               v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue
index b0468e5348..9c883ad20a 100644
--- a/photon-client/src/components/dashboard/tabs/InputTab.vue
+++ b/photon-client/src/components/dashboard/tabs/InputTab.vue
@@ -74,15 +74,15 @@ const interactiveCols = computed(() =>
 <template>
   <div>
     <pv-slider
-      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureUs"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureRaw"
       :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
-      label="Exposure (μS)"
-      tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
-      :min="useCameraSettingsStore().minExposureUs"
-      :max="useCameraSettingsStore().maxExposureUs"
+      label="Exposure"
+      tooltip="Directly controls how long the camera shutter remains open. Units are dependant on the underlying driver."
+      :min="useCameraSettingsStore().minExposureRaw"
+      :max="useCameraSettingsStore().maxExposureRaw"
       :slider-cols="interactiveCols"
       :step="1"
-      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureRaw: args }, false)"
     />
     <pv-slider
       v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
index 1965b55cf6..e591e6f887 100644
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -69,11 +69,11 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     isCSICamera(): boolean {
       return this.currentCameraSettings.isCSICamera;
     },
-    minExposureUs(): number {
-      return this.currentCameraSettings.minExposureUs;
+    minExposureRaw(): number {
+      return this.currentCameraSettings.minExposureRaw;
     },
-    maxExposureUs(): number {
-      return this.currentCameraSettings.maxExposureUs;
+    maxExposureRaw(): number {
+      return this.currentCameraSettings.maxExposureRaw;
     }
   },
   actions: {
@@ -108,8 +108,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           })),
         completeCalibrations: d.calibrations,
         isCSICamera: d.isCSICamera,
-        minExposureUs: d.minExposureUs,
-        maxExposureUs: d.maxExposureUs,
+        minExposureRaw: d.minExposureRaw,
+        maxExposureRaw: d.maxExposureRaw,
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
         pipelineSettings: d.currentPipelineSettings,
diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
index b9e068d021..55298cae5c 100644
--- a/photon-client/src/types/PipelineTypes.ts
+++ b/photon-client/src/types/PipelineTypes.ts
@@ -64,9 +64,9 @@ export interface PipelineSettings {
   hueInverted: boolean;
   outputShowMultipleTargets: boolean;
   contourSortMode: number;
-  cameraExposureUs: number;
-  cameraMinExposureUs: number;
-  cameraMaxExposureUs: number;
+  cameraExposureRaw: number;
+  cameraMinexposureRaw: number;
+  cameraMaxexposureRaw: number;
   offsetSinglePoint: { x: number; y: number };
   cameraBrightness: number;
   offsetDualPointAArea: number;
@@ -99,7 +99,7 @@ export type ConfigurablePipelineSettings = Partial<
 // Omitted settings are changed for all pipeline types
 export const DefaultPipelineSettings: Omit<
   PipelineSettings,
-  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposureUs" | "pipelineType"
+  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposureRaw" | "pipelineType"
 > = {
   offsetRobotOffsetMode: RobotOffsetPointMode.None,
   streamingFrameDivisor: 0,
@@ -153,7 +153,7 @@ export const DefaultReflectivePipelineSettings: ReflectivePipelineSettings = {
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposureUs: 6,
+  cameraExposureRaw: 6,
   pipelineType: PipelineType.Reflective,
 
   contourFilterRangeY: 2,
@@ -184,7 +184,7 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposureUs: 20,
+  cameraExposureRaw: 20,
   pipelineType: PipelineType.ColoredShape,
 
   erode: false,
@@ -224,7 +224,7 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   targetModel: TargetModel.AprilTag6p5in_36h11,
   ledMode: false,
   outputShowMultipleTargets: true,
-  cameraExposureUs: 20,
+  cameraExposureRaw: 20,
   pipelineType: PipelineType.AprilTag,
 
   hammingDist: 0,
@@ -266,7 +266,7 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   cameraGain: 75,
   outputShowMultipleTargets: true,
   targetModel: TargetModel.AprilTag6p5in_36h11,
-  cameraExposureUs: -1,
+  cameraExposureRaw: -1,
   cameraAutoExposure: true,
   ledMode: false,
   pipelineType: PipelineType.Aruco,
@@ -301,7 +301,7 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposureUs: 6,
+  cameraExposureRaw: 6,
   confidence: 0.9,
   nms: 0.45,
   box_thresh: 0.25
diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 1ab9fa3f70..8b12665d24 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -190,8 +190,8 @@ export interface CameraSettings {
   cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
 
-  minExposureUs: number;
-  maxExposureUs: number;
+  minExposureRaw: number;
+  maxExposureRaw: number;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -291,8 +291,8 @@ export const PlaceholderCameraSettings: CameraSettings = {
     }
   },
   isCSICamera: false,
-  minExposureUs: 1,
-  maxExposureUs: 100
+  minExposureRaw: 1,
+  maxExposureRaw: 100
 };
 
 export enum CalibrationBoardTypes {
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index ac4b8d95d4..9b7f060923 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -58,8 +58,8 @@ export interface WebsocketCameraSettingsUpdate {
   pipelineNicknames: string[];
   videoFormatList: WebsocketVideoFormat;
   cameraQuirks: QuirkyCamera;
-  minExposureUs: number;
-  maxExposureUs: number;
+  minExposureRaw: number;
+  maxExposureRaw: number;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index 285ce85464..246d263b26 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -178,7 +178,7 @@ public static class UICameraConfiguration {
         public boolean isFovConfigurable = true;
         public QuirkyCamera cameraQuirks;
         public boolean isCSICamera;
-        public double minExposureUs;
-        public double maxExposureUs;
+        public double minExposureRaw;
+        public double maxExposureRaw;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index d23ad86990..17bbb65299 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -22,6 +22,8 @@ public enum CameraQuirk {
     Gain,
     /** Only certain discrete exposure settings work */
     LifeCamExposure,
+    /** Auto-Exposure property uses 1/0, rather than 3/1 */
+    OneZeroAutoExposure,
     /** Cap at 100FPS for high-bandwidth cameras */
     FPSCap100,
     /** Separate red/blue gain controls available */
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index 55c86a8e5b..3a8928dc1e 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -98,7 +98,7 @@ private static class FileSourceSettables extends VisionSourceSettables {
         }
 
         @Override
-        public void setExposureUs(double exposureUs) {}
+        public void setexposureRaw(double exposureRaw) {}
 
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
@@ -124,12 +124,12 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
         }
 
         @Override
-        public double getMinExposureUs() {
+        public double getMinexposureRaw() {
             return 1f;
         }
 
         @Override
-        public double getMaxExposureUs() {
+        public double getMaxexposureRaw() {
             return 100f;
         }
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index e76611dee2..2d95100c35 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -123,20 +123,20 @@ public void setAutoExposure(boolean cameraAutoExposure) {
     }
 
     @Override
-    public void setExposureUs(double exposureUs) {
-        if (exposureUs < 0.0 || lastAutoExposureActive) {
+    public void setexposureRaw(double exposureRaw) {
+        if (exposureRaw < 0.0 || lastAutoExposureActive) {
             // Auto-exposure is active right now, don't set anything.
             return;
         }
 
         // Store the exposure for use when we need to recreate the camera.
-        lastManualExposure = exposureUs;
+        lastManualExposure = exposureRaw;
 
         // 80,000 uS seems like an exposure value that will be greater than ever needed while giving
         // enough control over exposure.
-        exposureUs = MathUtils.limit(exposureUs, minExposure, maxExposure);
+        exposureRaw = MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
-        var success = LibCameraJNI.setExposure(r_ptr, (int) exposureUs);
+        var success = LibCameraJNI.setExposure(r_ptr, (int) exposureRaw);
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera exposure");
     }
 
@@ -227,7 +227,7 @@ protected void setVideoModeInternal(VideoMode videoMode) {
 
         // We don't store last settings on the native side, and when you change video mode these get
         // reset on MMAL's end
-        setExposureUs(lastManualExposure);
+        setexposureRaw(lastManualExposure);
         setAutoExposure(lastAutoExposureActive);
         setBrightness(lastBrightness);
         setGain(lastGain);
@@ -248,12 +248,12 @@ public LibCameraJNI.SensorModel getModel() {
     }
 
     @Override
-    public double getMinExposureUs() {
+    public double getMinexposureRaw() {
         return this.minExposure;
     }
 
     @Override
-    public double getMaxExposureUs() {
+    public double getMaxexposureRaw() {
         return this.maxExposure;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index f08f4092f5..324d315274 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -28,30 +28,43 @@
 public class QuirkyCamera {
     private static final List<QuirkyCamera> quirkyCameras =
             List.of(
+                    // Chris's older generic "Logitec HD Webcam"
                     new QuirkyCamera(
                             0x9331,
                             0x5A3,
-                            CameraQuirk.CompletelyBroken), // Chris's older generic "Logitec HD Webcam"
-                    new QuirkyCamera(0x825, 0x46D, CameraQuirk.CompletelyBroken), // Logitec C270
+                            CameraQuirk.CompletelyBroken), 
+                    // Logitec C270
+                    new QuirkyCamera(0x825, 0x46D, CameraQuirk.CompletelyBroken), 
+                    // A laptop internal camera someone found broken
                     new QuirkyCamera(
                             0x0bda,
                             0x5510,
-                            CameraQuirk.CompletelyBroken), // A laptop internal camera someone found broken
+                            CameraQuirk.CompletelyBroken), 
+                    // SnapCamera on Windows
                     new QuirkyCamera(
-                            -1, -1, "Snap Camera", CameraQuirk.CompletelyBroken), // SnapCamera on Windows
+                            -1, -1, "Snap Camera", CameraQuirk.CompletelyBroken), 
+                    // Mac Facetime Camera shared into Windows in Bootcamp
                     new QuirkyCamera(
                             -1,
                             -1,
                             "FaceTime HD Camera",
-                            CameraQuirk.CompletelyBroken), // Mac Facetime Camera shared into Windows in Bootcamp
+                            CameraQuirk.CompletelyBroken), 
+                    // Microsoft Lifecam
                     new QuirkyCamera(
-                            -1, -1, "LifeCam HD-3000", CameraQuirk.LifeCamExposure), // Microsoft Lifecam
+                            -1, -1, "LifeCam HD-3000", CameraQuirk.LifeCamExposure), 
+                    // Microsoft Lifecam
                     new QuirkyCamera(
-                            -1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamExposure), // Microsoft Lifecam
-                    new QuirkyCamera(0x2000, 0x1415, CameraQuirk.Gain, CameraQuirk.FPSCap100), // PS3Eye
-                    new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
-                    // Generic arducam. Since OV2311 can't be differentiated at first boot, apply stickyFPS to
-                    // the generic case, too
+                            -1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamExposure), 
+                    // PS3Eye
+                    new QuirkyCamera(0x1415, 
+                                    0x2000,
+                                     CameraQuirk.Gain, 
+                                     CameraQuirk.FPSCap100, 
+                                     CameraQuirk.OneZeroAutoExposure), 
+                    // Logitech C925-e
+                    new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus),
+                    // Generic arducam. Since OV2311 can't be differentiated 
+                    // at first boot, apply stickyFPS to the generic case, too
                     new QuirkyCamera(
                             0x0c45,
                             0x6366,
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 8cc8189fb9..3429217531 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -47,9 +47,12 @@ public class USBCameraSource extends VisionSource {
 
     private VideoProperty exposureAbsProp = null;
     private VideoProperty autoExposureProp = null;
+    private double minExposure = 1;
+    private double maxExposure = 80000;
 
-    private static final int PROP_AUTO_EXPOSURE_ENABLED = 3;
-    private static final int PROP_AUTO_EXPOSURE_DISABLED = 1;
+
+    private int PROP_AUTO_EXPOSURE_ENABLED = 3;
+    private int PROP_AUTO_EXPOSURE_DISABLED = 1;
 
     public USBCameraSource(CameraConfiguration config) {
         super(config);
@@ -66,9 +69,11 @@ public USBCameraSource(CameraConfiguration config) {
         if (config.usbVID <= 0) config.usbVID = this.camera.getInfo().vendorId;
         if (config.usbPID <= 0) config.usbPID = this.camera.getInfo().productId;
 
-        getCameraConfiguration().cameraQuirks =
-                QuirkyCamera.getQuirkyCamera(
-                        camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
+        if(getCameraConfiguration().cameraQuirks == null){
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(
+                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
+        }
 
         if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
             logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
@@ -79,7 +84,7 @@ public USBCameraSource(CameraConfiguration config) {
         printCameraProperaties();
 
         // Photonvision needs to be able to control absolute exposure. Make sure we can first.
-        var expProp = findProperty("raw_exposure_absolute", "raw_exposure_time_absolute");
+        var expProp = findProperty("raw_exposure_absolute", "raw_exposure_time_absolute", "exposure");
 
         // Photonvision needs to be able to control auto exposure. Make sure we can first.
         var autoExpProp = findProperty("exposure_auto", "auto_exposure");
@@ -114,6 +119,26 @@ public USBCameraSource(CameraConfiguration config) {
                 setAllCamDefaults();
                 exposureAbsProp = expProp.get();
                 autoExposureProp = autoExpProp.get();
+
+                
+                this.minExposure = exposureAbsProp.getMin();
+                this.maxExposure = exposureAbsProp.getMax();
+
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
+                    // Property limits are incorrect
+                    this.minExposure = 1;
+                    this.maxExposure = 75;
+                }
+
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
+                    // Camera seems unstable above this point.
+                    this.maxExposure = 750;
+                }
+
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.OneZeroAutoExposure)){
+                    PROP_AUTO_EXPOSURE_ENABLED = 0;
+                    PROP_AUTO_EXPOSURE_DISABLED = 1;
+                }
             }
         }
     }
@@ -238,29 +263,18 @@ public VisionSourceSettables getSettables() {
     public class USBCameraSettables extends VisionSourceSettables {
         // We need to remember the last exposure set when exiting
         // auto exposure mode so we can restore it
-        private double lastExposureUs = -1;
+        private double lastexposureRaw = -1;
 
         // Some cameras need logic where we re-apply brightness after
         // changing exposure
         private int lastBrightness = -1;
 
-        double minExposure = 1;
-        double maxExposure = 80000;
-
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
             if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
 
-            this.minExposure = exposureAbsProp.getMin();
-            this.maxExposure = exposureAbsProp.getMax();
-
-            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
-                // Property limits are incorrect
-                this.minExposure = 1;
-                this.maxExposure = 75;
-            }
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
@@ -278,7 +292,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
 
                 // Most cameras leave exposure time absolute at the last value from their AE algorithm.
                 // Set it back to the exposure slider value
-                setExposureUs(this.lastExposureUs);
+                setexposureRaw(this.lastexposureRaw);
 
             } else {
                 // Pick a bunch of reasonable setting to make the picture nice-for-humans
@@ -288,28 +302,27 @@ public void setAutoExposure(boolean cameraAutoExposure) {
                 softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
                 softSet("white_balance_automatic", 1);
                 autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
-                camera.setExposureAuto(); // belt-and-suspenders with cscore's call too.
             }
         }
 
         @Override
-        public double getMinExposureUs() {
-            return this.minExposure;
+        public double getMinexposureRaw() {
+            return minExposure;
         }
 
         @Override
-        public double getMaxExposureUs() {
-            return this.maxExposure;
+        public double getMaxexposureRaw() {
+            return maxExposure;
         }
 
         @Override
-        public void setExposureUs(double exposureUs) {
-            if (exposureUs >= 0.0) {
+        public void setexposureRaw(double exposureRaw) {
+            if (exposureRaw >= 0.0) {
                 try {
 
                     autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
-                    int propVal = (int) MathUtils.limit(exposureUs, this.minExposure, this.maxExposure);
+                    int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
                     if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
                         // Lifecam only allows certain settings for exposure
@@ -322,20 +335,19 @@ public void setExposureUs(double exposureUs) {
                                     + " to "
                                     + propVal
                                     + " (user requested "
-                                    + exposureUs
+                                    + exposureRaw
                                     + " μs)");
 
                     exposureAbsProp.set(propVal);
 
-                    this.lastExposureUs = exposureUs;
+                    this.lastexposureRaw = exposureRaw;
 
                     if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
                         // Lifecam requires setting brightness again after exposure
                         // And it requires setting it twice, ensuring the value is different
                         // This camera is very bork.
                         if (lastBrightness >= 0) {
-                            camera.setBrightness(0);
-                            camera.setBrightness(lastBrightness);
+                            setBrightness(lastBrightness-1);
                         }
                     }
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
index 8696fd68f2..f204d1fcb2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
@@ -42,7 +42,7 @@ public AprilTagPipelineSettings() {
         pipelineType = PipelineType.AprilTag;
         outputShowMultipleTargets = true;
         targetModel = TargetModel.kAprilTag6p5in_36h11;
-        cameraExposureUs = 20;
+        cameraExposureRaw = 20;
         cameraAutoExposure = false;
         ledMode = false;
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
index 1bf37e6540..f33ae44624 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
@@ -47,7 +47,7 @@ public ArucoPipelineSettings() {
         pipelineType = PipelineType.Aruco;
         outputShowMultipleTargets = true;
         targetModel = TargetModel.kAprilTag6p5in_36h11;
-        cameraExposureUs = -1;
+        cameraExposureRaw = -1;
         cameraAutoExposure = true;
         ledMode = false;
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index c8c92ce6b2..0879ceeb1a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -42,9 +42,9 @@ public class CVPipelineSettings implements Cloneable {
     public String pipelineNickname = "New Pipeline";
     public boolean cameraAutoExposure = false;
     // manual exposure only used if cameraAutoExposure is false
-    public double cameraExposureUs = 20;
-    public double cameraMinExposureUs = 1;
-    public double cameraMaxExposureUs = 100;
+    public double cameraExposureRaw = 20;
+    public double cameraMinexposureRaw = 1;
+    public double cameraMaxexposureRaw = 100;
     public int cameraBrightness = 50;
     // Currently only used by a few cameras (notably the zero-copy Pi Camera driver) with the Gain
     // quirk
@@ -64,9 +64,9 @@ public boolean equals(Object o) {
         if (o == null || getClass() != o.getClass()) return false;
         CVPipelineSettings that = (CVPipelineSettings) o;
         return pipelineIndex == that.pipelineIndex
-                && Double.compare(that.cameraExposureUs, cameraExposureUs) == 0
-                && Double.compare(that.cameraMinExposureUs, cameraMinExposureUs) == 0
-                && Double.compare(that.cameraMaxExposureUs, cameraMaxExposureUs) == 0
+                && Double.compare(that.cameraExposureRaw, cameraExposureRaw) == 0
+                && Double.compare(that.cameraMinexposureRaw, cameraMinexposureRaw) == 0
+                && Double.compare(that.cameraMaxexposureRaw, cameraMaxexposureRaw) == 0
                 && Double.compare(that.cameraBrightness, cameraBrightness) == 0
                 && Double.compare(that.cameraGain, cameraGain) == 0
                 && Double.compare(that.cameraRedGain, cameraRedGain) == 0
@@ -88,9 +88,9 @@ public int hashCode() {
                 pipelineType,
                 inputImageRotationMode,
                 pipelineNickname,
-                cameraExposureUs,
-                cameraMinExposureUs,
-                cameraMaxExposureUs,
+                cameraExposureRaw,
+                cameraMinexposureRaw,
+                cameraMaxexposureRaw,
                 cameraBrightness,
                 cameraGain,
                 cameraRedGain,
@@ -124,8 +124,8 @@ public String toString() {
                 + ", pipelineNickname='"
                 + pipelineNickname
                 + '\''
-                + ", cameraExposureUs="
-                + cameraExposureUs
+                + ", cameraExposureRaw="
+                + cameraExposureRaw
                 + ", cameraBrightness="
                 + cameraBrightness
                 + ", cameraGain="
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
index 83c303e77d..b7f7d9d065 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
@@ -42,7 +42,7 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
     public ColoredShapePipelineSettings() {
         super();
         pipelineType = PipelineType.ColoredShape;
-        cameraExposureUs = 20;
+        cameraExposureRaw = 20;
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java
index d9a8d2a208..118e73b329 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java
@@ -25,7 +25,7 @@ public ObjectDetectionPipelineSettings() {
         super();
         this.pipelineType = PipelineType.ObjectDetection; // TODO: FIX this
         this.outputShowMultipleTargets = true;
-        cameraExposureUs = 20;
+        cameraExposureRaw = 20;
         cameraAutoExposure = false;
         ledMode = false;
         confidence = .9;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
index f417c1a0da..21add81c42 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
@@ -27,7 +27,7 @@ public class ReflectivePipelineSettings extends AdvancedPipelineSettings {
     public ReflectivePipelineSettings() {
         super();
         pipelineType = PipelineType.Reflective;
-        cameraExposureUs = 6;
+        cameraExposureRaw = 6;
         cameraGain = 20;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 0036205191..ba7e0f99b7 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -411,11 +411,11 @@ boolean setPipeline(int index) {
 
