Merge in photon camera stream branch

example/5516-2024-OffSeason/.vscode/launch.json

@@ -1,6 +1,13 @@
 {
   "version": "0.2.0",
   "configurations": [
+    {
+      "type": "java",
+      "name": "aaaaaaaaa",
+      "request": "launch",
+      "mainClass": "frc.robot.subsystems.objectdetection.aaaaaaaaa",
+      "projectName": "5516-2024-OffSeason"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",

example/5516-2024-OffSeason/build.gradle

@@ -91,6 +91,7 @@ compileJava.finalizedBy checkAkitInstall
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
+
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 

example/5516-2024-OffSeason/src/main/java/frc/robot/RobotContainer.java

@@ -350,7 +350,6 @@ public void configureButtonBindings() {
             intake.runInvertVoltage();
             flyWheels.forceMaxRevert();
         }));
-
         /* amp command */
         driverXBox
                 .y()

example/5516-2024-OffSeason/src/main/java/frc/robot/subsystems/vision/apriltags/ApriltagVisionIOSim.java

@@ -19,6 +19,7 @@
 
 public class ApriltagVisionIOSim extends AprilTagVisionIOReal {
     private final VisionSystemSim visionSystemSim;
+    // private final LocalhostCommunicator localhostCommunicator;
     private final PhotonCameraSim[] camerasSim;
     private final Supplier<Pose2d> robotActualPoseInSimulationSupplier;
 
@@ -27,7 +28,6 @@ public ApriltagVisionIOSim(
             AprilTagFieldLayout aprilTagFieldLayout,
             Supplier<Pose2d> robotActualPoseInSimulationSupplier) {
         super(cameraProperties);
-
         this.robotActualPoseInSimulationSupplier = robotActualPoseInSimulationSupplier;
         this.visionSystemSim = new VisionSystemSim("main");
         visionSystemSim.addAprilTags(aprilTagFieldLayout);
@@ -43,6 +43,8 @@ public ApriltagVisionIOSim(
             cameraSim.enableDrawWireframe(true);
             visionSystemSim.addCamera(camerasSim[i] = cameraSim, cameraProperties.get(i).robotToCamera);
         }
+        // this.localhostCommunicator = new LocalhostCommunicator(camerasSim);
+
     }
 
     private static final Translation2d[] NOTE_INITIAL_POSITIONS = new Translation2d[] {
@@ -72,5 +74,11 @@ private void addNotesVisionTargets() {
     public void updateInputs(VisionInputs inputs) {
         visionSystemSim.update(robotActualPoseInSimulationSupplier.get());
         super.updateInputs(inputs);
+        // localhostCommunicator.updateAllCameraFrames();
+    }
+
+    @Override
+    public void close(){
+        // localhostCommunicator.close();
     }
 }

example/5516-2024-OffSeason/vendordeps/maple-sim.json

@@ -12,7 +12,7 @@
       {
           "groupId": "org.ironmaple",
           "artifactId": "maplesim-java",
-          "version": "0.1.5"
+          "version": "0.1.6"
       },
       {
           "groupId": "org.dyn4j",