v2027.0.0

.github/workflows/build_ci.yml

@@ -28,7 +28,7 @@ jobs:
       with:
         name: eocvsim-ubuntu-latest
         path: |
-          EOCV-Sim/build/libs/*.jar
+          VisionBench/build/libs/*.jar
 
   build_linux_arm:
     runs-on: ubuntu-24.04-arm
@@ -51,7 +51,7 @@ jobs:
       with:
         name: eocvsim-ubuntu-arm64
         path: |
-          EOCV-Sim/build/libs/*.jar
+          VisionBench/build/libs/*.jar
 
   build_windows:
     runs-on: windows-latest
@@ -73,7 +73,7 @@ jobs:
       with:
         name: eocvsim-windows-latest
         path: |
-          EOCV-Sim/build/libs/*.jar
+          VisionBench/build/libs/*.jar
 
   build_mac:
     runs-on: macos-26
@@ -96,7 +96,7 @@ jobs:
       with:
         name: eocvsim-macos-latest
         path: |
-          EOCV-Sim/build/libs/*.jar
+          VisionBench/build/libs/*.jar
 
   build_mac_intel:
     runs-on: macos-26-intel
@@ -119,7 +119,7 @@ jobs:
       with:
         name: eocvsim-macos-13
         path: |
-          EOCV-Sim/build/libs/*.jar
+          VisionBench/build/libs/*.jar
 
   release:
     needs: [build_linux, build_linux_arm, build_windows, build_mac, build_mac_intel]
@@ -143,7 +143,7 @@ jobs:
           ORG_GRADLE_PROJECT_mavenCentralPassword: ${{ secrets.JRELEASER_MAVENCENTRAL_PASSWORD }}
           ORG_GRADLE_PROJECT_signingInMemoryKeyPassword: ${{ secrets.JRELEASER_GPG_PASSPHRASE }}
           ORG_GRADLE_PROJECT_signingInMemoryKey: ${{ secrets.JRELEASER_GPG_SECRET_KEY }}
-        run: ./gradlew -Penv=release :Common:publishToMavenCentral :Vision:publishToMavenCentral :EOCV-Sim:publishToMavenCentral -x test -x :EOCV-Sim:shadowJar
+        run: ./gradlew -Penv=release :Common:publishToMavenCentral :Vision:publishToMavenCentral :VisionBench:publishToMavenCentral -x test -x :VisionBench:shadowJar
 
       - name: Download Linux artifacts
         uses: actions/download-artifact@v4
@@ -188,15 +188,15 @@ jobs:
         run: |
           mkdir -p release-jars
           # Copy the first (and should be only) jar from each platform folder
-          cp artifacts/ubuntu/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Linux jar found"
-          cp artifacts/ubuntu-arm64/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Linux ARM64 jar found"
-          cp artifacts/windows/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Windows jar found"
-          cp artifacts/macos/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No macOS jar found"
-          cp artifacts/macos-intel/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Intel macOS jar found"
+          cp artifacts/ubuntu/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Linux jar found" jar found"
+          cp artifacts/ubuntu-arm64/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Linux ARM64 jar found"
+          cp artifacts/windows/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Windows jar found"
+          cp artifacts/macos/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No macOS jar found"
+          cp artifacts/macos-intel/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Intel macOS jar found"
           # Remove source jars if any were copied
           rm -f release-jars/*-sources.jar
           # Remove the generic jar (no platform suffix)
-          find release-jars -name "EOCV-Sim-*.jar" ! -name "*x86*" ! -name "*arm*" ! -name "*win*" -delete
+          find release-jars -name "VisionBench-*.jar" ! -name "*x86*" ! -name "*arm*" ! -name "*win*" -delete
           echo "Release jars to upload:"
           ls -la release-jars/
 
@@ -247,11 +247,11 @@ jobs:
         run: |
           mkdir -p release-jars
           # Copy the first (and should be only) jar from each platform folder
-          cp artifacts/dev/ubuntu/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Linux jar found"
-          cp artifacts/dev/ubuntu-arm64/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Linux ARM64 jar found"
-          cp artifacts/dev/windows/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Windows jar found"
-          cp artifacts/dev/macos/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No macOS jar found"
-          cp artifacts/dev/macos-intel/EOCV-Sim-*.jar release-jars/ 2>/dev/null || echo "No Intel macOS jar found"
+          cp artifacts/dev/ubuntu/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Linux jar found"
+          cp artifacts/dev/ubuntu-arm64/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Linux ARM64 jar found"
+          cp artifacts/dev/windows/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Windows jar found"
+          cp artifacts/dev/macos/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No macOS jar found"
+          cp artifacts/dev/macos-intel/VisionBench-*.jar release-jars/ 2>/dev/null || echo "No Intel macOS jar found"
           # Remove source jars if any were copied
           rm -f release-jars/*-sources.jar
           # Remove the generic jar (no platform suffix)
@@ -263,7 +263,7 @@ jobs:
         uses: pyTooling/Actions/releaser@r0
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
+          tag: ${{ github.ref_name }}
           rm: true
           files: |
             release-jars/*.jar