         // If manual exposure, force exposure slider to be valid
         if (!pipelineSettings.cameraAutoExposure) {
-            if (pipelineSettings.cameraExposureUs < 0)
-                pipelineSettings.cameraExposureUs = 10; // reasonable default
+            if (pipelineSettings.cameraExposureRaw < 0)
+                pipelineSettings.cameraExposureRaw = 10; // reasonable default
         }
 
-        visionSource.getSettables().setExposureUs(pipelineSettings.cameraExposureUs);
+        visionSource.getSettables().setexposureRaw(pipelineSettings.cameraExposureRaw);
         try {
             visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
         } catch (VideoException e) {
@@ -511,8 +511,8 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
         ret.currentPipelineIndex = pipelineManager.getRequestedIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
         ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
-        ret.maxExposureUs = visionSource.getSettables().getMaxExposureUs();
-        ret.minExposureUs = visionSource.getSettables().getMinExposureUs();
+        ret.maxExposureRaw = visionSource.getSettables().getMaxexposureRaw();
+        ret.minExposureRaw = visionSource.getSettables().getMinexposureRaw();
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
index a692ca9b2c..cc88f8389c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -42,11 +42,11 @@ public CameraConfiguration getConfiguration() {
         return configuration;
     }
 
-    public abstract void setExposureUs(double exposureUs);
+    public abstract void setexposureRaw(double exposureRaw);
 
-    public abstract double getMinExposureUs();
+    public abstract double getMinexposureRaw();
 
-    public abstract double getMaxExposureUs();
+    public abstract double getMaxexposureRaw();
 
     public abstract void setAutoExposure(boolean cameraAutoExposure);
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index 4766eb8936..f82fd6ff48 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -81,7 +81,7 @@ protected TestSettables(CameraConfiguration configuration) {
         }
 
         @Override
-        public void setExposureUs(double exposure) {}
+        public void setexposureRaw(double exposure) {}
 
         @Override
         public void setBrightness(int brightness) {}
@@ -110,12 +110,12 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
         @Override
-        public double getMinExposureUs() {
+        public double getMinexposureRaw() {
             return 1;
         }
 
         @Override
-        public double getMaxExposureUs() {
+        public double getMaxexposureRaw() {
             return 1234;
         }
     }

From 71177ba147827bd5161ec5e3e20c1a4fefde603a Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Thu, 27 Jun 2024 19:06:46 -0500
Subject: [PATCH 07/34] Spotless, reset index.html

---
 .../vision/camera/QuirkyCamera.java           | 40 +++++++------------
 .../vision/camera/USBCameraSource.java        | 10 ++---
 .../src/main/resources/web/index.html         | 16 +-------
 3 files changed, 18 insertions(+), 48 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index 324d315274..e02b75eca0 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -29,41 +29,29 @@ public class QuirkyCamera {
     private static final List<QuirkyCamera> quirkyCameras =
             List.of(
                     // Chris's older generic "Logitec HD Webcam"
-                    new QuirkyCamera(
-                            0x9331,
-                            0x5A3,
-                            CameraQuirk.CompletelyBroken), 
+                    new QuirkyCamera(0x9331, 0x5A3, CameraQuirk.CompletelyBroken),
                     // Logitec C270
-                    new QuirkyCamera(0x825, 0x46D, CameraQuirk.CompletelyBroken), 
+                    new QuirkyCamera(0x825, 0x46D, CameraQuirk.CompletelyBroken),
                     // A laptop internal camera someone found broken
-                    new QuirkyCamera(
-                            0x0bda,
-                            0x5510,
-                            CameraQuirk.CompletelyBroken), 
+                    new QuirkyCamera(0x0bda, 0x5510, CameraQuirk.CompletelyBroken),
                     // SnapCamera on Windows
-                    new QuirkyCamera(
-                            -1, -1, "Snap Camera", CameraQuirk.CompletelyBroken), 
+                    new QuirkyCamera(-1, -1, "Snap Camera", CameraQuirk.CompletelyBroken),
                     // Mac Facetime Camera shared into Windows in Bootcamp
-                    new QuirkyCamera(
-                            -1,
-                            -1,
-                            "FaceTime HD Camera",
-                            CameraQuirk.CompletelyBroken), 
+                    new QuirkyCamera(-1, -1, "FaceTime HD Camera", CameraQuirk.CompletelyBroken),
                     // Microsoft Lifecam
-                    new QuirkyCamera(
-                            -1, -1, "LifeCam HD-3000", CameraQuirk.LifeCamExposure), 
+                    new QuirkyCamera(-1, -1, "LifeCam HD-3000", CameraQuirk.LifeCamExposure),
                     // Microsoft Lifecam
-                    new QuirkyCamera(
-                            -1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamExposure), 
+                    new QuirkyCamera(-1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamExposure),
                     // PS3Eye
-                    new QuirkyCamera(0x1415, 
-                                    0x2000,
-                                     CameraQuirk.Gain, 
-                                     CameraQuirk.FPSCap100, 
-                                     CameraQuirk.OneZeroAutoExposure), 
+                    new QuirkyCamera(
+                            0x1415,
+                            0x2000,
+                            CameraQuirk.Gain,
+                            CameraQuirk.FPSCap100,
+                            CameraQuirk.OneZeroAutoExposure),
                     // Logitech C925-e
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus),
-                    // Generic arducam. Since OV2311 can't be differentiated 
+                    // Generic arducam. Since OV2311 can't be differentiated
                     // at first boot, apply stickyFPS to the generic case, too
                     new QuirkyCamera(
                             0x0c45,
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 3429217531..9ab1d6f634 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -50,7 +50,6 @@ public class USBCameraSource extends VisionSource {
     private double minExposure = 1;
     private double maxExposure = 80000;
 
-
     private int PROP_AUTO_EXPOSURE_ENABLED = 3;
     private int PROP_AUTO_EXPOSURE_DISABLED = 1;
 
@@ -69,7 +68,7 @@ public USBCameraSource(CameraConfiguration config) {
         if (config.usbVID <= 0) config.usbVID = this.camera.getInfo().vendorId;
         if (config.usbPID <= 0) config.usbPID = this.camera.getInfo().productId;
 
-        if(getCameraConfiguration().cameraQuirks == null){
+        if (getCameraConfiguration().cameraQuirks == null) {
             getCameraConfiguration().cameraQuirks =
                     QuirkyCamera.getQuirkyCamera(
                             camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
@@ -120,7 +119,6 @@ public USBCameraSource(CameraConfiguration config) {
                 exposureAbsProp = expProp.get();
                 autoExposureProp = autoExpProp.get();
 
-                
                 this.minExposure = exposureAbsProp.getMin();
                 this.maxExposure = exposureAbsProp.getMax();
 
@@ -135,7 +133,7 @@ public USBCameraSource(CameraConfiguration config) {
                     this.maxExposure = 750;
                 }
 
-                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.OneZeroAutoExposure)){
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.OneZeroAutoExposure)) {
                     PROP_AUTO_EXPOSURE_ENABLED = 0;
                     PROP_AUTO_EXPOSURE_DISABLED = 1;
                 }
@@ -274,7 +272,6 @@ protected USBCameraSettables(CameraConfiguration configuration) {
             getAllVideoModes();
             if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
-
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
@@ -319,7 +316,6 @@ public double getMaxexposureRaw() {
         public void setexposureRaw(double exposureRaw) {
             if (exposureRaw >= 0.0) {
                 try {
-
                     autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
                     int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
@@ -347,7 +343,7 @@ public void setexposureRaw(double exposureRaw) {
                         // And it requires setting it twice, ensuring the value is different
                         // This camera is very bork.
                         if (lastBrightness >= 0) {
-                            setBrightness(lastBrightness-1);
+                            setBrightness(lastBrightness - 1);
                         }
                     }
 
diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html
index 1cffc9a5f0..988f55e6a3 100644
--- a/photon-server/src/main/resources/web/index.html
+++ b/photon-server/src/main/resources/web/index.html
@@ -1,15 +1 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <link rel="icon" href="./favicon.ico" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Photon Client</title>
-    <script type="module" crossorigin src="./assets/index-51a77745.js"></script>
-    <link rel="stylesheet" href="./assets/index-a60e9995.css">
-  </head>
-  <body>
-    <div id="app"></div>
-    
-  </body>
-</html>
+<p>UI has not been copied!</p>

From f52b3810949dac94801cd1fa9300fac5c4127b32 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 28 Jun 2024 10:21:41 -0500
Subject: [PATCH 08/34] Formatting cleanup, unit test cleanup (mocks for usb
 camera)

---
 photon-client/src/types/PipelineTypes.ts      |  4 +-
 .../vision/camera/FileVisionSource.java       |  6 +-
 .../vision/camera/LibcameraGpuSettables.java  |  8 +-
 .../vision/camera/USBCameraSource.java        | 88 +++++++++----------
 .../vision/pipeline/CVPipelineSettings.java   | 12 +--
 .../vision/processes/VisionModule.java        |  6 +-
 .../processes/VisionSourceSettables.java      |  6 +-
 .../photonvision/vision/QuirkyCameraTest.java |  3 +-
 .../vision/processes/MockUsbCameraSource.java | 52 +++++++++++
 .../processes/VisionModuleManagerTest.java    | 11 +--
 .../photon/simulation/SimCameraProperties.h   | 12 +--
 11 files changed, 127 insertions(+), 81 deletions(-)
 create mode 100644 photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java

diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
index 55298cae5c..4aa0d3c92d 100644
--- a/photon-client/src/types/PipelineTypes.ts
+++ b/photon-client/src/types/PipelineTypes.ts
@@ -65,8 +65,8 @@ export interface PipelineSettings {
   outputShowMultipleTargets: boolean;
   contourSortMode: number;
   cameraExposureRaw: number;
-  cameraMinexposureRaw: number;
-  cameraMaxexposureRaw: number;
+  cameraMinExposureRaw: number;
+  cameraMaxExposureRaw: number;
   offsetSinglePoint: { x: number; y: number };
   cameraBrightness: number;
   offsetDualPointAArea: number;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index 3a8928dc1e..ecb3b56b89 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -98,7 +98,7 @@ private static class FileSourceSettables extends VisionSourceSettables {
         }
 
         @Override
-        public void setexposureRaw(double exposureRaw) {}
+        public void setExposureRaw(double exposureRaw) {}
 
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
@@ -124,12 +124,12 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
         }
 
         @Override
-        public double getMinexposureRaw() {
+        public double getMinExposureRaw() {
             return 1f;
         }
 
         @Override
-        public double getMaxexposureRaw() {
+        public double getMaxExposureRaw() {
             return 100f;
         }
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index 2d95100c35..309a2fca86 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -123,7 +123,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
     }
 
     @Override
-    public void setexposureRaw(double exposureRaw) {
+    public void setExposureRaw(double exposureRaw) {
         if (exposureRaw < 0.0 || lastAutoExposureActive) {
             // Auto-exposure is active right now, don't set anything.
             return;
@@ -227,7 +227,7 @@ protected void setVideoModeInternal(VideoMode videoMode) {
 
         // We don't store last settings on the native side, and when you change video mode these get
         // reset on MMAL's end
-        setexposureRaw(lastManualExposure);
+        setExposureRaw(lastManualExposure);
         setAutoExposure(lastAutoExposureActive);
         setBrightness(lastBrightness);
         setGain(lastGain);
@@ -248,12 +248,12 @@ public LibCameraJNI.SensorModel getModel() {
     }
 
     @Override
-    public double getMinexposureRaw() {
+    public double getMinExposureRaw() {
         return this.minExposure;
     }
 
     @Override
-    public double getMaxexposureRaw() {
+    public double getMaxExposureRaw() {
         return this.maxExposure;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 9ab1d6f634..3f8e3d7464 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -41,8 +41,8 @@
 public class USBCameraSource extends VisionSource {
     private final Logger logger;
     private final UsbCamera camera;
-    private final USBCameraSettables usbCameraSettables;
-    private FrameProvider usbFrameProvider;
+    protected USBCameraSettables usbCameraSettables;
+    protected FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
     private VideoProperty exposureAbsProp = null;
@@ -116,7 +116,7 @@ public USBCameraSource(CameraConfiguration config) {
                 // Functional camera, set up the frame provider and configure defaults
                 usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
                 setAllCamDefaults();
-                exposureAbsProp = expProp.get();
+                exposureAbsProp  = expProp.get();
                 autoExposureProp = autoExpProp.get();
 
                 this.minExposure = exposureAbsProp.getMin();
@@ -141,22 +141,6 @@ public USBCameraSource(CameraConfiguration config) {
         }
     }
 
-    /**
-     * Mostly just used for unit tests to better simulate a usb camera without a camera being present.
-     */
-    public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
-        this(config);
-
-        getCameraConfiguration().cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
-
-        if (unitTest)
-            usbFrameProvider =
-                    new FileFrameProvider(
-                            TestUtils.getWPIImagePath(
-                                    TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
-                            TestUtils.WPI2019Image.FOV);
-    }
-
     /**
      * Returns the first property with a name in the list. Useful to find gandolf property that goes
      * by many names in different os/releases/whatever
@@ -183,7 +167,7 @@ private Optional<VideoProperty> findProperty(String... options) {
             retProp = null;
         }
 
-        return Optional.of(retProp);
+        return Optional.ofNullable(retProp);
     }
 
     /**
@@ -207,29 +191,36 @@ private void softSet(String property, int value) {
     }
 
     private void printCameraProperaties() {
-        VideoProperty[] cameraProperties = camera.enumerateProperties();
-        String cameraPropertiesStr = "Cam Properties Dump:\n";
-
-        for (int i = 0; i < cameraProperties.length; i++) {
-            cameraPropertiesStr +=
-                    "Name: "
-                            + cameraProperties[i].getName()
-                            + ", Kind: "
-                            + cameraProperties[i].getKind()
-                            + ", Value: "
-                            + cameraProperties[i].getKind().getValue()
-                            + ", Min: "
-                            + cameraProperties[i].getMin()
-                            + ", Max: "
-                            + cameraProperties[i].getMax()
-                            + ", Dflt: "
-                            + cameraProperties[i].getDefault()
-                            + ", Step: "
-                            + cameraProperties[i].getStep()
-                            + "\n";
+
+        VideoProperty[] cameraProperties = null;
+        try {
+            cameraProperties = camera.enumerateProperties();
+        } catch (VideoException e){
+            logger.error("Failed to list camera properties!", e);
         }
 
-        logger.debug(cameraPropertiesStr);
+        if(cameraProperties != null){
+            String cameraPropertiesStr = "Cam Properties Dump:\n";
+            for (int i = 0; i < cameraProperties.length; i++) {
+                cameraPropertiesStr +=
+                        "Name: "
+                                + cameraProperties[i].getName()
+                                + ", Kind: "
+                                + cameraProperties[i].getKind()
+                                + ", Value: "
+                                + cameraProperties[i].getKind().getValue()
+                                + ", Min: "
+                                + cameraProperties[i].getMin()
+                                + ", Max: "
+                                + cameraProperties[i].getMax()
+                                + ", Dflt: "
+                                + cameraProperties[i].getDefault()
+                                + ", Step: "
+                                + cameraProperties[i].getStep()
+                                + "\n";
+            }
+            logger.debug(cameraPropertiesStr);
+        }
     }
 
     private void setAllCamDefaults() {
@@ -261,13 +252,13 @@ public VisionSourceSettables getSettables() {
     public class USBCameraSettables extends VisionSourceSettables {
         // We need to remember the last exposure set when exiting
         // auto exposure mode so we can restore it
-        private double lastexposureRaw = -1;
+        private double lastExposureRaw = -1;
 
         // Some cameras need logic where we re-apply brightness after
         // changing exposure
         private int lastBrightness = -1;
 
-        protected USBCameraSettables(CameraConfiguration configuration) {
+        public USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
             if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
@@ -275,6 +266,7 @@ protected USBCameraSettables(CameraConfiguration configuration) {
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
+
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
             if (!cameraAutoExposure) {
@@ -289,7 +281,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
 
                 // Most cameras leave exposure time absolute at the last value from their AE algorithm.
                 // Set it back to the exposure slider value
-                setexposureRaw(this.lastexposureRaw);
+                setExposureRaw(this.lastExposureRaw);
 
             } else {
                 // Pick a bunch of reasonable setting to make the picture nice-for-humans
@@ -303,17 +295,17 @@ public void setAutoExposure(boolean cameraAutoExposure) {
         }
 
         @Override
-        public double getMinexposureRaw() {
+        public double getMinExposureRaw() {
             return minExposure;
         }
 
         @Override
-        public double getMaxexposureRaw() {
+        public double getMaxExposureRaw() {
             return maxExposure;
         }
 
         @Override
-        public void setexposureRaw(double exposureRaw) {
+        public void setExposureRaw(double exposureRaw) {
             if (exposureRaw >= 0.0) {
                 try {
                     autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
@@ -336,7 +328,7 @@ public void setexposureRaw(double exposureRaw) {
 
                     exposureAbsProp.set(propVal);
 
-                    this.lastexposureRaw = exposureRaw;
+                    this.lastExposureRaw = exposureRaw;
 
                     if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
                         // Lifecam requires setting brightness again after exposure
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index 0879ceeb1a..915e08e18c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -43,8 +43,8 @@ public class CVPipelineSettings implements Cloneable {
     public boolean cameraAutoExposure = false;
     // manual exposure only used if cameraAutoExposure is false
     public double cameraExposureRaw = 20;
-    public double cameraMinexposureRaw = 1;
-    public double cameraMaxexposureRaw = 100;
+    public double cameraMinExposureRaw = 1;
+    public double cameraMaxExposureRaw = 100;
     public int cameraBrightness = 50;
     // Currently only used by a few cameras (notably the zero-copy Pi Camera driver) with the Gain
     // quirk
@@ -65,8 +65,8 @@ public boolean equals(Object o) {
         CVPipelineSettings that = (CVPipelineSettings) o;
         return pipelineIndex == that.pipelineIndex
                 && Double.compare(that.cameraExposureRaw, cameraExposureRaw) == 0
-                && Double.compare(that.cameraMinexposureRaw, cameraMinexposureRaw) == 0
-                && Double.compare(that.cameraMaxexposureRaw, cameraMaxexposureRaw) == 0
+                && Double.compare(that.cameraMinExposureRaw, cameraMinExposureRaw) == 0
+                && Double.compare(that.cameraMaxExposureRaw, cameraMaxExposureRaw) == 0
                 && Double.compare(that.cameraBrightness, cameraBrightness) == 0
                 && Double.compare(that.cameraGain, cameraGain) == 0
                 && Double.compare(that.cameraRedGain, cameraRedGain) == 0
@@ -89,8 +89,8 @@ public int hashCode() {
                 inputImageRotationMode,
                 pipelineNickname,
                 cameraExposureRaw,
-                cameraMinexposureRaw,
-                cameraMaxexposureRaw,
+                cameraMinExposureRaw,
+                cameraMaxExposureRaw,
                 cameraBrightness,
                 cameraGain,
                 cameraRedGain,
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index ba7e0f99b7..4941a0b072 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -415,7 +415,7 @@ boolean setPipeline(int index) {
                 pipelineSettings.cameraExposureRaw = 10; // reasonable default
         }
 
