From 8446c9450812df148c6aeb8daf69edafcf8ee85e Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Sat, 21 Oct 2023 10:46:53 -0400
Subject: [PATCH 1/3] [photon-client] Fix camera and pipeline name editing
 (#969)

closes #965

    Had to disable the eslint rule that was causing the bug.
    Disallows disabling driver mode when there are no other pipelines to swap to
    Also adds icons for saving and canceling name edits
    Adds the option to create a new pipeline in driver mode if there are no other pipelines
    Adds disable prop to the driver mode switch on the camera settings page
---
 photon-client/.eslintrc.json                  |  3 +-
 .../src/components/cameras/CamerasView.vue    |  2 +-
 .../src/components/common/pv-icon.vue         | 11 +++-
 .../src/components/common/pv-input.vue        |  7 ++-
 .../dashboard/CameraAndPipelineSelectCard.vue | 59 ++++++++++++++-----
 .../src/components/dashboard/CamerasCard.vue  |  9 ++-
 6 files changed, 70 insertions(+), 21 deletions(-)

diff --git a/photon-client/.eslintrc.json b/photon-client/.eslintrc.json
index a257cd186a..ca944a24c4 100644
--- a/photon-client/.eslintrc.json
+++ b/photon-client/.eslintrc.json
@@ -15,6 +15,7 @@
     "object-curly-spacing": ["error", "always"],
     "quote-props": ["error", "as-needed"],
     "no-case-declarations": "off",
-    "vue/require-default-prop": "off"
+    "vue/require-default-prop": "off",
+    "vue/v-on-event-hyphenation": "off"
   }
 }
diff --git a/photon-client/src/components/cameras/CamerasView.vue b/photon-client/src/components/cameras/CamerasView.vue
index 4448dcde1e..a0c1968d1e 100644
--- a/photon-client/src/components/cameras/CamerasView.vue
+++ b/photon-client/src/components/cameras/CamerasView.vue
@@ -68,7 +68,7 @@ const fpsTooLow = computed<boolean>(() => {
       <div>
         <v-switch
           v-model="driverMode"
-          :disabled="useCameraSettingsStore().isCalibrationMode"
+          :disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
           label="Driver Mode"
           style="margin-left: auto"
           color="accent"
diff --git a/photon-client/src/components/common/pv-icon.vue b/photon-client/src/components/common/pv-icon.vue
index 6781dff80e..6122a1cda3 100644
--- a/photon-client/src/components/common/pv-icon.vue
+++ b/photon-client/src/components/common/pv-icon.vue
@@ -2,6 +2,7 @@
 const props = withDefaults(
   defineProps<{
     iconName: string;
+    disabled?: boolean;
     color?: string;
     tooltip?: string;
     right?: boolean;
@@ -9,6 +10,7 @@ const props = withDefaults(
   }>(),
   {
     right: false,
+    disabled: false,
     hover: false
   }
 );
@@ -24,7 +26,14 @@ const hoverClass = props.hover ? "hover" : "";
   <div>
     <v-tooltip :right="right" :bottom="!right" nudge-right="10" :disabled="tooltip === undefined">
       <template #activator="{ on, attrs }">
-        <v-icon :class="hoverClass" :color="color" v-bind="attrs" v-on="on" @click="$emit('click')">
+        <v-icon
+          :class="hoverClass"
+          :color="color"
+          v-bind="attrs"
+          :disabled="disabled"
+          v-on="on"
+          @click="$emit('click')"
+        >
           {{ iconName }}
         </v-icon>
       </template>
diff --git a/photon-client/src/components/common/pv-input.vue b/photon-client/src/components/common/pv-input.vue
index ff3434132c..282e95e367 100644
--- a/photon-client/src/components/common/pv-input.vue
+++ b/photon-client/src/components/common/pv-input.vue
@@ -35,9 +35,10 @@ const localValue = computed({
 const handleKeydown = ({ key }) => {
   switch (key) {
     case "Enter":
-      if (!(props.rules || []).some((v) => v(localValue.value) === false || typeof v(localValue.value) === "string")) {
-        emit("onEnter", localValue.value);
-      }
+      // Explicitly check that all rule props return true
+      if (!props.rules?.every((rule) => rule(localValue.value) === true)) return;
+
+      emit("onEnter", localValue.value);
       break;
     case "Escape":
       emit("onEscape");
diff --git a/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue b/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue
index b01b4a4dd8..c7b6d3724b 100644
--- a/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue
+++ b/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue
@@ -138,7 +138,7 @@ const cancelPipelineCreation = () => {
   newPipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
 };
 
-// Pipeline Creation
+// Pipeline Deletion
 const showPipelineDeletionConfirmationDialog = ref(false);
 const confirmDeleteCurrentPipeline = () => {
   useCameraSettingsStore().deleteCurrentPipeline();
@@ -186,6 +186,11 @@ const cancelChangePipelineType = () => {
   showPipelineTypeChangeDialog.value = false;
 };
 