AGENTS.md

@@ -0,0 +1,27 @@
+# AGENTS
+
+This repository is the EOCV-Sim desktop simulator for OpenCV/FIRST Tech Challenge-style pipelines.
+
+Quick orientation:
+
+- `VisionBench/` contains the main app runtime, workspace tooling, configuration, GUI, plugins, and pipeline orchestration.
+- `Common/` contains shared lifecycle/orchestration utilities, event handling, and cross-cutting runtime helpers.
+- `Vision/` contains the rendering, camera compatibility, and FTC/OpenCV compatibility layer used to display and process frames.
+- `TeamCode/` contains sample FTC-style pipelines and example code.
+
+For deeper architecture and subsystem details, start from the documentation index:
+
+- `documents/README.md` — index of architecture docs and reading order
+- `documents/01-overview-and-architecture.md` — repository structure and lifecycle overview
+- `documents/02-main-eocvsim.md` — main app bootstrap and runtime shell
+- `documents/03-config-and-settings.md` — configuration and settings flow
+- `documents/04-gui-and-visualizer.md` — GUI and viewport host
+- `documents/05-pipeline-runtime.md` — pipeline execution, timeouts, and failure handling
+- `documents/06-input-sources.md` — input source acquisition and runtime sources
+- `documents/07-workspaces.md` — workspace compile/reload flow
+- `documents/08-plugins-and-superaccess.md` — plugin/security architecture
+- `documents/09-vision-and-common-libraries.md` — rendering and shared foundation layers
+- `documents/10-runtime-utilities.md` — EventHandler, orchestration, and common runtime utilities
+- `documents/11-tunable-fields.md` — live pipeline tuning and reflected field editing
+
+In short: the app is organized around a lifecycle-driven runtime, a pipeline execution engine, a desktop viewport/rendering layer, and a plugin/workspace ecosystem. The docs in `documents/` are the preferred place to understand the architecture before changing code.

CLAUDE.md

@@ -0,0 +1 @@
+@AGENTS.md

Common/build.gradle

@@ -3,7 +3,7 @@ plugins {
     id 'signing'
     id 'com.gradleup.shadow'
     id 'org.photonvision.tools.WpilibTools'
-    id "com.vanniktech.maven.publish" version "0.30.0"
+    id "com.vanniktech.maven.publish"
 }
 
 apply from: '../build.common.gradle'

Common/src/main/java/org/deltacv/common/util/serialization/Toml.java

@@ -41,7 +41,8 @@ public Toml read(File f) {
 
     public Toml read(InputStream in) {
         try {
-            Map<String, Object> m = MAPPER.readValue(in, new TypeReference<Map<String, Object>>() {});
+            Map<String, Object> m = MAPPER.readValue(in, new TypeReference<>() {
+            });
             return new Toml(m);
         } catch (Exception e) {
             throw new RuntimeException("Failed to read TOML from stream", e);

Common/src/main/java/org/deltacv/eocvsim/plugin/security/Authority.kt

@@ -50,21 +50,25 @@ object AuthorityFetcher {
     private val cache = mutableMapOf<String, CachedAuthority>()
 
     fun fetchAuthority(name: String): Authority? {
-        validateCache()
+        try {
+            validateCache()
 
-        // Check if the authority is cached and the file is valid
-        cache[name]?.let { cachedAuthority ->
-            logger.info("Returning cached authority for $name")
-            return cachedAuthority.authority
+            // Check if the authority is cached and the file is valid
+            cache[name]?.let { cachedAuthority ->
+                logger.info("Returning cached authority for $name")
+                return cachedAuthority.authority
+            }
+        } catch (e: Exception) {
+            logger.error("Failed to validate cache", e)
         }
 
         // Load authorities from file if it exists
         if (AUTHORITIES_FILE.exists() && tryLockAuthoritiesFile()) {
             try {
-                    val authoritiesToml = Toml().read(AUTHORITIES_FILE)
+                val authoritiesToml = readAuthoritiesFile() ?: return null
                 val timestamp = authoritiesToml.getLong("timestamp")
 
-                if(System.currentTimeMillis() - timestamp > TTL_DURATION_MS) {
+                if (System.currentTimeMillis() - (timestamp ?: 0L) > TTL_DURATION_MS) {
                     AUTHORITIES_FILE.delete()
                 } else {
                     val authorityData = authoritiesToml.getTable(name)
@@ -118,22 +122,43 @@ object AuthorityFetcher {
             return
         }
 
-        val currentTime = System.currentTimeMillis()
+        try {
+            val currentTime = System.currentTimeMillis()
 
-        if(!AUTHORITIES_FILE.exists()) {
-            AUTHORITIES_FILE.writeText("timestamp = $currentTime\n")
-        }
+            if(!AUTHORITIES_FILE.exists()) {
+                AUTHORITIES_FILE.writeText("timestamp = $currentTime\n")
+                return
+            }
 