-        visionSource.getSettables().setexposureRaw(pipelineSettings.cameraExposureRaw);
+        visionSource.getSettables().setExposureRaw(pipelineSettings.cameraExposureRaw);
         try {
             visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
         } catch (VideoException e) {
@@ -511,8 +511,8 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
         ret.currentPipelineIndex = pipelineManager.getRequestedIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
         ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
-        ret.maxExposureRaw = visionSource.getSettables().getMaxexposureRaw();
-        ret.minExposureRaw = visionSource.getSettables().getMinexposureRaw();
+        ret.maxExposureRaw = visionSource.getSettables().getMaxExposureRaw();
+        ret.minExposureRaw = visionSource.getSettables().getMinExposureRaw();
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
index cc88f8389c..56db6214f9 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -42,11 +42,11 @@ public CameraConfiguration getConfiguration() {
         return configuration;
     }
 
-    public abstract void setexposureRaw(double exposureRaw);
+    public abstract void setExposureRaw(double exposureRaw);
 
-    public abstract double getMinexposureRaw();
+    public abstract double getMinExposureRaw();
 
-    public abstract double getMaxexposureRaw();
+    public abstract double getMaxExposureRaw();
 
     public abstract void setAutoExposure(boolean cameraAutoExposure);
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
index 7305f21c4a..9b00566842 100644
--- a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
@@ -29,11 +29,12 @@ public void ps3EyeTest() {
         HashMap<CameraQuirk, Boolean> ps3EyeQuirks = new HashMap<>();
         ps3EyeQuirks.put(CameraQuirk.Gain, true);
         ps3EyeQuirks.put(CameraQuirk.FPSCap100, true);
+        ps3EyeQuirks.put(CameraQuirk.OneZeroAutoExposure, true);
         for (var q : CameraQuirk.values()) {
             ps3EyeQuirks.putIfAbsent(q, false);
         }
 
-        QuirkyCamera psEye = QuirkyCamera.getQuirkyCamera(0x2000, 0x1415);
+        QuirkyCamera psEye = QuirkyCamera.getQuirkyCamera(0x1415, 0x2000);
         Assertions.assertEquals(psEye.quirks, ps3EyeQuirks);
     }
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
new file mode 100644
index 0000000000..953bff5a8c
--- /dev/null
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -0,0 +1,52 @@
+package org.photonvision.vision.processes;
+
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
+import org.photonvision.vision.camera.USBCameraSource;
+import org.photonvision.vision.frame.provider.FileFrameProvider;
+
+public class MockUsbCameraSource extends USBCameraSource{
+
+    /**
+     * Used for unit tests to better simulate a usb camera without a camera being present.
+     */
+    public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
+        super(config);
+
+        getCameraConfiguration().cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+
+        /**
+         * File used as frame provider
+         */
+        usbFrameProvider =
+                new FileFrameProvider(
+                        TestUtils.getWPIImagePath(
+                                TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
+                        TestUtils.WPI2019Image.FOV);
+
+        usbCameraSettables = new MockUsbCameraSettables(config);
+        
+    }
+
+    private class MockUsbCameraSettables extends USBCameraSettables{
+
+        public MockUsbCameraSettables(CameraConfiguration config){
+            super(config);
+        }
+
+        /**
+         * Hardware-specific implementation - do nothing in test
+         */
+        @Override
+        public void setExposureRaw(double exposureRaw){}
+
+        /**
+         * Hardware-specific implementation - do nothing in test
+         */
+        @Override
+        public void setAutoExposure(boolean cameraAutoExposure) {};
+
+    }
+    
+}
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index f82fd6ff48..e416ab14a5 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -81,7 +81,7 @@ protected TestSettables(CameraConfiguration configuration) {
         }
 
         @Override
-        public void setexposureRaw(double exposure) {}
+        public void setExposureRaw(double exposure) {}
 
         @Override
         public void setBrightness(int brightness) {}
@@ -110,12 +110,12 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
         @Override
-        public double getMinexposureRaw() {
+        public double getMinExposureRaw() {
             return 1;
         }
 
         @Override
-        public double getMaxexposureRaw() {
+        public double getMaxExposureRaw() {
             return 1234;
         }
     }
@@ -186,10 +186,11 @@ public void testMultipleStreamIndex() {
 
         // Arducam OV9281 UC844 raspberry pi test.
         var conf4 = new CameraConfiguration("Left", "dev/video1");
-        USBCameraSource usbSimulation = new USBCameraSource(conf4, 0x6366, 0x0c45, true);
+        USBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45); 
+        
 
         var conf5 = new CameraConfiguration("Right", "dev/video2");
-        USBCameraSource usbSimulation2 = new USBCameraSource(conf5, 0x6366, 0x0c45, true);
+        USBCameraSource usbSimulation2 = new MockUsbCameraSource(conf5, 0x6366, 0x0c45);
 
         var modules =
                 vmm.addSources(
diff --git a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
index 4ec796aa5c..e673154061 100644
--- a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
+++ b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
@@ -96,12 +96,12 @@ class SimCameraProperties {
                                       units::radian_t{std::numbers::pi / 2.0}})
                                      .Radians()}},
         frc::Translation3d{
-            1_m, frc::Rotation3d{0_rad,
-                                 (GetPixelPitch(0) +
-                                  frc::Rotation2d{
-                                      units::radian_t{std::numbers::pi / 2.0}})
-                                     .Radians(),
-                                 0_rad}},
+            1_m,
+            frc::Rotation3d{0_rad,
+                            (GetPixelPitch(0) + frc::Rotation2d{units::radian_t{
+                                                    std::numbers::pi / 2.0}})
+                                .Radians(),
+                            0_rad}},
         frc::Translation3d{
             1_m, frc::Rotation3d{0_rad,
                                  (GetPixelPitch(height) +

From bd5371e8d5ff97edaf5a826f142043b49e9a9e77 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 28 Jun 2024 10:24:12 -0500
Subject: [PATCH 09/34] More wpi format

---
 .../vision/camera/USBCameraSource.java        | 10 ++--
 .../vision/processes/MockUsbCameraSource.java | 52 ++++++++++---------
 .../processes/VisionModuleManagerTest.java    |  3 +-
 3 files changed, 32 insertions(+), 33 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 3f8e3d7464..ce35cb89d2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -30,10 +30,8 @@
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.frame.FrameProvider;
-import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.frame.provider.USBFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
@@ -116,7 +114,7 @@ public USBCameraSource(CameraConfiguration config) {
                 // Functional camera, set up the frame provider and configure defaults
                 usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
                 setAllCamDefaults();
-                exposureAbsProp  = expProp.get();
+                exposureAbsProp = expProp.get();
                 autoExposureProp = autoExpProp.get();
 
                 this.minExposure = exposureAbsProp.getMin();
@@ -191,15 +189,14 @@ private void softSet(String property, int value) {
     }
 
     private void printCameraProperaties() {
-
         VideoProperty[] cameraProperties = null;
         try {
             cameraProperties = camera.enumerateProperties();
-        } catch (VideoException e){
+        } catch (VideoException e) {
             logger.error("Failed to list camera properties!", e);
         }
 
-        if(cameraProperties != null){
+        if (cameraProperties != null) {
             String cameraPropertiesStr = "Cam Properties Dump:\n";
             for (int i = 0; i < cameraProperties.length; i++) {
                 cameraPropertiesStr +=
@@ -266,7 +263,6 @@ public USBCameraSettables(CameraConfiguration configuration) {
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
-
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
             if (!cameraAutoExposure) {
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index 953bff5a8c..7686ff1f51 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -1,3 +1,20 @@
+/*
+ * 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 org.photonvision.common.configuration.CameraConfiguration;
@@ -6,47 +23,34 @@
 import org.photonvision.vision.camera.USBCameraSource;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 
-public class MockUsbCameraSource extends USBCameraSource{
-
-    /**
-     * Used for unit tests to better simulate a usb camera without a camera being present.
-     */
+public class MockUsbCameraSource extends USBCameraSource {
+    /** Used for unit tests to better simulate a usb camera without a camera being present. */
     public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
         super(config);
 
         getCameraConfiguration().cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
 
-        /**
-         * File used as frame provider
-         */
+        /** File used as frame provider */
         usbFrameProvider =
                 new FileFrameProvider(
-                        TestUtils.getWPIImagePath(
-                                TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
+                        TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
                         TestUtils.WPI2019Image.FOV);
 
         usbCameraSettables = new MockUsbCameraSettables(config);
-        
     }
 
-    private class MockUsbCameraSettables extends USBCameraSettables{
-
-        public MockUsbCameraSettables(CameraConfiguration config){
+    private class MockUsbCameraSettables extends USBCameraSettables {
+        public MockUsbCameraSettables(CameraConfiguration config) {
             super(config);
         }
 
-        /**
-         * Hardware-specific implementation - do nothing in test
-         */
+        /** Hardware-specific implementation - do nothing in test */
         @Override
-        public void setExposureRaw(double exposureRaw){}
+        public void setExposureRaw(double exposureRaw) {}
 
-        /**
-         * Hardware-specific implementation - do nothing in test
-         */
+        /** Hardware-specific implementation - do nothing in test */
         @Override
-        public void setAutoExposure(boolean cameraAutoExposure) {};
-
+        public void setAutoExposure(boolean cameraAutoExposure) {}
+        ;
     }
-    
 }
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index e416ab14a5..e9d9c10e96 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -186,8 +186,7 @@ public void testMultipleStreamIndex() {
 
         // Arducam OV9281 UC844 raspberry pi test.
         var conf4 = new CameraConfiguration("Left", "dev/video1");
-        USBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45); 
-        
+        USBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45);
 
         var conf5 = new CameraConfiguration("Right", "dev/video2");
         USBCameraSource usbSimulation2 = new MockUsbCameraSource(conf5, 0x6366, 0x0c45);

From 5182ff4d5967a0cf9a82ff06efe5b429317282a7 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 28 Jun 2024 10:27:08 -0500
Subject: [PATCH 10/34] npm format

---
 .../src/components/cameras/CameraCalibrationCard.vue          | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index c9ba6c3d34..59198a2213 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -397,7 +397,9 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :max="useCameraSettingsStore().maxExposureRaw"
               :slider-cols="8"
               :step="1"
-              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureRaw: args }, false)"
+              @input="
+                (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureRaw: args }, false)
+              "
             />
             <pv-slider
               v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"

From a696e89aa36c2e0002f8925f2c66d2c5d4629a5b Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 12 Jul 2024 08:16:10 -0500
Subject: [PATCH 11/34] Cherry-Pick splitting out settables