+// Pipeline duplication'
+const duplicateCurrentPipeline = () => {
+  useCameraSettingsStore().duplicatePipeline(useCameraSettingsStore().currentCameraSettings.currentPipelineIndex);
+};
+
 // Change Props whenever the pipeline settings are changed
 useCameraSettingsStore().$subscribe((mutation, state) => {
   const currentCameraSettings = state.cameras[useStateStore().currentCameraIndex];
@@ -225,12 +230,27 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
           :input-cols="12 - 3"
           :rules="[(v) => checkCameraName(v)]"
           label="Camera"
-          @on-enter="saveCameraNameEdit"
-          @on-escape="cancelCameraNameEdit"
+          @onEnter="saveCameraNameEdit"
+          @onEscape="cancelCameraNameEdit"
         />
       </v-col>
       <v-col cols="2" style="display: flex; align-items: center; justify-content: center">
-        <pv-icon color="#c5c5c5" icon-name="mdi-pencil" tooltip="Edit Camera Name" @click="startCameraNameEdit" />
+        <div v-if="isCameraNameEdit" style="display: flex; gap: 14px">
+          <pv-icon
+            icon-name="mdi-content-save"
+            color="#c5c5c5"
+            :disabled="checkCameraName(currentCameraName) !== true"
+            @click="() => saveCameraNameEdit(currentCameraName)"
+          />
+          <pv-icon icon-name="mdi-cancel" color="red darken-2" @click="cancelCameraNameEdit" />
+        </div>
+        <pv-icon
+          v-else
+          color="#c5c5c5"
+          icon-name="mdi-pencil"
+          tooltip="Edit Camera Name"
+          @click="startCameraNameEdit"
+        />
       </v-col>
     </v-row>
     <v-row style="padding: 0 12px 0 24px">
@@ -250,12 +270,21 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
           :input-cols="12 - 3"
           :rules="[(v) => checkPipelineName(v)]"
           label="Pipeline"
-          @on-enter="(v) => savePipelineNameEdit(v)"
-          @on-escape="cancelPipelineNameEdit"
+          @onEnter="(v) => savePipelineNameEdit(v)"
+          @onEscape="cancelPipelineNameEdit"
         />
       </v-col>
       <v-col cols="2" class="pa-0" style="display: flex; align-items: center; justify-content: center">
-        <v-menu v-if="!useCameraSettingsStore().isDriverMode" offset-y nudge-bottom="7" auto>
+        <div v-if="isPipelineNameEdit" style="display: flex; gap: 14px">
+          <pv-icon
+            icon-name="mdi-content-save"
+            color="#c5c5c5"
+            :disabled="checkPipelineName(currentPipelineName) !== true"
+            @click="() => savePipelineNameEdit(currentPipelineName)"
+          />
+          <pv-icon icon-name="mdi-cancel" color="red darken-2" @click="cancelPipelineNameEdit" />
+        </div>
+        <v-menu v-else-if="!useCameraSettingsStore().isDriverMode" offset-y nudge-bottom="7" auto>
           <template #activator="{ on }">
             <v-icon color="#c5c5c5" v-on="on" @click="cancelPipelineNameEdit"> mdi-menu </v-icon>
           </template>
@@ -275,19 +304,21 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
                 <pv-icon color="red darken-2" :right="true" icon-name="mdi-delete" tooltip="Delete pipeline" />
               </v-list-item-title>
             </v-list-item>
-            <v-list-item
-              @click="
-                useCameraSettingsStore().duplicatePipeline(
-                  useCameraSettingsStore().currentCameraSettings.currentPipelineIndex
-                )
-              "
-            >
+            <v-list-item @click="duplicateCurrentPipeline">
               <v-list-item-title>
                 <pv-icon color="#c5c5c5" :right="true" icon-name="mdi-content-copy" tooltip="Duplicate pipeline" />
               </v-list-item-title>
             </v-list-item>
           </v-list>
         </v-menu>
+        <pv-icon
+          v-else-if="useCameraSettingsStore().isDriverMode && useCameraSettingsStore().pipelineNames.length === 0"
+          color="#c5c5c5"
+          :right="true"
+          icon-name="mdi-plus"
+          tooltip="Add new pipeline"
+          @click="showCreatePipelineDialog"
+        />
       </v-col>
     </v-row>
     <v-row style="padding: 0 12px 12px 24px">
diff --git a/photon-client/src/components/dashboard/CamerasCard.vue b/photon-client/src/components/dashboard/CamerasCard.vue
index 5670106df3..21fb77ada2 100644
--- a/photon-client/src/components/dashboard/CamerasCard.vue
+++ b/photon-client/src/components/dashboard/CamerasCard.vue
@@ -66,7 +66,14 @@ const fpsTooLow = computed<boolean>(() => {
         </v-chip>
       </div>
       <div>
-        <v-switch v-model="driverMode" label="Driver Mode" style="margin-left: auto" color="accent" class="pt-2" />
+        <v-switch
+          v-model="driverMode"
+          :disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
+          label="Driver Mode"
+          style="margin-left: auto"
+          color="accent"
+          class="pt-2"
+        />
       </div>
     </v-card-title>
     <v-divider style="border-color: white" />