-        val authoritiesToml = Toml().read(AUTHORITIES_FILE)
-        val timestamp = authoritiesToml.getLong("timestamp")
+            val authoritiesToml = readAuthoritiesFile()
+            val timestamp = authoritiesToml?.getLong("timestamp")
 
-        if(timestamp != null && currentTime - timestamp > TTL_DURATION_MS) {
+            if(timestamp != null && currentTime - timestamp > TTL_DURATION_MS) {
+                AUTHORITIES_FILE.delete()
+                logger.info("Authorities file has expired, clearing cache")
+                cache.clear()
+            }
+        } catch (e: Exception) {
+            logger.error("Authorities cache is corrupted, clearing it", e)
             AUTHORITIES_FILE.delete()
-            logger.info("Authorities file has expired, clearing cache")
             cache.clear()
+        } finally {
+            AUTHORITIES_LOCK_FILE.unlock()
+        }
+    }
+
+    private fun readAuthoritiesFile(): Toml? {
+        if (!AUTHORITIES_FILE.exists()) {
+            return null
         }
 
-        AUTHORITIES_LOCK_FILE.unlock()
+        return try {
+            Toml().read(AUTHORITIES_FILE)
+        } catch (e: Exception) {
+            logger.warn("Authorities cache is invalid, deleting it and recreating later", e)
+            AUTHORITIES_FILE.delete()
+            null
+        }
     }
 
     private fun saveAuthorityToFile(name: String, publicKey: String) {
@@ -142,30 +167,69 @@ object AuthorityFetcher {
         }
 
         try {
-            val sb = StringBuilder()
+            val currentTime = System.currentTimeMillis()
+            val existingAuthorities = linkedMapOf<String, Any?>()
 
-            // Load existing authorities if the file exists
             if (AUTHORITIES_FILE.exists()) {
-                val existingToml = AUTHORITIES_FILE.readText()
-                sb.append(existingToml)
-            } else {
-                sb.append("timestamp = ${System.currentTimeMillis()}\n")
+                val existingToml = readAuthoritiesFile() ?: Toml()
+                val existingMap = existingToml.toMap().filterKeys { it != "timestamp" }
+                existingMap.forEach { (key, value) ->
+                    if (value is Map<*, *>) {
+                        existingAuthorities[key] = linkedMapOf<String, Any?>().apply {
+                            value.forEach { (nestedKey, nestedValue) -> put(nestedKey.toString(), nestedValue) }
+                        }
+                    } else {
+                        existingAuthorities[key] = value
+                    }
+                }
+
+                val topLevelTimestamp = existingToml.getLong("timestamp")
+                if (topLevelTimestamp != null) {
+                    existingAuthorities["timestamp"] = topLevelTimestamp
+                }
             }
 
-            // Append new authority information
-            sb.appendLine("[$name]")
-            sb.appendLine("public = \"$publicKey\"")
-            sb.appendLine("timestamp = ${System.currentTimeMillis()}")
+            existingAuthorities["timestamp"] = existingAuthorities["timestamp"] as? Number ?: currentTime
+            val authorityTable = linkedMapOf<String, Any?>()
+            authorityTable["public"] = publicKey
+            authorityTable["timestamp"] = currentTime
+            existingAuthorities[name] = authorityTable
 
-            // Write the updated content to the file
-            AUTHORITIES_FILE.writeText(sb.toString())
+            AUTHORITIES_FILE.writeText(buildAuthoritiesToml(existingAuthorities))
         } catch (e: Exception) {
             logger.error("Failed to save authority to file", e)
         } finally {
             AUTHORITIES_LOCK_FILE.unlock()
         }
     }
 
+    private fun buildAuthoritiesToml(authorities: Map<String, Any?>): String {
+        val sb = StringBuilder()
+        val topLevelTimestamp = authorities["timestamp"]
+        if (topLevelTimestamp != null) {
+            sb.appendLine("timestamp = $topLevelTimestamp")
+        }
+
+        for ((name, value) in authorities.filterKeys { it != "timestamp" }) {
+            if (value !is Map<*, *>) continue
+
+            sb.appendLine()
+            sb.appendLine("[$name]")
+            for ((key, entryValue) in value) {
+                val fieldName = key.toString()
+                when (entryValue) {
+                    is Number -> sb.appendLine("$fieldName = $entryValue")
+                    is Boolean -> sb.appendLine("$fieldName = ${entryValue.toString().lowercase(Locale.ROOT)}")
+                    is String -> sb.appendLine("$fieldName = \"$entryValue\"")
+                    null -> sb.appendLine("$fieldName = \"\"")
+                    else -> sb.appendLine("$fieldName = \"$entryValue\"")
+                }
+            }
+        }
+
+        return sb.toString().trimEnd() + "\n"
+    }
+
     private fun tryLockAuthoritiesFile(): Boolean {
         val time = System.currentTimeMillis()