---
 .../vision/camera/CameraQuirkConstants.java   |  25 -
 .../vision/camera/USBCameraSource.java        | 477 ------------------
 .../USBCameras/GenericUSBCameraSettables.java | 316 ++++++++++++
 .../USBCameras/GenericUSBCameraSource.java    | 220 ++++++++
 .../LifeCam3kWindowsCameraSettables.java      |  88 ++++
 .../vision/processes/VisionSourceManager.java |   4 +-
 .../vision/processes/MockUsbCameraSource.java |  14 +-
 .../processes/VisionModuleManagerTest.java    |   6 +-
 8 files changed, 637 insertions(+), 513 deletions(-)
 delete mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java
 delete mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java
deleted file mode 100644
index 5f8be1405c..0000000000
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirkConstants.java
+++ /dev/null
@@ -1,25 +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;
-
-/** Mr. Photonvision's Home for Peculiar Camera Constants */
-public class CameraQuirkConstants {
-    public static int[] LifecamAllowableExposures = {
-        5, 10, 20, 39, 78, 156, 312, 625, 1250, 2500, 5000, 10000, 20000
-    };
-}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
deleted file mode 100644
index ce35cb89d2..0000000000
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ /dev/null
@@ -1,477 +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 edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.cscore.CvSink;
-import edu.wpi.first.cscore.UsbCamera;
-import edu.wpi.first.cscore.VideoException;
-import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoProperty;
-import edu.wpi.first.util.PixelFormat;
-import java.util.*;
-import java.util.stream.Collectors;
-import org.photonvision.common.configuration.CameraConfiguration;
-import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.vision.frame.FrameProvider;
-import org.photonvision.vision.frame.provider.USBFrameProvider;
-import org.photonvision.vision.processes.VisionSource;
-import org.photonvision.vision.processes.VisionSourceSettables;
-
-public class USBCameraSource extends VisionSource {
-    private final Logger logger;
-    private final UsbCamera camera;
-    protected USBCameraSettables usbCameraSettables;
-    protected FrameProvider usbFrameProvider;
-    private final CvSink cvSink;
-
-    private VideoProperty exposureAbsProp = null;
-    private VideoProperty autoExposureProp = null;
-    private double minExposure = 1;
-    private double maxExposure = 80000;
-
-    private int PROP_AUTO_EXPOSURE_ENABLED = 3;
-    private int PROP_AUTO_EXPOSURE_DISABLED = 1;
-
-    public USBCameraSource(CameraConfiguration config) {
-        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));
-        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(
-                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
-        }
-
-        if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
-            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
-        }
-
-        // Aid to the development team - record the properties available for whatever the user plugged
-        // in
-        printCameraProperaties();
-
-        // Photonvision needs to be able to control absolute exposure. Make sure we can first.
-        var expProp = findProperty("raw_exposure_absolute", "raw_exposure_time_absolute", "exposure");
-
-        // Photonvision needs to be able to control auto exposure. Make sure we can first.
-        var autoExpProp = findProperty("exposure_auto", "auto_exposure");
-
-        var cameraBroken =
-                getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)
-                        || expProp.isEmpty()
-                        || autoExpProp.isEmpty();
-
-        if (cameraBroken) {
-            // Known issues - Disable this camera
-            logger.info(
-                    "Camera "
-                            + getCameraConfiguration().cameraQuirks.baseName
-                            + " is not supported for PhotonVision");
-            // set some defaults, as these should never be used.
-            usbCameraSettables = null;
-            usbFrameProvider = null;
-
-        } else {
-            // Camera is likely to work, set up the Settables
-            usbCameraSettables = new USBCameraSettables(config);
-
-            if (usbCameraSettables.getAllVideoModes().isEmpty()) {
-                // No video modes produced from settables, disable the camera
-                logger.info("Camera " + camera.getPath() + " has no video modes supported by PhotonVision");
-                usbFrameProvider = null;
-
-            } else {
-                // Functional camera, set up the frame provider and configure defaults
-                usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
-                setAllCamDefaults();
-                exposureAbsProp = expProp.get();
-                autoExposureProp = autoExpProp.get();
-
-                this.minExposure = exposureAbsProp.getMin();
-                this.maxExposure = exposureAbsProp.getMax();
-
-                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
-                    // Property limits are incorrect
-                    this.minExposure = 1;
-                    this.maxExposure = 75;
-                }
-
-                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
-                    // Camera seems unstable above this point.
-                    this.maxExposure = 750;
-                }
-
-                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.OneZeroAutoExposure)) {
-                    PROP_AUTO_EXPOSURE_ENABLED = 0;
-                    PROP_AUTO_EXPOSURE_DISABLED = 1;
-                }
-            }
-        }
-    }
-
-    /**
-     * Returns the first property with a name in the list. Useful to find gandolf property that goes
-     * by many names in different os/releases/whatever
-     *
-     * @param options
-     * @return
-     */
-    private Optional<VideoProperty> findProperty(String... options) {
-        VideoProperty retProp = null;
-        boolean found = false;
-        for (var option : options) {
-            retProp = camera.getProperty(option);
-            if (retProp.getKind() != VideoProperty.Kind.kNone) {
-                // got em
-                found = true;
-                break;
-            }
-        }
-
-        if (!found) {
-            logger.warn(
-                    "Expected at least one of the following properties to be available: "
-                            + Arrays.toString(options));
-            retProp = null;
-        }
-
-        return Optional.ofNullable(retProp);
-    }
-
-    /**
-     * Forgiving "set this property" action. Produces a debug message but skips properties if they
-     * aren't supported Errors if the property exists but the set fails.
-     *
-     * @param property
-     * @param value
-     */
-    private void softSet(String property, int value) {
-        VideoProperty prop = camera.getProperty(property);
-        if (prop.getKind() == VideoProperty.Kind.kNone) {
-            logger.debug("No property " + property + " for " + camera.getName() + " , skipping.");
-        } else {
-            try {
-                prop.set(value);
-            } catch (VideoException e) {
-                logger.error("Failed to set " + property + " for " + camera.getName() + " !", e);
-            }
-        }
-    }
-
-    private void printCameraProperaties() {
-        VideoProperty[] cameraProperties = null;
-        try {
-            cameraProperties = camera.enumerateProperties();
-        } catch (VideoException e) {
-            logger.error("Failed to list camera properties!", e);
-        }
-
-        if (cameraProperties != null) {
-            String cameraPropertiesStr = "Cam Properties Dump:\n";
-            for (int i = 0; i < cameraProperties.length; i++) {
-                cameraPropertiesStr +=
-                        "Name: "
-                                + cameraProperties[i].getName()
-                                + ", Kind: "
-                                + cameraProperties[i].getKind()
-                                + ", Value: "
-                                + cameraProperties[i].getKind().getValue()
-                                + ", Min: "
-                                + cameraProperties[i].getMin()
-                                + ", Max: "
-                                + cameraProperties[i].getMax()
-                                + ", Dflt: "
-                                + cameraProperties[i].getDefault()
-                                + ", Step: "
-                                + cameraProperties[i].getStep()
-                                + "\n";
-            }
-            logger.debug(cameraPropertiesStr);
-        }
-    }
-
-    private void setAllCamDefaults() {
-        // Common settings for all cameras to attempt to get their image
-        // as close as possible to what we want for image processing
-        softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
-        softSet("power_line_frequency", 2); // Assume 60Hz USA
-        softSet("scene_mode", 0); // no presets
-        softSet("exposure_metering_mode", 0);
-        softSet("exposure_dynamic_framerate", 0);
-        softSet("focus_auto", 0);
-        softSet("focus_absolute", 0); // Focus into infinity
-    }
-
-    public QuirkyCamera getCameraQuirks() {
-        return getCameraConfiguration().cameraQuirks;
-    }
-
-    @Override
-    public FrameProvider getFrameProvider() {
-        return usbFrameProvider;
-    }
-
-    @Override
-    public VisionSourceSettables getSettables() {
-        return this.usbCameraSettables;
-    }
-
-    public class USBCameraSettables extends VisionSourceSettables {
-        // We need to remember the last exposure set when exiting
-        // auto exposure mode so we can restore it
-        private double lastExposureRaw = -1;
-
-        // Some cameras need logic where we re-apply brightness after
-        // changing exposure
-        private int lastBrightness = -1;
-
-        public USBCameraSettables(CameraConfiguration configuration) {
-            super(configuration);
-            getAllVideoModes();
-            if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
-                if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
-        }
-
-        public void setAutoExposure(boolean cameraAutoExposure) {
-            logger.debug("Setting auto exposure to " + cameraAutoExposure);
-
-            if (!cameraAutoExposure) {
-                // Pick a bunch of reasonable setting defaults for vision processing
-                softSet("auto_exposure_bias", 0);
-                softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
-                softSet("iso_sensitivity", 0); // Manual ISO adjustment
-                softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
-                softSet("white_balance_automatic", 0);
-                softSet("white_balance_temperature", 4000);
-                autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
-
-                // Most cameras leave exposure time absolute at the last value from their AE algorithm.
-                // Set it back to the exposure slider value
-                setExposureRaw(this.lastExposureRaw);
-
-            } else {
-                // Pick a bunch of reasonable setting to make the picture nice-for-humans
-                softSet("auto_exposure_bias", 12);
-                softSet("iso_sensitivity_auto", 1);
-                softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
-                softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
-                softSet("white_balance_automatic", 1);
-                autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
-            }
-        }
-
-        @Override
-        public double getMinExposureRaw() {
-            return minExposure;
-        }
-
-        @Override
-        public double getMaxExposureRaw() {
-            return maxExposure;
-        }
-
-        @Override
-        public void setExposureRaw(double exposureRaw) {
-            if (exposureRaw >= 0.0) {
-                try {
-                    autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
-
-                    int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
-
-                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
-                        // Lifecam only allows certain settings for exposure
-                        propVal = MathUtils.quantize(propVal, CameraQuirkConstants.LifecamAllowableExposures);
-                    }
-
-                    logger.debug(
-                            "Setting property "
-                                    + autoExposureProp.getName()
-                                    + " to "
-                                    + propVal
-                                    + " (user requested "
-                                    + exposureRaw
-                                    + " μs)");
-
-                    exposureAbsProp.set(propVal);
-
-                    this.lastExposureRaw = exposureRaw;
-
-                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
-                        // Lifecam requires setting brightness again after exposure
-                        // And it requires setting it twice, ensuring the value is different
-                        // This camera is very bork.
-                        if (lastBrightness >= 0) {
-                            setBrightness(lastBrightness - 1);
-                        }
-                    }
-
-                } catch (VideoException e) {
-                    logger.error("Failed to set camera exposure!", e);
-                }
-            }
-        }
-
-        @Override
-        public void setBrightness(int brightness) {
-            try {
-                camera.setBrightness(brightness);
-                this.lastBrightness = brightness;
-            } catch (VideoException e) {
-                logger.error("Failed to set camera brightness!", e);
-            }
-        }
-
-        @Override
-        public void setGain(int gain) {
-            softSet("gain_automatic", 0);
-            softSet("gain", gain);
-        }
-
-        @Override
-        public VideoMode getCurrentVideoMode() {
-            return camera.isConnected() ? camera.getVideoMode() : null;
-        }
-
-        @Override
-        public void setVideoModeInternal(VideoMode videoMode) {
-            try {
-                if (videoMode == null) {
-                    logger.error("Got a null video mode! Doing nothing...");
-                    return;
-                }
-                camera.setVideoMode(videoMode);
-            } catch (Exception e) {
-                logger.error("Failed to set video mode!", e);
-            }
-        }
-
-        @Override
-        public HashMap<Integer, VideoMode> getAllVideoModes() {
-            if (videoModes == null) {
-                videoModes = new HashMap<>();
-                List<VideoMode> videoModesList = new ArrayList<>();
-                try {
-                    VideoMode[] modes;
-
-                    modes = camera.enumerateVideoModes();
-
-                    for (VideoMode videoMode : modes) {
-                        // Filter grey modes
-                        if (videoMode.pixelFormat == PixelFormat.kGray
-                                || videoMode.pixelFormat == PixelFormat.kUnknown) {
-                            continue;
-                        }
-
-                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
-                            if (videoMode.fps > 100) {
-                                continue;
-                            }
-                        }
-
-                        videoModesList.add(videoMode);
-                    }
-                } catch (Exception e) {
-                    logger.error("Exception while enumerating video modes!", e);
-                    videoModesList = List.of();
-                }
-
-                // Sort by resolution
-                var sortedList =
-                        videoModesList.stream()
-                                .distinct() // remove redundant video mode entries
-                                .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
-                                .collect(Collectors.toList());
-                Collections.reverse(sortedList);
-
-                // On vendor cameras, respect blacklisted indices
-                var indexBlacklist =
-                        ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
-                for (int badIdx : indexBlacklist) {
-                    sortedList.remove(badIdx);
-                }
-
-                for (VideoMode videoMode : sortedList) {
-                    videoModes.put(sortedList.indexOf(videoMode), videoMode);
-                }
-            }
-            return videoModes;
-        }
-    }
-
-    @Override
-    public boolean isVendorCamera() {
-        return false; // Vendors do not supply USB Cameras
-    }
-
-    @Override
-    public boolean hasLEDs() {
-        return false; // Assume USB cameras do not have photonvision-controlled LEDs
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-        if (this == obj) return true;
-        if (obj == null) return false;
-        if (getClass() != obj.getClass()) return false;
-        USBCameraSource other = (USBCameraSource) obj;
-        if (camera == null) {
-            if (other.camera != null) return false;
-        } else if (!camera.equals(other.camera)) return false;
-        if (usbCameraSettables == null) {
-            if (other.usbCameraSettables != null) return false;
-        } else if (!usbCameraSettables.equals(other.usbCameraSettables)) return false;
-        if (usbFrameProvider == null) {
-            if (other.usbFrameProvider != null) return false;
-        } else if (!usbFrameProvider.equals(other.usbFrameProvider)) return false;
-        if (cvSink == null) {
-            if (other.cvSink != null) return false;
-        } else if (!cvSink.equals(other.cvSink)) return false;
-        if (getCameraConfiguration().cameraQuirks == null) {
-            if (other.getCameraConfiguration().cameraQuirks != null) return false;
-        } else if (!getCameraConfiguration()
-                .cameraQuirks
-                .equals(other.getCameraConfiguration().cameraQuirks)) return false;
-        return true;
-    }
-
-    @Override
-    public int hashCode() {
-        return Objects.hash(
-                camera,
-                usbCameraSettables,
-                usbFrameProvider,
-                cameraConfiguration,
-                cvSink,
-                getCameraConfiguration().cameraQuirks);
-    }
-}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
new file mode 100644
index 0000000000..1b8128df20
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -0,0 +1,316 @@
+package org.photonvision.vision.camera.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.cscore.VideoProperty;
+import edu.wpi.first.util.PixelFormat;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Optional;
+import java.util.stream.Collectors;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.vision.camera.CameraQuirk;
+import org.photonvision.vision.processes.VisionSourceSettables;
+
+public class GenericUSBCameraSettables extends VisionSourceSettables {
+    // We need to remember the last exposure set when exiting
+    // auto exposure mode so we can restore it
+    protected double lastExposureRaw = -1;
+
+    // Some cameras need logic where we re-apply brightness after
+    // changing exposure
+    protected int lastBrightness = -1;
+
+    protected VideoProperty exposureAbsProp = null;
+    protected VideoProperty autoExposureProp = null;
+
+    protected double minExposure = 1;
+    protected double maxExposure = 80000;
+
+    protected int PROP_AUTO_EXPOSURE_ENABLED = 3;
+    protected int PROP_AUTO_EXPOSURE_DISABLED = 1;
+
+    protected UsbCamera camera;
+    protected CameraConfiguration configuration;
+
+    /**
+     * Forgiving "set this property" action. Produces a debug message but skips properties if they
+     * aren't supported Errors if the property exists but the set fails.
+     *
+     * @param property
+     * @param value
+     */
+    protected void softSet(String property, int value) {
+        VideoProperty prop = camera.getProperty(property);
+        if (prop.getKind() == VideoProperty.Kind.kNone) {
+            logger.debug("No property " + property + " for " + camera.getName() + " , skipping.");
+        } else {
+            try {
+                prop.set(value);
+            } catch (VideoException e) {
+                logger.error("Failed to set " + property + " for " + camera.getName() + " !", e);
+            }
+        }
+    }
+
+    /**
+     * Returns the first property with a name in the list. Useful to find gandolf property that goes
+     * by many names in different os/releases/whatever
+     *
+     * @param options
+     * @return
+     */
+    protected Optional<VideoProperty> findProperty(String... options) {
+        VideoProperty retProp = null;
+        boolean found = false;
+        for (var option : options) {
+            retProp = camera.getProperty(option);
+            if (retProp.getKind() != VideoProperty.Kind.kNone) {
+                // got em
+                found = true;
+                break;
+            }
+        }
+
+        if (!found) {
+            logger.warn(
+                    "Expected at least one of the following properties to be available: "
+                            + Arrays.toString(options));
+            retProp = null;
+        }
+
+        return Optional.ofNullable(retProp);
+    }
+
+    protected void setUpExposureProperties() {
+        // Photonvision needs to be able to control absolute exposure. Make sure we can
+        // first.
+        var expProp =
+                findProperty(
+                        "raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
+
+        // Photonvision needs to be able to control auto exposure. Make sure we can
+        // first.
+        var autoExpProp = findProperty("exposure_auto", "auto_exposure");
+
+        exposureAbsProp = expProp.get();
+        autoExposureProp = autoExpProp.get();
+        this.minExposure = exposureAbsProp.getMin();
+        this.maxExposure = exposureAbsProp.getMax();
+    }
+
+    public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration);
+
+        this.configuration = configuration;
+        this.camera = camera;
+
+        getAllVideoModes();
+
+        if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS)) {
+            if (!videoModes.isEmpty()) {
+                setVideoMode(videoModes.get(0)); // fixes double FPS set
+            }
+        }
+
+        if (configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
+            // Property limits are incorrect
+            this.minExposure = 1;
+            this.maxExposure = 75;
+        }
+
+        if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
+            // Camera seems unstable above this point.
+            this.maxExposure = 750;
+        }
+
+        if (configuration.cameraQuirks.hasQuirk(CameraQuirk.OneZeroAutoExposure)) {
+            PROP_AUTO_EXPOSURE_ENABLED = 0;
+            PROP_AUTO_EXPOSURE_DISABLED = 1;
+        }
+    }
+
+    public void setAllCamDefaults() {
+        // Common settings for all cameras to attempt to get their image
+        // as close as possible to what we want for image processing
+        softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
+        softSet("power_line_frequency", 2); // Assume 60Hz USA
+        softSet("scene_mode", 0); // no presets
+        softSet("exposure_metering_mode", 0);
+        softSet("exposure_dynamic_framerate", 0);
+        softSet("focus_auto", 0);
+        softSet("focus_absolute", 0); // Focus into infinity
+    }
+
+    public void setAutoExposure(boolean cameraAutoExposure) {
+        logger.debug("Setting auto exposure to " + cameraAutoExposure);
+
+        if (!cameraAutoExposure) {
+            // Pick a bunch of reasonable setting defaults for vision processing
+            softSet("auto_exposure_bias", 0);
+            softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
+            softSet("iso_sensitivity", 0); // Manual ISO adjustment
+            softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
+            softSet("white_balance_automatic", 0);
+            softSet("white_balance_temperature", 4000);
+            autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
+
+            // Most cameras leave exposure time absolute at the last value from their AE
+            // algorithm.
+            // Set it back to the exposure slider value
+            setExposureRaw(this.lastExposureRaw);
+
+        } else {
+            // Pick a bunch of reasonable setting to make the picture nice-for-humans
+            softSet("auto_exposure_bias", 12);
+            softSet("iso_sensitivity_auto", 1);
+            softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
+            softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
+            softSet("white_balance_automatic", 1);
+            autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
+        }
+    }
+
+    @Override
+    public double getMinExposureRaw() {
+        return minExposure;
+    }
+
+    @Override
+    public double getMaxExposureRaw() {
+        return maxExposure;
+    }
+
+    @Override
+    public void setExposureRaw(double exposureRaw) {
+        if (exposureRaw >= 0.0) {
+            try {
+                autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
+
+                int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
+
+                // if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
+                //    // Lifecam only allows certain settings for exposure
+                //    propVal = MathUtils.quantize(propVal, CameraQuirkConstants.LifecamAllowableExposures);
+                // }
+
+                logger.debug(
+                        "Setting property "
+                                + exposureAbsProp.getName()
+                                + " to "
+                                + propVal
+                                + " (user requested "
+                                + exposureRaw
+                                + " μs)");
+
+                exposureAbsProp.set(propVal);
+
+                this.lastExposureRaw = exposureRaw;
+
+                if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
+                    // Lifecam requires setting brightness again after exposure
+                    // And it requires setting it twice, ensuring the value is different
+                    // This camera is very bork.
+                    if (lastBrightness >= 0) {
+                        setBrightness(lastBrightness - 1);
+                    }
+                }
+
+            } catch (VideoException e) {
+                logger.error("Failed to set camera exposure!", e);
+            }
+        }
+    }
+
+    @Override
+    public void setBrightness(int brightness) {
+        try {
+            camera.setBrightness(brightness);
+            this.lastBrightness = brightness;
+        } catch (VideoException e) {
+            logger.error("Failed to set camera brightness!", e);
+        }
+    }
+
+    @Override
+    public void setGain(int gain) {
+        softSet("gain_automatic", 0);
+        softSet("gain", gain);
+    }
+
+    @Override
+    public VideoMode getCurrentVideoMode() {
+        return camera.isConnected() ? camera.getVideoMode() : null;
+    }
+
+    @Override
+    public void setVideoModeInternal(VideoMode videoMode) {
+        try {
+            if (videoMode == null) {
+                logger.error("Got a null video mode! Doing nothing...");
+                return;
+            }
+            camera.setVideoMode(videoMode);
+        } catch (Exception e) {
+            logger.error("Failed to set video mode!", e);
+        }
+    }
+
+    @Override
+    public HashMap<Integer, VideoMode> getAllVideoModes() {
+        if (videoModes == null) {
+            videoModes = new HashMap<>();
+            List<VideoMode> videoModesList = new ArrayList<>();
+            try {
+                VideoMode[] modes;
+
+                modes = camera.enumerateVideoModes();
+
+                for (VideoMode videoMode : modes) {
+                    // Filter grey modes
+                    if (videoMode.pixelFormat == PixelFormat.kGray
+                            || videoMode.pixelFormat == PixelFormat.kUnknown) {
+                        continue;
+                    }
+
+                    if (configuration.cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
+                        if (videoMode.fps > 100) {
+                            continue;
+                        }
+                    }
+
+                    videoModesList.add(videoMode);
+                }
+            } catch (Exception e) {
+                logger.error("Exception while enumerating video modes!", e);
+                videoModesList = List.of();
+            }
+
+            // Sort by resolution
+            var sortedList =
+                    videoModesList.stream()
+                            .distinct() // remove redundant video mode entries
+                            .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
+                            .collect(Collectors.toList());
+            Collections.reverse(sortedList);
+
+            // On vendor cameras, respect blacklisted indices
+            var indexBlacklist =
+                    ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
+            for (int badIdx : indexBlacklist) {
+                sortedList.remove(badIdx);
+            }
+
+            for (VideoMode videoMode : sortedList) {
+                videoModes.put(sortedList.indexOf(videoMode), videoMode);
+            }
+        }
+        return videoModes;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
new file mode 100644
index 0000000000..6736212487
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
@@ -0,0 +1,220 @@
+/*
+ * 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.USBCameras;
+
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.cscore.VideoProperty;
+import edu.wpi.first.util.RuntimeDetector;
+import java.util.*;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.camera.CameraQuirk;
+import org.photonvision.vision.camera.QuirkyCamera;
+import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.provider.USBFrameProvider;
+import org.photonvision.vision.processes.VisionSource;
+import org.photonvision.vision.processes.VisionSourceSettables;
+
+public class GenericUSBCameraSource extends VisionSource {
+    private final Logger logger;
+    private final UsbCamera camera;
+    protected GenericUSBCameraSettables settables;
+    protected FrameProvider usbFrameProvider;
+    private final CvSink cvSink;
+
+    public GenericUSBCameraSource(CameraConfiguration config) {
+        super(config);
+
+        logger = new Logger(GenericUSBCameraSource.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));
+        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(
+                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
+        }
+
+        if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
+            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
+        }
+
+        // Aid to the development team - record the properties available for whatever the user plugged
+        // in
+        printCameraProperaties();
+
+        var cameraBroken = getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken);
+
+        if (cameraBroken) {
+            // Known issues - Disable this camera
+            logger.info(
+                    "Camera "
+                            + getCameraConfiguration().cameraQuirks.baseName
+                            + " is not supported for PhotonVision");
+            // set some defaults, as these should never be used.
+            settables = null;
+            usbFrameProvider = null;
+
+        } else {
+            // Camera is likely to work, set up the Settables
+            settables = createSettables(config, camera);
+
+            if (settables.getAllVideoModes().isEmpty()) {
+                // No video modes produced from settables, disable the camera
+                logger.info("Camera " + camera.getPath() + " has no video modes supported by PhotonVision");
+                usbFrameProvider = null;
+
+            } else {
+                // Functional camera, set up the frame provider and configure defaults
+                usbFrameProvider = new USBFrameProvider(cvSink, settables);
+                settables.setAllCamDefaults();
+            }
+        }
+    }
+
+    /**
+     * Factory for making appropriate settables
+     *
+     * @param config
+     * @param camera
+     * @return
+     */
+    private GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera) {
+
+        var quirks = getCameraConfiguration().cameraQuirks;
+
+        GenericUSBCameraSettables settables;
+
+        if (quirks.hasQuirk(CameraQuirk.LifeCamExposure) && RuntimeDetector.isWindows()) {
+            logger.debug("Using Microsoft Lifecam 3000 Windows-Specific Settables");
+            settables = new LifeCam3kWindowsCameraSettables(config, camera);
+        } else {
+            logger.debug("Using Generic USB Cam Settables");
+            settables = new GenericUSBCameraSettables(config, camera);
+        }
+
+        settables.setUpExposureProperties();
+
+        return settables;
+    }
+
+    private void printCameraProperaties() {
+        VideoProperty[] cameraProperties = null;
+        try {
+            cameraProperties = camera.enumerateProperties();
+        } catch (VideoException e) {
+            logger.error("Failed to list camera properties!", e);
+        }
+
+        if (cameraProperties != null) {
+            String cameraPropertiesStr = "Cam Properties Dump:\n";
+            for (int i = 0; i < cameraProperties.length; i++) {
+                cameraPropertiesStr +=
+                        "Name: "
+                                + cameraProperties[i].getName()
+                                + ", Kind: "
+                                + cameraProperties[i].getKind()
+                                + ", Value: "
+                                + cameraProperties[i].getKind().getValue()
+                                + ", Min: "
+                                + cameraProperties[i].getMin()
+                                + ", Max: "
+                                + cameraProperties[i].getMax()
+                                + ", Dflt: "
+                                + cameraProperties[i].getDefault()
+                                + ", Step: "
+                                + cameraProperties[i].getStep()
+                                + "\n";
+            }
+            logger.debug(cameraPropertiesStr);
+        }
+    }
+
+    public QuirkyCamera getCameraQuirks() {
+        return getCameraConfiguration().cameraQuirks;
+    }
+
+    @Override
+    public FrameProvider getFrameProvider() {
+        return usbFrameProvider;
+    }
+
+    @Override
+    public VisionSourceSettables getSettables() {
+        return this.settables;
+    }
+
+    @Override
+    public boolean isVendorCamera() {
+        return false; // Vendors do not supply USB Cameras
+    }
+
+    @Override
+    public boolean hasLEDs() {
+        return false; // Assume USB cameras do not have photonvision-controlled LEDs
+    }
+
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        GenericUSBCameraSource other = (GenericUSBCameraSource) obj;
+        if (camera == null) {
+            if (other.camera != null) return false;
+        } else if (!camera.equals(other.camera)) return false;
+        if (settables == null) {
+            if (other.settables != null) return false;
+        } else if (!settables.equals(other.settables)) return false;
+        if (usbFrameProvider == null) {
+            if (other.usbFrameProvider != null) return false;
+        } else if (!usbFrameProvider.equals(other.usbFrameProvider)) return false;
+        if (cvSink == null) {
+            if (other.cvSink != null) return false;
+        } else if (!cvSink.equals(other.cvSink)) return false;
+        if (getCameraConfiguration().cameraQuirks == null) {
+            if (other.getCameraConfiguration().cameraQuirks != null) return false;
+        } else if (!getCameraConfiguration()
+                .cameraQuirks
+                .equals(other.getCameraConfiguration().cameraQuirks)) return false;
+        return true;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(
+                camera,
+                settables,
+                usbFrameProvider,
+                cameraConfiguration,
+                cvSink,
+                getCameraConfiguration().cameraQuirks);
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
new file mode 100644
index 0000000000..fcfd559b29
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
@@ -0,0 +1,88 @@
+package org.photonvision.vision.camera.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.util.math.MathUtils;
+
+public class LifeCam3kWindowsCameraSettables extends GenericUSBCameraSettables {
+
+    private static int[] allowableExposures = {
+        5, 10, 20, 39, 78, 156, 312, 625, 1250, 2500, 5000, 10000, 20000
+    };
+
+    public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+
+        autoExposureProp = null; // Not Used
+
+        exposureAbsProp = camera.getProperty("raw_Exposure");
+        this.minExposure = exposureAbsProp.getMin();
+        this.maxExposure = exposureAbsProp.getMax();
+    }
+
+    @Override
+    public void setExposureRaw(double exposureRaw) {
+        if (exposureRaw >= 0.0) {
+            try {
+
+                int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
+
+                propVal = MathUtils.quantize(propVal, allowableExposures);
+
+                logger.debug(
+                        "Setting property "
+                                + autoExposureProp.getName()
+                                + " to "
+                                + propVal
+                                + " (user requested "
+                                + exposureRaw
+                                + " μs)");
+
+                exposureAbsProp.set(propVal);
+
+                this.lastExposureRaw = exposureRaw;
+
+                // Lifecam requires setting brightness again after exposure
+                // And it requires setting it twice, ensuring the value is different
+                // This camera is very bork.
+                if (lastBrightness >= 0) {
+                    setBrightness(lastBrightness - 1);
+                }
+
+            } catch (VideoException e) {
+                logger.error("Failed to set camera exposure!", e);
+            }
+        }
+    }
+
+    public void setAutoExposure(boolean cameraAutoExposure) {
+        logger.debug("Setting auto exposure to " + cameraAutoExposure);
+
+        if (!cameraAutoExposure) {
+
+            // Most cameras leave exposure time absolute at the last value from their AE
+            // algorithm.
+            // Set it back to the exposure slider value
+            setExposureRaw(this.lastExposureRaw);
+
+        } else {
+            softSet("WhiteBalance", 4000);
+            exposureAbsProp.set(0);
+        }
+    }
+
+    @Override
+    public void setAllCamDefaults() {
+        // Common settings for all cameras to attempt to get their image
+        // as close as possible to what we want for image processing
+        softSet("raw_Contrast", 5);
+        softSet("raw_Saturation", 85);
+        softSet("raw_Sharpness", 25);
+        softSet("WhiteBalance", 4000);
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
index b7c67966af..e9a1b203dd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -40,7 +40,7 @@
 import org.photonvision.vision.camera.CameraType;
 import org.photonvision.vision.camera.LibcameraGpuSource;
 import org.photonvision.vision.camera.TestSource;
-import org.photonvision.vision.camera.USBCameraSource;
+import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSource;
 
 public class VisionSourceManager {
     private static final Logger logger = new Logger(VisionSourceManager.class, LogGroup.Camera);
@@ -574,7 +574,7 @@ private static List<VisionSource> loadVisionSourcesFromCamConfigs(
                 var piCamSrc = new LibcameraGpuSource(configuration);
                 cameraSources.add(piCamSrc);
             } else {
-                var newCam = new USBCameraSource(configuration);
+                var newCam = new GenericUSBCameraSource(configuration);
                 if (!newCam.getCameraQuirks().hasQuirk(CameraQuirk.CompletelyBroken)
                         && !newCam.getSettables().videoModes.isEmpty()) {
                     cameraSources.add(newCam);
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index 7686ff1f51..478efd80d9 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -17,13 +17,15 @@
 
 package org.photonvision.vision.processes;
 
+import edu.wpi.first.cscore.UsbCamera;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
-import org.photonvision.vision.camera.USBCameraSource;
+import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSettables;
+import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSource;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 
-public class MockUsbCameraSource extends USBCameraSource {
+public class MockUsbCameraSource extends GenericUSBCameraSource {
     /** Used for unit tests to better simulate a usb camera without a camera being present. */
     public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
         super(config);
@@ -36,12 +38,12 @@ public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
                         TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
                         TestUtils.WPI2019Image.FOV);
 
-        usbCameraSettables = new MockUsbCameraSettables(config);
+        settables = new MockUsbCameraSettables(config, null);
     }
 
-    private class MockUsbCameraSettables extends USBCameraSettables {
-        public MockUsbCameraSettables(CameraConfiguration config) {
-            super(config);
+    private class MockUsbCameraSettables extends GenericUSBCameraSettables {
+        public MockUsbCameraSettables(CameraConfiguration config, UsbCamera camera) {
+            super(config, camera);
         }
 
         /** Hardware-specific implementation - do nothing in test */
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index e9d9c10e96..01a8f00fa5 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -32,7 +32,7 @@
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
-import org.photonvision.vision.camera.USBCameraSource;
+import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSource;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
@@ -186,10 +186,10 @@ public void testMultipleStreamIndex() {
 
         // Arducam OV9281 UC844 raspberry pi test.
         var conf4 = new CameraConfiguration("Left", "dev/video1");
-        USBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45);
+        GenericUSBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45);
 
         var conf5 = new CameraConfiguration("Right", "dev/video2");
-        USBCameraSource usbSimulation2 = new MockUsbCameraSource(conf5, 0x6366, 0x0c45);
+        GenericUSBCameraSource usbSimulation2 = new MockUsbCameraSource(conf5, 0x6366, 0x0c45);
 
         var modules =
                 vmm.addSources(

From 8d3d32187b9a25593bc976d541cc097857d79d47 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Thu, 18 Jul 2024 11:40:31 -0500
Subject: [PATCH 12/34] wip lifecam experiments, not running yet

---
 .../vision/camera/CameraQuirk.java            |   2 +-
 .../vision/camera/QuirkyCamera.java           |   4 +-
 .../USBCameras/GenericUSBCameraSettables.java | 118 ++++++++----------
 .../USBCameras/GenericUSBCameraSource.java    |  12 +-
 .../USBCameras/LifeCam3kCameraSettables.java  |  75 +++++++++++
 photon-server/build.gradle                    |   6 -
 .../src/main/resources/web/index.html         |  16 ++-
 7 files changed, 153 insertions(+), 80 deletions(-)
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index 17bbb65299..e069d20787 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -21,7 +21,7 @@ public enum CameraQuirk {
     /** Camera settable for controllable image gain */
     Gain,
     /** Only certain discrete exposure settings work */
-    LifeCamExposure,
+    LifeCam,
     /** Auto-Exposure property uses 1/0, rather than 3/1 */
     OneZeroAutoExposure,
     /** Cap at 100FPS for high-bandwidth cameras */
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index e02b75eca0..f6c86fcbb1 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -39,9 +39,9 @@ public class QuirkyCamera {
                     // Mac Facetime Camera shared into Windows in Bootcamp
                     new QuirkyCamera(-1, -1, "FaceTime HD Camera", CameraQuirk.CompletelyBroken),
                     // Microsoft Lifecam
-                    new QuirkyCamera(-1, -1, "LifeCam HD-3000", CameraQuirk.LifeCamExposure),
+                    new QuirkyCamera(-1, -1, "LifeCam HD-3000", CameraQuirk.LifeCam),
                     // Microsoft Lifecam
-                    new QuirkyCamera(-1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamExposure),
+                    new QuirkyCamera(-1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCam),
                     // PS3Eye
                     new QuirkyCamera(
                             0x1415,
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index 1b8128df20..98ddb3abfd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -39,55 +39,6 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     protected UsbCamera camera;
     protected CameraConfiguration configuration;
 
-    /**
-     * Forgiving "set this property" action. Produces a debug message but skips properties if they
-     * aren't supported Errors if the property exists but the set fails.
-     *
-     * @param property
-     * @param value
-     */
-    protected void softSet(String property, int value) {
-        VideoProperty prop = camera.getProperty(property);
-        if (prop.getKind() == VideoProperty.Kind.kNone) {
-            logger.debug("No property " + property + " for " + camera.getName() + " , skipping.");
-        } else {
-            try {
-                prop.set(value);
-            } catch (VideoException e) {
-                logger.error("Failed to set " + property + " for " + camera.getName() + " !", e);
-            }
-        }
-    }
-
-    /**
-     * Returns the first property with a name in the list. Useful to find gandolf property that goes
-     * by many names in different os/releases/whatever
-     *
-     * @param options
-     * @return
-     */
-    protected Optional<VideoProperty> findProperty(String... options) {
-        VideoProperty retProp = null;
-        boolean found = false;
-        for (var option : options) {
-            retProp = camera.getProperty(option);
-            if (retProp.getKind() != VideoProperty.Kind.kNone) {
-                // got em
-                found = true;
-                break;
-            }
-        }
-
-        if (!found) {
-            logger.warn(
-                    "Expected at least one of the following properties to be available: "
-                            + Arrays.toString(options));
-            retProp = null;
-        }
-
-        return Optional.ofNullable(retProp);
-    }
-
     protected void setUpExposureProperties() {
         // Photonvision needs to be able to control absolute exposure. Make sure we can
         // first.
@@ -125,11 +76,6 @@ public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera ca
             this.maxExposure = 75;
         }
 
-        if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
-            // Camera seems unstable above this point.
-            this.maxExposure = 750;
-        }
-
         if (configuration.cameraQuirks.hasQuirk(CameraQuirk.OneZeroAutoExposure)) {
             PROP_AUTO_EXPOSURE_ENABLED = 0;
             PROP_AUTO_EXPOSURE_DISABLED = 1;
@@ -195,11 +141,6 @@ public void setExposureRaw(double exposureRaw) {
 
                 int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
-                // if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
-                //    // Lifecam only allows certain settings for exposure
-                //    propVal = MathUtils.quantize(propVal, CameraQuirkConstants.LifecamAllowableExposures);
-                // }
-
                 logger.debug(
                         "Setting property "
                                 + exposureAbsProp.getName()
@@ -213,14 +154,6 @@ public void setExposureRaw(double exposureRaw) {
 
                 this.lastExposureRaw = exposureRaw;
 
-                if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
-                    // Lifecam requires setting brightness again after exposure
-                    // And it requires setting it twice, ensuring the value is different
-                    // This camera is very bork.
-                    if (lastBrightness >= 0) {
-                        setBrightness(lastBrightness - 1);
-                    }
-                }
 
             } catch (VideoException e) {
                 logger.error("Failed to set camera exposure!", e);
@@ -313,4 +246,55 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
         }
         return videoModes;
     }
+
+    /**
+     * Forgiving "set this property" action. Produces a debug message but skips properties if they
+     * aren't supported Errors if the property exists but the set fails.
+     *
+     * @param property
+     * @param value
+     */
+    protected void softSet(String property, int value) {
+        VideoProperty prop = camera.getProperty(property);
+        if (prop.getKind() == VideoProperty.Kind.kNone) {
+            logger.debug("No property " + property + " for " + camera.getName() + " , skipping.");
+        } else {
+            try {
+                prop.set(value);
+            } catch (VideoException e) {
+                logger.error("Failed to set " + property + " for " + camera.getName() + " !", e);
+            }
+        }
+    }
+
+    /**
+     * Returns the first property with a name in the list. Useful to find gandolf property that goes
+     * by many names in different os/releases/whatever
+     *
+     * @param options
+     * @return
+     */
+    protected Optional<VideoProperty> findProperty(String... options) {
+        VideoProperty retProp = null;
+        boolean found = false;
+        for (var option : options) {
+            retProp = camera.getProperty(option);
+            if (retProp.getKind() != VideoProperty.Kind.kNone) {
+                // got em
+                found = true;
+                break;
+            }
+        }
+
+        if (!found) {
+            logger.warn(
+                    "Expected at least one of the following properties to be available: "
+                            + Arrays.toString(options));
+            retProp = null;
+        }
+
+        return Optional.ofNullable(retProp);
+    }
+
+    
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
index 6736212487..af6fefc683 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
@@ -112,9 +112,15 @@ private GenericUSBCameraSettables createSettables(CameraConfiguration config, Us
 
         GenericUSBCameraSettables settables;
 
-        if (quirks.hasQuirk(CameraQuirk.LifeCamExposure) && RuntimeDetector.isWindows()) {
-            logger.debug("Using Microsoft Lifecam 3000 Windows-Specific Settables");
-            settables = new LifeCam3kWindowsCameraSettables(config, camera);
+        if (quirks.hasQuirk(CameraQuirk.LifeCam)) {
+            if(RuntimeDetector.isWindows()){
+                logger.debug("Using Microsoft Lifecam 3000 Windows-Specific Settables");
+                settables = new LifeCam3kWindowsCameraSettables(config, camera);
+            } else {
+                logger.debug("Using Microsoft Lifecam 3000 Settables");
+                settables = new LifeCam3kCameraSettables(config, camera);
+            }
+
         } else {
             logger.debug("Using Generic USB Cam Settables");
             settables = new GenericUSBCameraSettables(config, camera);
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
new file mode 100644
index 0000000000..24eca92b2f
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
@@ -0,0 +1,75 @@
+package org.photonvision.vision.camera.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+
+
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.util.math.MathUtils;
+
+public class LifeCam3kCameraSettables extends GenericUSBCameraSettables {
+
+    private static int[] allowableExposures = {
+        5, 10, 20, 39, 78, 156, 312, 625
+    };
+
+    public LifeCam3kCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+
+        autoExposureProp = findProperty("exposure_auto", "auto_exposure").get();
+        exposureAbsProp = findProperty("raw_exposure_absolute", "raw_exposure_time_absolute").get();
+
+        this.minExposure = 1;
+        this.maxExposure = 700;
+    }
+
+    @Override
+    public void setExposureRaw(double exposureRaw) {
+        if (exposureRaw >= 0.0) {
+            try {
+
+                int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
+
+                propVal = MathUtils.quantize(propVal, allowableExposures);
+
+                logger.debug(
+                        "Setting property "
+                                + autoExposureProp.getName()
+                                + " to "
+                                + propVal
+                                + " (user requested "
+                                + exposureRaw
+                                + " )");
+
+                exposureAbsProp.set(propVal);
+
+                this.lastExposureRaw = exposureRaw;
+
+                // Lifecam requires setting brightness again after exposure
+                // And it requires setting it twice, ensuring the value is different
+                // This camera is very bork.
+                if (lastBrightness >= 0) {
+                    setBrightness(lastBrightness - 1);
+                }
+
+            } catch (VideoException e) {
+                logger.error("Failed to set camera exposure!", e);
+            }
+        }
+    }
+
+    @Override
+    public void setAllCamDefaults() {
+        // Common settings for all cameras to attempt to get their image
+        // as close as possible to what we want for image processing
+        softSet("raw_contrast", 5);
+        softSet("raw_saturation", 85);
+        softSet("raw_sharpness", 25);
+        softSet("white_balance_automatic", 0);
+        softSet("white_balance_temperature", 4000);
+    }
+}
diff --git a/photon-server/build.gradle b/photon-server/build.gradle
index c60c441760..7c8c2ba078 100644
--- a/photon-server/build.gradle
+++ b/photon-server/build.gradle
@@ -68,12 +68,6 @@ remotes {
         password = 'raspberry'
         knownHosts = allowAnyHosts
     }
-    gloworm {
-        host = 'gloworm.local'
-        user = 'pi'
-        password = 'raspberry'
-        knownHosts = allowAnyHosts
-    }
 }
 
 task findDeployTarget {
diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html
index 988f55e6a3..27ea637b66 100644
--- a/photon-server/src/main/resources/web/index.html
+++ b/photon-server/src/main/resources/web/index.html
@@ -1 +1,15 @@
-<p>UI has not been copied!</p>
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <link rel="icon" href="./favicon.ico" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Photon Client</title>
+    <script type="module" crossorigin src="./assets/index-8600de53.js"></script>
+    <link rel="stylesheet" href="./assets/index-20f2f634.css">
+  </head>
+  <body>
+    <div id="app"></div>
+    
+  </body>
+</html>

From 05314d42e58f2dcbadd0844684b5d5e23ed2d5cf Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Thu, 18 Jul 2024 13:18:31 -0500
Subject: [PATCH 13/34] more WIP with usb cam sources. Not yet working with
 lifecam after refactor, something broke.

---
 .../camera/USBCameras/LifeCam3kCameraSettables.java       | 2 +-
 .../{GenericUSBCameraSource.java => USBCameraSource.java} | 8 ++++----
 .../vision/processes/VisionSourceManager.java             | 4 ++--
 .../vision/processes/MockUsbCameraSource.java             | 4 ++--
 .../vision/processes/VisionModuleManagerTest.java         | 6 +++---
 5 files changed, 12 insertions(+), 12 deletions(-)
 rename photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/{GenericUSBCameraSource.java => USBCameraSource.java} (96%)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
index 24eca92b2f..165987f4d0 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
@@ -21,7 +21,7 @@ public LifeCam3kCameraSettables(CameraConfiguration configuration, UsbCamera cam
     protected void setUpExposureProperties() {
 
         autoExposureProp = findProperty("exposure_auto", "auto_exposure").get();
-        exposureAbsProp = findProperty("raw_exposure_absolute", "raw_exposure_time_absolute").get();
+        exposureAbsProp = findProperty("raw_exposure_time_absolute", "raw_exposure_absolute").get();
 
         this.minExposure = 1;
         this.maxExposure = 700;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
similarity index 96%
rename from photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
rename to photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index af6fefc683..7f54e8db9d 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -34,17 +34,17 @@
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-public class GenericUSBCameraSource extends VisionSource {
+public class USBCameraSource extends VisionSource {
     private final Logger logger;
     private final UsbCamera camera;
     protected GenericUSBCameraSettables settables;
     protected FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-    public GenericUSBCameraSource(CameraConfiguration config) {
+    public USBCameraSource(CameraConfiguration config) {
         super(config);
 
-        logger = new Logger(GenericUSBCameraSource.class, config.nickname, LogGroup.Camera);
+        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)
@@ -192,7 +192,7 @@ public boolean equals(Object obj) {
         if (this == obj) return true;
         if (obj == null) return false;
         if (getClass() != obj.getClass()) return false;
-        GenericUSBCameraSource other = (GenericUSBCameraSource) obj;
+        USBCameraSource other = (USBCameraSource) obj;
         if (camera == null) {
             if (other.camera != null) return false;
         } else if (!camera.equals(other.camera)) return false;
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
index e9a1b203dd..55832dd8e0 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -40,7 +40,7 @@
 import org.photonvision.vision.camera.CameraType;
 import org.photonvision.vision.camera.LibcameraGpuSource;
 import org.photonvision.vision.camera.TestSource;
-import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSource;
+import org.photonvision.vision.camera.USBCameras.USBCameraSource;
 
 public class VisionSourceManager {
     private static final Logger logger = new Logger(VisionSourceManager.class, LogGroup.Camera);
@@ -574,7 +574,7 @@ private static List<VisionSource> loadVisionSourcesFromCamConfigs(
                 var piCamSrc = new LibcameraGpuSource(configuration);
                 cameraSources.add(piCamSrc);
             } else {
-                var newCam = new GenericUSBCameraSource(configuration);
+                var newCam = new USBCameraSource(configuration);
                 if (!newCam.getCameraQuirks().hasQuirk(CameraQuirk.CompletelyBroken)
                         && !newCam.getSettables().videoModes.isEmpty()) {
                     cameraSources.add(newCam);
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index 478efd80d9..2cdcff55df 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -22,10 +22,10 @@
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSettables;
-import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSource;
+import org.photonvision.vision.camera.USBCameras.USBCameraSource;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 
-public class MockUsbCameraSource extends GenericUSBCameraSource {
+public class MockUsbCameraSource extends USBCameraSource {
     /** Used for unit tests to better simulate a usb camera without a camera being present. */
     public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
         super(config);
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index 01a8f00fa5..330d6968d8 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -32,7 +32,7 @@
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
-import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSource;
+import org.photonvision.vision.camera.USBCameras.USBCameraSource;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
@@ -186,10 +186,10 @@ public void testMultipleStreamIndex() {
 
         // Arducam OV9281 UC844 raspberry pi test.
         var conf4 = new CameraConfiguration("Left", "dev/video1");
-        GenericUSBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45);
+        USBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45);
 
         var conf5 = new CameraConfiguration("Right", "dev/video2");
-        GenericUSBCameraSource usbSimulation2 = new MockUsbCameraSource(conf5, 0x6366, 0x0c45);
+        USBCameraSource usbSimulation2 = new MockUsbCameraSource(conf5, 0x6366, 0x0c45);
 
         var modules =
                 vmm.addSources(

From 909cef7be184b2bcc73336eec7de91911077aacf Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Thu, 18 Jul 2024 13:27:58 -0500
Subject: [PATCH 14/34] Attempting reorder, no difference

---
 .../photonvision/vision/camera/USBCameras/USBCameraSource.java | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index 7f54e8db9d..06431db05a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -94,6 +94,7 @@ public USBCameraSource(CameraConfiguration config) {
             } else {
                 // Functional camera, set up the frame provider and configure defaults
                 usbFrameProvider = new USBFrameProvider(cvSink, settables);
+                settables.setUpExposureProperties();
                 settables.setAllCamDefaults();
             }
         }
@@ -126,8 +127,6 @@ private GenericUSBCameraSettables createSettables(CameraConfiguration config, Us
             settables = new GenericUSBCameraSettables(config, camera);
         }
 
-        settables.setUpExposureProperties();
-
         return settables;
     }
 

From 4a15f271b494f1979838c05eda56372f944cd57c Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 08:25:41 -0500
Subject: [PATCH 15/34] Bugfixes. I think we're finally working acceptably with
 lifecams on windows and linux

---
 .../USBCameras/GenericUSBCameraSettables.java | 38 +++++++++----------
 .../USBCameras/LifeCam3kCameraSettables.java  |  4 +-
 .../LifeCam3kWindowsCameraSettables.java      | 32 ++++------------
 3 files changed, 29 insertions(+), 45 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index 98ddb3abfd..e5f6cf96a6 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -39,23 +39,6 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     protected UsbCamera camera;
     protected CameraConfiguration configuration;
 
-    protected void setUpExposureProperties() {
-        // Photonvision needs to be able to control absolute exposure. Make sure we can
-        // first.
-        var expProp =
-                findProperty(
-                        "raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
-
-        // Photonvision needs to be able to control auto exposure. Make sure we can
-        // first.
-        var autoExpProp = findProperty("exposure_auto", "auto_exposure");
-
-        exposureAbsProp = expProp.get();
-        autoExposureProp = autoExpProp.get();
-        this.minExposure = exposureAbsProp.getMin();
-        this.maxExposure = exposureAbsProp.getMax();
-    }
-
     public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration);
 
@@ -82,6 +65,23 @@ public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera ca
         }
     }
 
+    protected void setUpExposureProperties() {
+        // Photonvision needs to be able to control absolute exposure. Make sure we can
+        // first.
+        var expProp =
+                findProperty(
+                        "raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
+
+        // Photonvision needs to be able to control auto exposure. Make sure we can
+        // first.
+        var autoExpProp = findProperty("exposure_auto", "auto_exposure");
+
+        exposureAbsProp = expProp.get();
+        autoExposureProp = autoExpProp.get();
+        this.minExposure = exposureAbsProp.getMin();
+        this.maxExposure = exposureAbsProp.getMax();
+    }
+
     public void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
@@ -105,7 +105,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
             softSet("white_balance_automatic", 0);
             softSet("white_balance_temperature", 4000);
-            autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
+            autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
             // Most cameras leave exposure time absolute at the last value from their AE
             // algorithm.
@@ -119,7 +119,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
             softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
             softSet("white_balance_automatic", 1);
-            autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
+            autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
         }
     }
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
index 165987f4d0..c5a7752195 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
@@ -23,8 +23,8 @@ protected void setUpExposureProperties() {
         autoExposureProp = findProperty("exposure_auto", "auto_exposure").get();
         exposureAbsProp = findProperty("raw_exposure_time_absolute", "raw_exposure_absolute").get();
 
-        this.minExposure = 1;
-        this.maxExposure = 700;
+        this.minExposure = exposureAbsProp.getMin();
+        this.maxExposure = exposureAbsProp.getMax();
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
index fcfd559b29..119a31aa4a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
@@ -7,10 +7,6 @@
 
 public class LifeCam3kWindowsCameraSettables extends GenericUSBCameraSettables {
 
-    private static int[] allowableExposures = {
-        5, 10, 20, 39, 78, 156, 312, 625, 1250, 2500, 5000, 10000, 20000
-    };
-
     public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);
     }
@@ -19,10 +15,11 @@ public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCam
     protected void setUpExposureProperties() {
 
         autoExposureProp = null; // Not Used
+        exposureAbsProp = null; //Not Used
 
-        exposureAbsProp = camera.getProperty("raw_Exposure");
-        this.minExposure = exposureAbsProp.getMin();
-        this.maxExposure = exposureAbsProp.getMax();
+        // We'll fallback on cscore's implementation for windows lifecam
+        this.minExposure = 0;
+        this.maxExposure = 100;
     }
 
     @Override
@@ -32,18 +29,8 @@ public void setExposureRaw(double exposureRaw) {
 
                 int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
-                propVal = MathUtils.quantize(propVal, allowableExposures);
-
-                logger.debug(
-                        "Setting property "
-                                + autoExposureProp.getName()
-                                + " to "
-                                + propVal
-                                + " (user requested "
-                                + exposureRaw
-                                + " μs)");
-
-                exposureAbsProp.set(propVal);
+                //exposureAbsProp.set(propVal);
+                camera.setExposureManual(propVal);
 
                 this.lastExposureRaw = exposureRaw;
 
@@ -64,15 +51,12 @@ public void setAutoExposure(boolean cameraAutoExposure) {
         logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
         if (!cameraAutoExposure) {
-
             // Most cameras leave exposure time absolute at the last value from their AE
             // algorithm.
             // Set it back to the exposure slider value
-            setExposureRaw(this.lastExposureRaw);
-
+            camera.setExposureManual( (int) this.lastExposureRaw);
         } else {
-            softSet("WhiteBalance", 4000);
-            exposureAbsProp.set(0);
+            camera.setExposureAuto();
         }
     }
 

From e5c9cdf6eee302ed20a80c39149b31750cc40be2 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 09:14:11 -0500
Subject: [PATCH 16/34] Renames, improved camera-specific settables

---
 .../vision/camera/CameraQuirk.java            |  6 +--
 .../vision/camera/QuirkyCamera.java           |  8 ++--
 .../USBCameras/ArduOV2311CameraSettables.java | 23 ++++++++++
 .../USBCameras/GenericUSBCameraSettables.java | 14 +-----
 .../USBCameras/PsEyeCameraSettables.java      | 44 +++++++++++++++++++
 .../camera/USBCameras/USBCameraSource.java    |  9 +++-
 .../photonvision/vision/QuirkyCameraTest.java |  2 +-
 7 files changed, 84 insertions(+), 22 deletions(-)
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index e069d20787..3b56c9a13a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -21,9 +21,9 @@ public enum CameraQuirk {
     /** Camera settable for controllable image gain */
     Gain,
     /** Only certain discrete exposure settings work */
-    LifeCam,
+    LifeCamControls,
     /** Auto-Exposure property uses 1/0, rather than 3/1 */
-    OneZeroAutoExposure,
+    PsEyeControls,
     /** Cap at 100FPS for high-bandwidth cameras */
     FPSCap100,
     /** Separate red/blue gain controls available */
@@ -42,5 +42,5 @@ public enum CameraQuirk {
      */
     ArduOV9281,
     /** Dummy quirk to tell OV2311 from OV9281 */
-    ArduOV2311,
+    ArduOV2311Controls,
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index f6c86fcbb1..19392c30c2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -39,16 +39,16 @@ public class QuirkyCamera {
                     // Mac Facetime Camera shared into Windows in Bootcamp
                     new QuirkyCamera(-1, -1, "FaceTime HD Camera", CameraQuirk.CompletelyBroken),
                     // Microsoft Lifecam
-                    new QuirkyCamera(-1, -1, "LifeCam HD-3000", CameraQuirk.LifeCam),
+                    new QuirkyCamera(-1, -1, "LifeCam HD-3000", CameraQuirk.LifeCamControls),
                     // Microsoft Lifecam
-                    new QuirkyCamera(-1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCam),
+                    new QuirkyCamera(-1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamControls),
                     // PS3Eye
                     new QuirkyCamera(
                             0x1415,
                             0x2000,
                             CameraQuirk.Gain,
                             CameraQuirk.FPSCap100,
-                            CameraQuirk.OneZeroAutoExposure),
+                            CameraQuirk.PsEyeControls),
                     // Logitech C925-e
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus),
                     // Generic arducam. Since OV2311 can't be differentiated
@@ -67,7 +67,7 @@ public class QuirkyCamera {
                             "OV2311",
                             "OV2311",
                             CameraQuirk.ArduCamCamera,
-                            CameraQuirk.ArduOV2311,
+                            CameraQuirk.ArduOV2311Controls,
                             CameraQuirk.StickyFPS),
                     // Arducam OV9281
                     new QuirkyCamera(
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
new file mode 100644
index 0000000000..c05861342a
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
@@ -0,0 +1,23 @@
+package org.photonvision.vision.camera.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+
+
+import org.photonvision.common.configuration.CameraConfiguration;
+
+public class ArduOV2311CameraSettables extends GenericUSBCameraSettables {
+
+    public ArduOV2311CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+        super.setUpExposureProperties();
+
+        // Property limits are incorrect
+        this.minExposure = 1;
+        this.maxExposure = 75;
+    }
+
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index e5f6cf96a6..4235c03963 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -33,8 +33,8 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     protected double minExposure = 1;
     protected double maxExposure = 80000;
 
-    protected int PROP_AUTO_EXPOSURE_ENABLED = 3;
-    protected int PROP_AUTO_EXPOSURE_DISABLED = 1;
+    protected static final int PROP_AUTO_EXPOSURE_ENABLED = 3;
+    protected static final int PROP_AUTO_EXPOSURE_DISABLED = 1;
 
     protected UsbCamera camera;
     protected CameraConfiguration configuration;
@@ -53,16 +53,6 @@ public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera ca
             }
         }
 
-        if (configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
-            // Property limits are incorrect
-            this.minExposure = 1;
-            this.maxExposure = 75;
-        }
-
-        if (configuration.cameraQuirks.hasQuirk(CameraQuirk.OneZeroAutoExposure)) {
-            PROP_AUTO_EXPOSURE_ENABLED = 0;
-            PROP_AUTO_EXPOSURE_DISABLED = 1;
-        }
     }
 
     protected void setUpExposureProperties() {
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java
new file mode 100644
index 0000000000..ceacf125ff
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java
@@ -0,0 +1,44 @@
+package org.photonvision.vision.camera.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+
+
+import org.photonvision.common.configuration.CameraConfiguration;
+
+public class PsEyeCameraSettables extends GenericUSBCameraSettables {
+
+    public PsEyeCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    public void setAutoExposure(boolean cameraAutoExposure) {
+        logger.debug("Setting auto exposure to " + cameraAutoExposure);
+
+        // PS Eye uses inverted 1=Disabled, 0=Enabled for auto exposure
+        if (!cameraAutoExposure) {
+            autoExposureProp.set(1);
+
+            // Most cameras leave exposure time absolute at the last value 
+            // from their auto exposure algorithm.
+            // Set it back to the exposure slider value
+            setExposureRaw(this.lastExposureRaw);
+
+        } else {
+            autoExposureProp.set(0);
+        }
+    }
+
+    public void setAllCamDefaults() {
+        // Common settings for all cameras to attempt to get their image
+        // as close as possible to what we want for image processing
+        softSet("raw_hue", 0); 
+        softSet("raw_contrast", 32); 
+        softSet("raw_saturation", 100); 
+        softSet("raw_hue", -10); 
+        softSet("raw_sharpness", 0); 
+        softSet("white_balance_automatic", 0); 
+        softSet("gain_automatic", 0); 
+    }
+
+
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index 06431db05a..0d6b02e2ab 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -113,7 +113,7 @@ private GenericUSBCameraSettables createSettables(CameraConfiguration config, Us
 
         GenericUSBCameraSettables settables;
 
-        if (quirks.hasQuirk(CameraQuirk.LifeCam)) {
+        if (quirks.hasQuirk(CameraQuirk.LifeCamControls)) {
             if(RuntimeDetector.isWindows()){
                 logger.debug("Using Microsoft Lifecam 3000 Windows-Specific Settables");
                 settables = new LifeCam3kWindowsCameraSettables(config, camera);
@@ -121,7 +121,12 @@ private GenericUSBCameraSettables createSettables(CameraConfiguration config, Us
                 logger.debug("Using Microsoft Lifecam 3000 Settables");
                 settables = new LifeCam3kCameraSettables(config, camera);
             }
-
+        }else if (quirks.hasQuirk(CameraQuirk.PsEyeControls)){
+            logger.debug("Using PlayStation Eye Camera Settables");
+            settables = new PsEyeCameraSettables(config, camera);
+        }else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)){
+            logger.debug("Using Arducam OV2311 Settables");
+            settables = new ArduOV2311CameraSettables(config, camera);
         } else {
             logger.debug("Using Generic USB Cam Settables");
             settables = new GenericUSBCameraSettables(config, camera);
diff --git a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
index 9b00566842..927a2cf27d 100644
--- a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
@@ -29,7 +29,7 @@ public void ps3EyeTest() {
         HashMap<CameraQuirk, Boolean> ps3EyeQuirks = new HashMap<>();
         ps3EyeQuirks.put(CameraQuirk.Gain, true);
         ps3EyeQuirks.put(CameraQuirk.FPSCap100, true);
-        ps3EyeQuirks.put(CameraQuirk.OneZeroAutoExposure, true);
+        ps3EyeQuirks.put(CameraQuirk.PsEyeControls, true);
         for (var q : CameraQuirk.values()) {
             ps3EyeQuirks.putIfAbsent(q, false);
         }

From 99942fd16f60d62d4a76626cefe54ed924175a54 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 09:18:33 -0500
Subject: [PATCH 17/34] Formatting

---
 .../vision/camera/QuirkyCamera.java           |  6 +--
 .../USBCameras/ArduOV2311CameraSettables.java | 21 ++++++++--
 .../USBCameras/GenericUSBCameraSettables.java | 21 ++++++++--
 .../USBCameras/LifeCam3kCameraSettables.java  | 26 +++++++++----
 .../LifeCam3kWindowsCameraSettables.java      | 26 ++++++++++---
 .../USBCameras/PsEyeCameraSettables.java      | 38 ++++++++++++-------
 .../camera/USBCameras/USBCameraSource.java    |  7 ++--
 7 files changed, 101 insertions(+), 44 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index 19392c30c2..5dbc6b5a08 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -44,11 +44,7 @@ public class QuirkyCamera {
                     new QuirkyCamera(-1, -1, "LifeCam Cinema (TM)", CameraQuirk.LifeCamControls),
                     // PS3Eye
                     new QuirkyCamera(
-                            0x1415,
-                            0x2000,
-                            CameraQuirk.Gain,
-                            CameraQuirk.FPSCap100,
-                            CameraQuirk.PsEyeControls),
+                            0x1415, 0x2000, CameraQuirk.Gain, CameraQuirk.FPSCap100, CameraQuirk.PsEyeControls),
                     // Logitech C925-e
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus),
                     // Generic arducam. Since OV2311 can't be differentiated
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
index c05861342a..f69e1da89b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
@@ -1,12 +1,26 @@
+/*
+ * 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.USBCameras;
 
 import edu.wpi.first.cscore.UsbCamera;
-
-
 import org.photonvision.common.configuration.CameraConfiguration;
 
 public class ArduOV2311CameraSettables extends GenericUSBCameraSettables {
-
     public ArduOV2311CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);
     }
@@ -19,5 +33,4 @@ protected void setUpExposureProperties() {
         this.minExposure = 1;
         this.maxExposure = 75;
     }
-
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index 4235c03963..9e145530c5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -1,3 +1,20 @@
+/*
+ * 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.USBCameras;
 
 import edu.wpi.first.cscore.UsbCamera;
@@ -52,7 +69,6 @@ public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera ca
                 setVideoMode(videoModes.get(0)); // fixes double FPS set
             }
         }
-
     }
 
     protected void setUpExposureProperties() {
@@ -144,7 +160,6 @@ public void setExposureRaw(double exposureRaw) {
 
                 this.lastExposureRaw = exposureRaw;
 
-
             } catch (VideoException e) {
                 logger.error("Failed to set camera exposure!", e);
             }
@@ -285,6 +300,4 @@ protected Optional<VideoProperty> findProperty(String... options) {
 
         return Optional.ofNullable(retProp);
     }
-
-    
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
index c5a7752195..18b04f7e9f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
@@ -1,17 +1,29 @@
+/*
+ * 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.USBCameras;
 
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
-
-
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.math.MathUtils;
 
 public class LifeCam3kCameraSettables extends GenericUSBCameraSettables {
-
-    private static int[] allowableExposures = {
-        5, 10, 20, 39, 78, 156, 312, 625
-    };
+    private static int[] allowableExposures = {5, 10, 20, 39, 78, 156, 312, 625};
 
     public LifeCam3kCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);
@@ -19,7 +31,6 @@ public LifeCam3kCameraSettables(CameraConfiguration configuration, UsbCamera cam
 
     @Override
     protected void setUpExposureProperties() {
-
         autoExposureProp = findProperty("exposure_auto", "auto_exposure").get();
         exposureAbsProp = findProperty("raw_exposure_time_absolute", "raw_exposure_absolute").get();
 
@@ -31,7 +42,6 @@ protected void setUpExposureProperties() {
     public void setExposureRaw(double exposureRaw) {
         if (exposureRaw >= 0.0) {
             try {
-
                 int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
                 propVal = MathUtils.quantize(propVal, allowableExposures);
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
index 119a31aa4a..d7e55eb2ec 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
@@ -1,3 +1,20 @@
+/*
+ * 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.USBCameras;
 
 import edu.wpi.first.cscore.UsbCamera;
@@ -6,16 +23,14 @@
 import org.photonvision.common.util.math.MathUtils;
 
 public class LifeCam3kWindowsCameraSettables extends GenericUSBCameraSettables {
-
     public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);
     }
 
     @Override
     protected void setUpExposureProperties() {
-
         autoExposureProp = null; // Not Used
-        exposureAbsProp = null; //Not Used
+        exposureAbsProp = null; // Not Used
 
         // We'll fallback on cscore's implementation for windows lifecam
         this.minExposure = 0;
@@ -26,10 +41,9 @@ protected void setUpExposureProperties() {
     public void setExposureRaw(double exposureRaw) {
         if (exposureRaw >= 0.0) {
             try {
-
                 int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
-                //exposureAbsProp.set(propVal);
+                // exposureAbsProp.set(propVal);
                 camera.setExposureManual(propVal);
 
                 this.lastExposureRaw = exposureRaw;
@@ -54,7 +68,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             // Most cameras leave exposure time absolute at the last value from their AE
             // algorithm.
             // Set it back to the exposure slider value
-            camera.setExposureManual( (int) this.lastExposureRaw);
+            camera.setExposureManual((int) this.lastExposureRaw);
         } else {
             camera.setExposureAuto();
         }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java
index ceacf125ff..8195ca4931 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java
@@ -1,12 +1,26 @@
+/*
+ * 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.USBCameras;
 
 import edu.wpi.first.cscore.UsbCamera;
-
-
 import org.photonvision.common.configuration.CameraConfiguration;
 
 public class PsEyeCameraSettables extends GenericUSBCameraSettables {
-
     public PsEyeCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);
     }
@@ -18,7 +32,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
         if (!cameraAutoExposure) {
             autoExposureProp.set(1);
 
-            // Most cameras leave exposure time absolute at the last value 
+            // Most cameras leave exposure time absolute at the last value
             // from their auto exposure algorithm.
             // Set it back to the exposure slider value
             setExposureRaw(this.lastExposureRaw);
@@ -31,14 +45,12 @@ public void setAutoExposure(boolean cameraAutoExposure) {
     public void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
-        softSet("raw_hue", 0); 
-        softSet("raw_contrast", 32); 
-        softSet("raw_saturation", 100); 
-        softSet("raw_hue", -10); 
-        softSet("raw_sharpness", 0); 
-        softSet("white_balance_automatic", 0); 
-        softSet("gain_automatic", 0); 
+        softSet("raw_hue", 0);
+        softSet("raw_contrast", 32);
+        softSet("raw_saturation", 100);
+        softSet("raw_hue", -10);
+        softSet("raw_sharpness", 0);
+        softSet("white_balance_automatic", 0);
+        softSet("gain_automatic", 0);
     }
-
-
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index 0d6b02e2ab..0affef41e4 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -108,23 +108,22 @@ public USBCameraSource(CameraConfiguration config) {
      * @return
      */
     private GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera) {
-
         var quirks = getCameraConfiguration().cameraQuirks;
 
         GenericUSBCameraSettables settables;
 
         if (quirks.hasQuirk(CameraQuirk.LifeCamControls)) {
-            if(RuntimeDetector.isWindows()){
+            if (RuntimeDetector.isWindows()) {
                 logger.debug("Using Microsoft Lifecam 3000 Windows-Specific Settables");
                 settables = new LifeCam3kWindowsCameraSettables(config, camera);
             } else {
                 logger.debug("Using Microsoft Lifecam 3000 Settables");
                 settables = new LifeCam3kCameraSettables(config, camera);
             }
-        }else if (quirks.hasQuirk(CameraQuirk.PsEyeControls)){
+        } else if (quirks.hasQuirk(CameraQuirk.PsEyeControls)) {
             logger.debug("Using PlayStation Eye Camera Settables");
             settables = new PsEyeCameraSettables(config, camera);
-        }else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)){
+        } else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)) {
             logger.debug("Using Arducam OV2311 Settables");
             settables = new ArduOV2311CameraSettables(config, camera);
         } else {

From a454295b1d015c583b750efc6a71a95d7adfe9ce Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 10:28:25 -0500
Subject: [PATCH 18/34] review notes cleanup

---
 .../common/util/math/MathUtils.java           | 10 -----
 .../raspi/LibCameraJNILoader.java             | 36 +++++++++++++++++-
 .../vision/camera/LibcameraGpuSettables.java  |  4 +-
 .../USBCameras/ArduOV2311CameraSettables.java |  2 +-
 .../USBCameras/ArduOV9281CameraSettables.java | 36 ++++++++++++++++++
 .../USBCameras/ArduOV9782CameraSettables.java | 37 +++++++++++++++++++
 .../USBCameras/GenericUSBCameraSettables.java | 10 +++--
 .../USBCameras/LifeCam3kCameraSettables.java  |  6 ++-
 .../LifeCam3kWindowsCameraSettables.java      |  4 +-
 9 files changed, 126 insertions(+), 19 deletions(-)
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9281CameraSettables.java
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9782CameraSettables.java

diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index 93d8562442..5efb81ef24 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -88,16 +88,6 @@ public static int quantize(int value, int[] allowableSteps) {
         return allowableSteps[allowableSteps.length - 1];
     }
 
-    public static double limit(double value, double out_min, double out_max) {
-        double retVal = value;
-        if (value > out_max) {
-            retVal = out_max;
-        } else if (value < out_min) {
-            retVal = out_min;
-        }
-        return retVal;
-    }
-
     public static double map(
             double value, double in_min, double in_max, double out_min, double out_max) {
         return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
index be512b5702..49d1f68b42 100644
--- a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
@@ -18,6 +18,7 @@
 package org.photonvision.raspi;
 
 import java.io.File;
+import java.io.FileOutputStream;
 import java.io.IOException;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -30,15 +31,48 @@ public class LibCameraJNILoader {
     private static boolean libraryLoaded = false;
     private static final Logger logger = new Logger(LibCameraJNILoader.class, LogGroup.Camera);
 
+    private static File extractLibrary(String libraryName) throws IOException{
+        // We always extract the shared object (we could hash each so, but that's a lot of work)
+        var arch_name = "linuxarm64";
+        var nativeLibName = System.mapLibraryName(libraryName);
+        var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
+        var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
+
+        if (in == null) {
+            logger.error("Failed to find internal native library at path " + resourcePath);
+            libraryLoaded = false;
+            throw new IOException();
+        }
+
+        // It's important that we don't mangle the names of these files on Windows at least
+        File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
+        FileOutputStream fos = new FileOutputStream(temp);
+
+        int read = -1;
+        byte[] buffer = new byte[1024];
+        while ((read = in.read(buffer)) != -1) {
+            fos.write(buffer, 0, read);
+        }
+        fos.close();
+        in.close();
+
+        return temp;
+    }
+
     public static synchronized void forceLoad() throws IOException {
         if (libraryLoaded) return;
 
         var libraryName = "photonlibcamera";
 
         try {
-            // Temp - use the one we built here
+            // Development aid. First, try to load the library from disc if it was built locally.
             File temp = new File("/home/pi/photon-libcamera-gl-driver/cmake_build/libphotonlibcamera.so");
 
+            if(!temp.exists()){
+                // File was not already on disc. Extract it from the jar.
+                temp = extractLibrary(libraryName);
+            }
+
             System.load(temp.getAbsolutePath());
 
             logger.info("Successfully loaded shared object " + temp.getName());
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index 309a2fca86..7d87974c18 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -134,7 +134,7 @@ public void setExposureRaw(double exposureRaw) {
 
         // 80,000 uS seems like an exposure value that will be greater than ever needed while giving
         // enough control over exposure.
-        exposureRaw = MathUtils.limit(exposureRaw, minExposure, maxExposure);
+        exposureRaw = MathUtil.clamp(exposureRaw, minExposure, maxExposure);
 
         var success = LibCameraJNI.setExposure(r_ptr, (int) exposureRaw);
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera exposure");
@@ -226,7 +226,7 @@ protected void setVideoModeInternal(VideoMode videoMode) {
         }
 
         // We don't store last settings on the native side, and when you change video mode these get
-        // reset on MMAL's end
+        // reset on the native driver's end. Reset em back to be correct
         setExposureRaw(lastManualExposure);
         setAutoExposure(lastAutoExposureActive);
         setBrightness(lastBrightness);
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
index f69e1da89b..1f04948f07 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java
@@ -31,6 +31,6 @@ protected void setUpExposureProperties() {
 
         // Property limits are incorrect
         this.minExposure = 1;
-        this.maxExposure = 75;
+        this.maxExposure = 140;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9281CameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9281CameraSettables.java
new file mode 100644
index 0000000000..a2f30f64e5
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9281CameraSettables.java
@@ -0,0 +1,36 @@
+/*
+ * 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.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+import org.photonvision.common.configuration.CameraConfiguration;
+
+public class ArduOV9281CameraSettables extends GenericUSBCameraSettables {
+    public ArduOV9281CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+        super.setUpExposureProperties();
+
+        // Property limits are incorrect
+        this.minExposure = 1;
+        this.maxExposure = 75;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9782CameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9782CameraSettables.java
new file mode 100644
index 0000000000..caf8036894
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9782CameraSettables.java
@@ -0,0 +1,37 @@
+/*
+ * 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.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+import org.photonvision.common.configuration.CameraConfiguration;
+
+public class ArduOV9782CameraSettables extends GenericUSBCameraSettables {
+    public ArduOV9782CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+        whiteBalanceTemperature = 3500;
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+        super.setUpExposureProperties();
+
+        // Property limits are incorrect
+        this.minExposure = 1;
+        this.maxExposure = 60;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index 9e145530c5..013eeaad10 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -21,6 +21,7 @@
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.cscore.VideoProperty;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.PixelFormat;
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -53,6 +54,8 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     protected static final int PROP_AUTO_EXPOSURE_ENABLED = 3;
     protected static final int PROP_AUTO_EXPOSURE_DISABLED = 1;
 
+    protected int whiteBalanceTemperature = 4000;
+
     protected UsbCamera camera;
     protected CameraConfiguration configuration;
 
@@ -92,12 +95,13 @@ public void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
         softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
-        softSet("power_line_frequency", 2); // Assume 60Hz USA
+        softSet("power_line_frequency", 2); // Assume 60Hz USA 
         softSet("scene_mode", 0); // no presets
         softSet("exposure_metering_mode", 0);
         softSet("exposure_dynamic_framerate", 0);
         softSet("focus_auto", 0);
         softSet("focus_absolute", 0); // Focus into infinity
+        softSet("white_balance_temperature", whiteBalanceTemperature);
     }
 
     public void setAutoExposure(boolean cameraAutoExposure) {
@@ -110,7 +114,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             softSet("iso_sensitivity", 0); // Manual ISO adjustment
             softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
             softSet("white_balance_automatic", 0);
-            softSet("white_balance_temperature", 4000);
+            softSet("white_balance_temperature", whiteBalanceTemperature);
             autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
             // Most cameras leave exposure time absolute at the last value from their AE
@@ -145,7 +149,7 @@ public void setExposureRaw(double exposureRaw) {
             try {
                 autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
-                int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
+                int propVal = (int) MathUtil.clamp(exposureRaw, minExposure, maxExposure);
 
                 logger.debug(
                         "Setting property "
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
index 18b04f7e9f..d8c19a6bc2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
@@ -19,10 +19,14 @@
 
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.math.MathUtil;
+
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.math.MathUtils;
 
 public class LifeCam3kCameraSettables extends GenericUSBCameraSettables {
+    // Lifecam only allows specific exposures. Pulled this list from 
+    // https://github.com/wpilibsuite/allwpilib/blob/main/cscore/src/main/native/linux/UsbCameraImpl.cpp#L129
     private static int[] allowableExposures = {5, 10, 20, 39, 78, 156, 312, 625};
 
     public LifeCam3kCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
@@ -42,7 +46,7 @@ protected void setUpExposureProperties() {
     public void setExposureRaw(double exposureRaw) {
         if (exposureRaw >= 0.0) {
             try {
-                int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
+                int propVal = (int) MathUtil.clamp(exposureRaw, minExposure, maxExposure);
 
                 propVal = MathUtils.quantize(propVal, allowableExposures);
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
index d7e55eb2ec..0b965f7b18 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
@@ -19,6 +19,8 @@
 
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.math.MathUtil;
+
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.math.MathUtils;
 
@@ -41,7 +43,7 @@ protected void setUpExposureProperties() {
     public void setExposureRaw(double exposureRaw) {
         if (exposureRaw >= 0.0) {
             try {
-                int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
+                int propVal = (int) MathUtil.clamp(exposureRaw, minExposure, maxExposure);
 
                 // exposureAbsProp.set(propVal);
                 camera.setExposureManual(propVal);

From cac1646b5097f19d12917b46876f246c6849b001 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 10:40:37 -0500
Subject: [PATCH 19/34] actually use the new settables

---
 .../vision/camera/USBCameras/USBCameraSource.java           | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index 0affef41e4..6d34ac347c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -126,6 +126,12 @@ private GenericUSBCameraSettables createSettables(CameraConfiguration config, Us
         } else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)) {
             logger.debug("Using Arducam OV2311 Settables");
             settables = new ArduOV2311CameraSettables(config, camera);
+        } else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)) {
+            logger.debug("Using Arducam OV9281 Settables");
+            settables = new ArduOV9281CameraSettables(config, camera);
+        } else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)) {
+            logger.debug("Using Arducam OV9782 Settables");
+            settables = new ArduOV9782CameraSettables(config, camera);
         } else {
             logger.debug("Using Generic USB Cam Settables");
             settables = new GenericUSBCameraSettables(config, camera);

From 5cc620fb6933c5714819b44225133f87b416e1b9 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 10:53:49 -0500
Subject: [PATCH 20/34] formatting

---
 .../main/java/org/photonvision/raspi/LibCameraJNILoader.java  | 4 ++--
 .../vision/camera/USBCameras/GenericUSBCameraSettables.java   | 3 +--
 .../vision/camera/USBCameras/LifeCam3kCameraSettables.java    | 3 +--
 .../camera/USBCameras/LifeCam3kWindowsCameraSettables.java    | 2 --
 4 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
index 49d1f68b42..af1add07d4 100644
--- a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
@@ -31,7 +31,7 @@ public class LibCameraJNILoader {
     private static boolean libraryLoaded = false;
     private static final Logger logger = new Logger(LibCameraJNILoader.class, LogGroup.Camera);
 
-    private static File extractLibrary(String libraryName) throws IOException{
+    private static File extractLibrary(String libraryName) throws IOException {
         // We always extract the shared object (we could hash each so, but that's a lot of work)
         var arch_name = "linuxarm64";
         var nativeLibName = System.mapLibraryName(libraryName);
@@ -68,7 +68,7 @@ public static synchronized void forceLoad() throws IOException {
             // Development aid. First, try to load the library from disc if it was built locally.
             File temp = new File("/home/pi/photon-libcamera-gl-driver/cmake_build/libphotonlibcamera.so");
 
-            if(!temp.exists()){
+            if (!temp.exists()) {
                 // File was not already on disc. Extract it from the jar.
                 temp = extractLibrary(libraryName);
             }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index 013eeaad10..e83fe11b50 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -32,7 +32,6 @@
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
@@ -95,7 +94,7 @@ public void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
         softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
-        softSet("power_line_frequency", 2); // Assume 60Hz USA 
+        softSet("power_line_frequency", 2); // Assume 60Hz USA
         softSet("scene_mode", 0); // no presets
         softSet("exposure_metering_mode", 0);
         softSet("exposure_dynamic_framerate", 0);
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
index d8c19a6bc2..40d6d19ad0 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
@@ -20,12 +20,11 @@
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.math.MathUtil;
-
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.math.MathUtils;
 
 public class LifeCam3kCameraSettables extends GenericUSBCameraSettables {
-    // Lifecam only allows specific exposures. Pulled this list from 
+    // Lifecam only allows specific exposures. Pulled this list from
     // https://github.com/wpilibsuite/allwpilib/blob/main/cscore/src/main/native/linux/UsbCameraImpl.cpp#L129
     private static int[] allowableExposures = {5, 10, 20, 39, 78, 156, 312, 625};
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
index 0b965f7b18..ef4a3029cd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
@@ -20,9 +20,7 @@
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.math.MathUtil;
-
 import org.photonvision.common.configuration.CameraConfiguration;
-import org.photonvision.common.util.math.MathUtils;
 
 public class LifeCam3kWindowsCameraSettables extends GenericUSBCameraSettables {
     public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCamera camera) {

From 27705ff14b1570e9901d01b3b9fed8f564966e44 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 11:18:42 -0500
Subject: [PATCH 21/34] it ain't mmal anymore

---
 .../main/java/org/photonvision/vision/camera/QuirkyCamera.java  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index 5dbc6b5a08..ae900658de 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -79,7 +79,7 @@ public class QuirkyCamera {
             new QuirkyCamera(
                     -1,
                     -1,
-                    "mmal service 16.1", // TODO - is this still accurate in the libpicam days?
+                    "unicam",
                     CameraQuirk.Gain,
                     CameraQuirk.AWBGain); // PiCam (using libpicam GPU Driver on raspberry pi)
 

From dfcc5bf63ea92cd39be67ae02c228c5acddc90d6 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 11:52:59 -0500
Subject: [PATCH 22/34] fixups for supporting unit tests

---
 .../vision/processes/MockUsbCameraSource.java     | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index 2cdcff55df..8c8ab775e6 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -18,6 +18,8 @@
 package org.photonvision.vision.processes;
 
 import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoMode;
+
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
@@ -53,6 +55,17 @@ public void setExposureRaw(double exposureRaw) {}
         /** Hardware-specific implementation - do nothing in test */
         @Override
         public void setAutoExposure(boolean cameraAutoExposure) {}
-        ;
+        
+
+        /** Hardware-specific implementation - do nothing in test */
+        @Override
+        public void setBrightness(int brightness) {}
+
+        @Override
+        public void setGain(int gain) {}
+
+        @Override
+        public void setVideoModeInternal(VideoMode videoMode) {}
+        
     }
 }

From dfb7a2e428a27a06a5ac1f9fa023662b5e5e81ea Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 12:18:42 -0500
Subject: [PATCH 23/34] spotless/format

---
 .../org/photonvision/vision/processes/MockUsbCameraSource.java | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index 8c8ab775e6..dadca1b87d 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -19,7 +19,6 @@
 
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoMode;
-
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
@@ -55,7 +54,6 @@ public void setExposureRaw(double exposureRaw) {}
         /** Hardware-specific implementation - do nothing in test */
         @Override
         public void setAutoExposure(boolean cameraAutoExposure) {}
-        
 
         /** Hardware-specific implementation - do nothing in test */
         @Override
@@ -66,6 +64,5 @@ public void setGain(int gain) {}
 
         @Override
         public void setVideoModeInternal(VideoMode videoMode) {}
-        
     }
 }

From 4f127e571f21281b0ecab4adb38a63aaaa12d30c Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 19 Jul 2024 13:06:04 -0500
Subject: [PATCH 24/34] reset index.html

---
 photon-server/src/main/resources/web/index.html | 16 +---------------
 1 file changed, 1 insertion(+), 15 deletions(-)

diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html
index 27ea637b66..988f55e6a3 100644
--- a/photon-server/src/main/resources/web/index.html
+++ b/photon-server/src/main/resources/web/index.html
@@ -1,15 +1 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <link rel="icon" href="./favicon.ico" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Photon Client</title>
-    <script type="module" crossorigin src="./assets/index-8600de53.js"></script>
-    <link rel="stylesheet" href="./assets/index-20f2f634.css">
-  </head>
-  <body>
-    <div id="app"></div>
-    
-  </body>
-</html>
+<p>UI has not been copied!</p>

From 94324edfe2e7c9a3f54a9eab21d95e43c7e19e13 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Sun, 21 Jul 2024 08:41:33 -0500
Subject: [PATCH 25/34] aligned ts/vue

---
 .../components/cameras/CameraSettingsCard.vue | 30 +++++++++----------
 photon-client/src/types/SettingTypes.ts       | 13 ++++----
 2 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/photon-client/src/components/cameras/CameraSettingsCard.vue b/photon-client/src/components/cameras/CameraSettingsCard.vue
index 5c58b688be..100aac0c2e 100644
--- a/photon-client/src/components/cameras/CameraSettingsCard.vue
+++ b/photon-client/src/components/cameras/CameraSettingsCard.vue
@@ -13,32 +13,32 @@ const tempSettingsStruct = ref<CameraSettingsChangeRequest>({
 
 const arducamSelectWrapper = computed<number>({
   get: () => {
-    if (tempSettingsStruct.value.quirksToChange.ArduOV9281) return 1;
-    else if (tempSettingsStruct.value.quirksToChange.ArduOV2311) return 2;
-    else if (tempSettingsStruct.value.quirksToChange.ArduOV9782) return 3;
+    if (tempSettingsStruct.value.quirksToChange.ArduOV9281Controls) return 1;
+    else if (tempSettingsStruct.value.quirksToChange.ArduOV2311Controls) return 2;
+    else if (tempSettingsStruct.value.quirksToChange.ArduOV9782Controls) return 3;
     else return 0;
   },
   set: (v) => {
     switch (v) {
       case 1:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = true;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false;
         break;
       case 2:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = true;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false;
         break;
       case 3:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = true;
         break;
       default:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false;
         break;
     }
   }
diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 3f8b68be3d..8db529b85e 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -118,7 +118,7 @@ export interface CvPoint3 {
   x: number;
   y: number;
   z: number;
-}
+} 
 export interface CvPoint {
   x: number;
   y: number;
@@ -148,15 +148,18 @@ export interface CameraCalibrationResult {
 export enum ValidQuirks {
   AWBGain = "AWBGain",
   AdjustableFocus = "AdjustableFocus",
-  ArduOV9281 = "ArduOV9281",
-  ArduOV2311 = "ArduOV2311",
-  ArduOV9782 = "ArduOV9782",
+  ArduOV9281Controls = "ArduOV9281Controls",
+  ArduOV2311Controls = "ArduOV2311Controls",
+  ArduOV9782Controls = "ArduOV9782Controls",
   ArduCamCamera = "ArduCamCamera",
   CompletelyBroken = "CompletelyBroken",
   FPSCap100 = "FPSCap100",
   Gain = "Gain",
   PiCam = "PiCam",
-  StickyFPS = "StickyFPS"
+  StickyFPS = "StickyFPS",
+  LifeCamControls = "LifeCamControls",
+  PsEyeControls = "PsEyeControls"
+
 }
 
 export interface QuirkyCamera {

From 3d1181b74ddb9282839835a5847d73702aeb5d72 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Sun, 21 Jul 2024 09:29:44 -0500
Subject: [PATCH 26/34] formatting

---
 photon-client/src/types/SettingTypes.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 8db529b85e..173d6b2703 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -118,7 +118,7 @@ export interface CvPoint3 {
   x: number;
   y: number;
   z: number;
-} 
+}
 export interface CvPoint {
   x: number;
   y: number;

From 353b6d266298d266906d4b43e0a4309efe744350 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Sun, 21 Jul 2024 15:59:28 -0500
Subject: [PATCH 27/34] Even more formatting

---
 photon-client/src/types/SettingTypes.ts | 1 -
 1 file changed, 1 deletion(-)

diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 173d6b2703..cd3ac8883e 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -159,7 +159,6 @@ export enum ValidQuirks {
   StickyFPS = "StickyFPS",
   LifeCamControls = "LifeCamControls",
   PsEyeControls = "PsEyeControls"
-
 }
 
 export interface QuirkyCamera {

From dbdd6911aabc732e68160d038be5ba2d0e1dd4da Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 26 Jul 2024 09:28:26 -0500
Subject: [PATCH 28/34] Adding settings remake implementation, innomaker camera
 support.

---
 photon-client/src/types/SettingTypes.ts       |  1 +
 .../vision/camera/CameraQuirk.java            |  7 +++-
 .../vision/camera/FileVisionSource.java       |  6 ++++
 .../vision/camera/LibcameraGpuSource.java     |  6 ++++
 .../vision/camera/QuirkyCamera.java           |  5 ++-
 .../vision/camera/TestSource.java             |  6 ++++
 .../USBCameras/InnoOV9281CameraSettables.java | 36 +++++++++++++++++++
 .../camera/USBCameras/USBCameraSource.java    | 18 ++++++++--
 .../vision/processes/VisionModule.java        |  1 +
 .../vision/processes/VisionSource.java        |  2 ++
 .../processes/VisionModuleManagerTest.java    |  5 +++
 11 files changed, 89 insertions(+), 4 deletions(-)
 create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/InnoOV9281CameraSettables.java

diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index cd3ac8883e..4f17096c1f 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -148,6 +148,7 @@ export interface CameraCalibrationResult {
 export enum ValidQuirks {
   AWBGain = "AWBGain",
   AdjustableFocus = "AdjustableFocus",
+  InnoOV9281Controls = "InnoOV9281Controls",
   ArduOV9281Controls = "ArduOV9281Controls",
   ArduOV2311Controls = "ArduOV2311Controls",
   ArduOV9782Controls = "ArduOV9782Controls",
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index 22253f8986..9258c53b42 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -37,11 +37,16 @@ public enum CameraQuirk {
     /** Camera is an arducam. This means it shares VID/PID with other arducams (ew) */
     ArduCamCamera,
     /**
-     * Camera is an arducam ov9281 which has a funky exposure issue where it is defined in v4l as
+     * Camera is an arducam USB ov9281 which has a funky exposure issue where it is defined in v4l as
      * 1-5000 instead of 1-75
      */
     ArduOV9281Controls,
     /** Dummy quirk to tell OV2311 from OV9281 */
     ArduOV2311Controls,
     ArduOV9782Controls,
+    /**
+     * Camera is innomaker USB OV9281 which also has incorrect v4l exposure times Real range is more
+     * like 0-500
+     */
+    InnoOV9281Controls,
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index ecb3b56b89..ab3dea261e 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -74,6 +74,12 @@ public boolean isVendorCamera() {
         return false;
     }
 
+    @Override
+    public void remakeSettables() {
+        // Nothing to do, settables for this type of VisionSource should never be remade.
+        return;
+    }
+
     @Override
     public boolean hasLEDs() {
         return false; // Assume USB cameras do not have photonvision-controlled LEDs
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
index 6783f61e3c..8db27a5d73 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
@@ -58,6 +58,12 @@ public VisionSourceSettables getSettables() {
         return settables;
     }
 
+    @Override
+    public void remakeSettables() {
+        // Nothing to do, settables for this type of VisionSource should never be remade.
+        return;
+    }
+
     /**
      * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
      * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index f21b0e560a..2eb1982fd9 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -80,7 +80,10 @@ public class QuirkyCamera {
                             "OV9782",
                             "OV9782",
                             CameraQuirk.ArduCamCamera,
-                            CameraQuirk.ArduOV9782Controls));
+                            CameraQuirk.ArduOV9782Controls),
+                    // Innomaker OV9281
+                    new QuirkyCamera(
+                            0x0c45, 0x636d, "USB Camera", "USB Camera", CameraQuirk.InnoOV9281Controls));
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
     public static final QuirkyCamera ZeroCopyPiCamera =
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java
index deef4b69a8..38b8b56afc 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java
@@ -38,6 +38,12 @@ public TestSource(CameraConfiguration config) {
                 QuirkyCamera.getQuirkyCamera(config.usbVID, config.usbVID, config.baseName);
     }
 
+    @Override
+    public void remakeSettables() {
+        // Nothing to do, settables for this type of VisionSource should never be remade.
+        return;
+    }
+
     @Override
     public FrameProvider getFrameProvider() {
         return new FrameProvider() {
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/InnoOV9281CameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/InnoOV9281CameraSettables.java
new file mode 100644
index 0000000000..3cb710e5aa
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/InnoOV9281CameraSettables.java
@@ -0,0 +1,36 @@
+/*
+ * 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.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+import org.photonvision.common.configuration.CameraConfiguration;
+
+public class InnoOV9281CameraSettables extends GenericUSBCameraSettables {
+    public InnoOV9281CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+        super.setUpExposureProperties();
+
+        // Property limits are incorrect
+        this.minExposure = 1;
+        this.maxExposure = 500;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index 56cb8b699f..433c5d7666 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -94,7 +94,6 @@ public USBCameraSource(CameraConfiguration config) {
             } else {
                 // Functional camera, set up the frame provider and configure defaults
                 usbFrameProvider = new USBFrameProvider(cvSink, settables);
-                settables.setUpExposureProperties();
                 settables.setAllCamDefaults();
             }
         }
@@ -128,18 +127,33 @@ private GenericUSBCameraSettables createSettables(CameraConfiguration config, Us
             settables = new ArduOV2311CameraSettables(config, camera);
         } else if (quirks.hasQuirk(CameraQuirk.ArduOV9281Controls)) {
             logger.debug("Using Arducam OV9281 Settables");
-            settables = new ArduOV9281CameraSettables(config, camera);
+            settables = new InnoOV9281CameraSettables(config, camera);
         } else if (quirks.hasQuirk(CameraQuirk.ArduOV9782Controls)) {
             logger.debug("Using Arducam OV9782 Settables");
             settables = new ArduOV9782CameraSettables(config, camera);
+        } else if (quirks.hasQuirk(CameraQuirk.InnoOV9281Controls)) {
+            settables = new InnoOV9281CameraSettables(config, camera);
         } else {
             logger.debug("Using Generic USB Cam Settables");
             settables = new GenericUSBCameraSettables(config, camera);
         }
 
+        settables.setUpExposureProperties();
+
         return settables;
     }
 
+    /**
+     * Must be called after createSettables Using the current config/camera and modified quirks, make
+     * a new settables
+     */
+    public void remakeSettables() {
+        var oldConfig = this.cameraConfiguration;
+        var oldCamera = this.camera;
+
+        this.settables = createSettables(oldConfig, oldCamera);
+    }
+
     private void printCameraProperaties() {
         VideoProperty[] cameraProperties = null;
         try {
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 4941a0b072..02c66393b7 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -621,6 +621,7 @@ public void addCalibrationToConfig(CameraCalibrationCoefficients newCalibration)
      */
     public void changeCameraQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
         visionSource.getCameraConfiguration().cameraQuirks.updateQuirks(quirksToChange);
+        visionSource.remakeSettables();
         saveAndBroadcastAll();
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java
index dd0ff14f8e..618d4fa144 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java
@@ -38,4 +38,6 @@ public CameraConfiguration getCameraConfiguration() {
     public abstract boolean isVendorCamera();
 
     public abstract boolean hasLEDs();
+
+    public abstract void remakeSettables();
 }
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
index 330d6968d8..ccb7473739 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -73,6 +73,11 @@ public boolean isVendorCamera() {
         public boolean hasLEDs() {
             return false;
         }
+
+        @Override
+        public void remakeSettables() {
+            return;
+        }
     }
 
     private static class TestSettables extends VisionSourceSettables {

From cfddf23301a5be36224889cc08e4bec75ba5b195 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 26 Jul 2024 09:41:16 -0500
Subject: [PATCH 29/34] reset libcamera jni loader

---
 .../raspi/LibCameraJNILoader.java             | 55 ++++++++-----------
 1 file changed, 22 insertions(+), 33 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
index af1add07d4..60256faa42 100644
--- a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
@@ -31,47 +31,35 @@ public class LibCameraJNILoader {
     private static boolean libraryLoaded = false;
     private static final Logger logger = new Logger(LibCameraJNILoader.class, LogGroup.Camera);
 
-    private static File extractLibrary(String libraryName) throws IOException {
-        // We always extract the shared object (we could hash each so, but that's a lot of work)
-        var arch_name = "linuxarm64";
-        var nativeLibName = System.mapLibraryName(libraryName);
-        var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
-        var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
-
-        if (in == null) {
-            logger.error("Failed to find internal native library at path " + resourcePath);
-            libraryLoaded = false;
-            throw new IOException();
-        }
-
-        // It's important that we don't mangle the names of these files on Windows at least
-        File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
-        FileOutputStream fos = new FileOutputStream(temp);
-
-        int read = -1;
-        byte[] buffer = new byte[1024];
-        while ((read = in.read(buffer)) != -1) {
-            fos.write(buffer, 0, read);
-        }
-        fos.close();
-        in.close();
-
-        return temp;
-    }
-
     public static synchronized void forceLoad() throws IOException {
         if (libraryLoaded) return;
 
         var libraryName = "photonlibcamera";
 
         try {
-            // Development aid. First, try to load the library from disc if it was built locally.
-            File temp = new File("/home/pi/photon-libcamera-gl-driver/cmake_build/libphotonlibcamera.so");
+            // We always extract the shared object (we could hash each so, but that's a lot of work)
+            var arch_name = "linuxarm64";
+            var nativeLibName = System.mapLibraryName(libraryName);
+            var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
+            var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
+
+            if (in == null) {
+                logger.error("Failed to find internal native library at path " + resourcePath);
+                libraryLoaded = false;
+                return;
+            }
+
+            // It's important that we don't mangle the names of these files on Windows at least
+            File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
+            FileOutputStream fos = new FileOutputStream(temp);
 
-            if (!temp.exists()) {
-                // File was not already on disc. Extract it from the jar.
-                temp = extractLibrary(libraryName);
+            int read = -1;
+            byte[] buffer = new byte[1024];
+            while ((read = in.read(buffer)) != -1) {
+                fos.write(buffer, 0, read);
             }
+            fos.close();
+            in.close();
 
             System.load(temp.getAbsolutePath());
 
@@ -80,6 +68,7 @@ public static synchronized void forceLoad() throws IOException {
         } catch (UnsatisfiedLinkError e) {
             logger.error("Couldn't load shared object " + libraryName, e);
             e.printStackTrace();
+            // logger.error(System.getProperty("java.library.path"));
         }
         libraryLoaded = true;
     }

From c209420877d992b03b8a1e18bb2f8e4a0c7293f5 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 26 Jul 2024 10:02:19 -0500
Subject: [PATCH 30/34] fix failing unit test

---
 .../org/photonvision/vision/processes/MockUsbCameraSource.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index dadca1b87d..685e2bfdf1 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -64,5 +64,8 @@ public void setGain(int gain) {}
 
         @Override
         public void setVideoModeInternal(VideoMode videoMode) {}
+
+        @Override
+        public void setUpExposureProperties() {}
     }
 }

From 8d4afcacc3c2364193831ab30ce75aa027da586b Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 26 Jul 2024 10:10:42 -0500
Subject: [PATCH 31/34] actually fix test

---
 .../vision/camera/USBCameras/USBCameraSource.java        | 2 +-
 .../vision/processes/MockUsbCameraSource.java            | 9 ++++++++-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index 433c5d7666..488c147750 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -106,7 +106,7 @@ public USBCameraSource(CameraConfiguration config) {
      * @param camera
      * @return
      */
-    private GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera) {
+    protected GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera) {
         var quirks = getCameraConfiguration().cameraQuirks;
 
         GenericUSBCameraSettables settables;
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index 685e2bfdf1..3835f56179 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -39,9 +39,16 @@ public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
                         TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
                         TestUtils.WPI2019Image.FOV);
 
-        settables = new MockUsbCameraSettables(config, null);
+        this.settables = createSettables(config, null);
+
+    }
+
+    @Override
+    public GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera){
+        return new MockUsbCameraSettables(config, null);
     }
 
+
     private class MockUsbCameraSettables extends GenericUSBCameraSettables {
         public MockUsbCameraSettables(CameraConfiguration config, UsbCamera camera) {
             super(config, camera);

From f6a9f7ff6ce6d8f8ee89f8a24771b1c588eaa576 Mon Sep 17 00:00:00 2001
From: Chris <chrisgerth010592@gmail.com>
Date: Fri, 26 Jul 2024 10:40:40 -0500
Subject: [PATCH 32/34] spotless

---
 .../vision/camera/USBCameras/USBCameraSource.java             | 3 ++-
 .../photonvision/vision/processes/MockUsbCameraSource.java    | 4 +---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
index 488c147750..0eb69b373b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java
@@ -106,7 +106,8 @@ public USBCameraSource(CameraConfiguration config) {
      * @param camera
      * @return
      */
-    protected GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera) {
+    protected GenericUSBCameraSettables createSettables(
+            CameraConfiguration config, UsbCamera camera) {
         var quirks = getCameraConfiguration().cameraQuirks;
 
         GenericUSBCameraSettables settables;
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
index 3835f56179..0aa8e3e7a8 100644
--- a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -40,15 +40,13 @@ public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
                         TestUtils.WPI2019Image.FOV);
 
         this.settables = createSettables(config, null);
-
     }
 
     @Override
-    public GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera){
+    public GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera) {
         return new MockUsbCameraSettables(config, null);
     }
 
-
     private class MockUsbCameraSettables extends GenericUSBCameraSettables {
         public MockUsbCameraSettables(CameraConfiguration config, UsbCamera camera) {
             super(config, camera);

From 797830960c5ef433a49334d8d0afe851a5f06b2c Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Mon, 29 Jul 2024 14:28:58 -0400
Subject: [PATCH 33/34] Run lint

---
 .../src/main/native/cpp/photon/dataflow/structures/Packet.cpp  | 2 ++
 .../main/native/cpp/photon/targeting/PhotonPipelineResult.cpp  | 2 ++
 .../main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp   | 2 ++
 .../cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp   | 2 ++
 .../cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp    | 3 +++
 .../src/main/cpp/subsystems/SwerveDrive.cpp                    | 1 +
 .../src/main/cpp/subsystems/SwerveModule.cpp                   | 1 +
 7 files changed, 13 insertions(+)

diff --git a/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp b/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp
index a69427a488..d364c60246 100644
--- a/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp
@@ -17,6 +17,8 @@
 
 #include "photon/dataflow/structures/Packet.h"
 
+#include <vector>
+
 using namespace photon;
 
 Packet::Packet(std::vector<uint8_t> data) : packetData(data) {}
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
index 2e3367d0c6..c94e55b731 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
@@ -17,6 +17,8 @@
 
 #include "photon/targeting/PhotonPipelineResult.h"
 
+#include <vector>
+
 namespace photon {
 PhotonPipelineResult::PhotonPipelineResult(
     int64_t sequenceID, units::microsecond_t captureTimestamp,
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
index c0200615ef..c88e8af8da 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
@@ -19,6 +19,8 @@
 
 #include <iostream>
 #include <utility>
+#include <algorithm>
+#include <vector>
 
 #include <frc/geometry/Translation2d.h>
 #include <wpi/SmallVector.h>
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp
index 6beeccaabc..da4323482c 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp
@@ -17,6 +17,8 @@
 
 #include "photon/targeting/proto/PhotonPipelineResultProto.h"
 
+#include <vector>
+
 #include "photon.pb.h"
 #include "photon/targeting/proto/MultiTargetPNPResultProto.h"
 #include "photon/targeting/proto/PhotonTrackedTargetProto.h"
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp
index 9e13181ab4..952996376b 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp
@@ -17,6 +17,9 @@
 
 #include "photon/targeting/proto/PhotonTrackedTargetProto.h"
 
+#include <utility>
+#include <vector>
+
 #include "photon.pb.h"
 
 google::protobuf::Message* wpi::Protobuf<photon::PhotonTrackedTarget>::New(
diff --git a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp
index bf33d7189d..54c39b1d5d 100644
--- a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp
+++ b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp
@@ -25,6 +25,7 @@
 #include "subsystems/SwerveDrive.h"
 
 #include <iostream>
+#include <string>
 
 #include <frc/TimedRobot.h>
 #include <frc/smartdashboard/SmartDashboard.h>
diff --git a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp
index 781c28a338..785d9ca7d6 100644
--- a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp
+++ b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp
@@ -25,6 +25,7 @@
 #include "subsystems/SwerveModule.h"
 
 #include <iostream>
+#include <string>
 
 #include <frc/MathUtil.h>
 #include <frc/RobotController.h>

From 72d5bada755174da063ac1529918b0d499c0fa41 Mon Sep 17 00:00:00 2001
From: Chris Gerth <chrisgerth010592@gmail.com>
Date: Tue, 30 Jul 2024 20:15:35 -0500
Subject: [PATCH 34/34] whuppyfermant

---
 .../main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
index c88e8af8da..6a4e367d13 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
@@ -17,9 +17,9 @@
 
 #include "photon/targeting/PhotonTrackedTarget.h"
 
+#include <algorithm>
 #include <iostream>
 #include <utility>
-#include <algorithm>
 #include <vector>
 
 #include <frc/geometry/Translation2d.h>