From 959c162fc2f36c03d930e1c2afe530b1a796e235 Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Sat, 21 Oct 2023 11:09:55 -0400
Subject: [PATCH 2/3] [photon-client] Styling fixes (#968)

---
 .../cameras/CameraCalibrationCard.vue         |  1 +
 .../src/components/cameras/CamerasView.vue    |  1 +
 .../dashboard/CameraAndPipelineSelectCard.vue |  8 +++++++-
 .../components/dashboard/tabs/OutputTab.vue   | 10 ++++++----
 .../components/dashboard/tabs/TargetsTab.vue  | 20 +++++++++++--------
 .../settings/ApriltagControlCard.vue          |  6 ++----
 6 files changed, 29 insertions(+), 17 deletions(-)

diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index f9bdbf1332..2c40c28b23 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -233,6 +233,7 @@ const endCalibration = () => {
                 :items="getUniqueVideoResolutionStrings()"
               />
               <pv-select
+                v-show="isCalibrating"
                 v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
                 label="Decimation"
                 tooltip="Resolution to which camera frames are downscaled for detection. Calibration still uses full-res"
diff --git a/photon-client/src/components/cameras/CamerasView.vue b/photon-client/src/components/cameras/CamerasView.vue
index a0c1968d1e..f7c110cf62 100644
--- a/photon-client/src/components/cameras/CamerasView.vue
+++ b/photon-client/src/components/cameras/CamerasView.vue
@@ -125,6 +125,7 @@ th {
 
 .stream-container {
   display: flex;
+  justify-content: center;
   flex-wrap: wrap;
   align-items: center;
   gap: 12px;
diff --git a/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue b/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue
index c7b6d3724b..11544a34d1 100644
--- a/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue
+++ b/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue
@@ -371,7 +371,13 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
     <v-dialog v-model="showPipelineDeletionConfirmationDialog" dark width="500">
       <v-card dark color="primary">
         <v-card-title> Pipeline Deletion Confirmation </v-card-title>
-        <v-card-text> Are you sure you want to delete this pipeline? This cannot be undone. </v-card-text>
+        <v-card-text>
+          Are you sure you want to delete the pipeline
+          <b style="color: white; font-weight: bold">{{
+            useCameraSettingsStore().currentPipelineSettings.pipelineNickname
+          }}</b
+          >? This cannot be undone.
+        </v-card-text>
         <v-divider />
         <v-card-actions>
           <v-spacer />
diff --git a/photon-client/src/components/dashboard/tabs/OutputTab.vue b/photon-client/src/components/dashboard/tabs/OutputTab.vue
index 5116b6ee38..bc9fb8ca0c 100644
--- a/photon-client/src/components/dashboard/tabs/OutputTab.vue
+++ b/photon-client/src/components/dashboard/tabs/OutputTab.vue
@@ -84,10 +84,11 @@ const interactiveCols = computed(
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ outputShowMultipleTargets: value }, false)
       "
     />
-    <cv-switch
+    <pv-switch
       v-if="
         currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
-        useCameraSettingsStore().isCurrentVideoFormatCalibrated
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
       "
       v-model="currentPipelineSettings.doMultiTarget"
       label="Do Multi-Target Estimation"
@@ -96,10 +97,11 @@ const interactiveCols = computed(
       :disabled="!isTagPipeline"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ doMultiTarget: value }, false)"
     />
-    <cv-switch
+    <pv-switch
       v-if="
         currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
-        useCameraSettingsStore().isCurrentVideoFormatCalibrated
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
       "
       v-model="currentPipelineSettings.doSingleTargetAlways"
       label="Always Do Single-Target Estimation"
diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
index e6b01fd1d4..144e76f1ea 100644
--- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue
+++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -2,6 +2,8 @@
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { PipelineType } from "@/types/PipelineTypes";
 import { useStateStore } from "@/stores/StateStore";
+
+const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
 </script>
 
 <template>
@@ -58,7 +60,7 @@ import { useStateStore } from "@/stores/StateStore";
                 <td>{{ target.skew.toFixed(2) }}&deg;</td>
                 <td>{{ target.area.toFixed(2) }}&deg;</td>
               </template>
-              <template v-else-if="useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
+              <template v-else>
                 <td>{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
                 <td>{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
                 <td>{{ (((target.pose?.angle_z || 0) * 180.0) / Math.PI).toFixed(2) }}&deg;</td>
@@ -78,13 +80,15 @@ import { useStateStore } from "@/stores/StateStore";
     </v-row>
     <v-row
       v-if="
-        useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
-        useCameraSettingsStore().currentPipelineSettings.doMultiTarget
+        currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
+        currentPipelineSettings.doMultiTarget &&
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
       "
       align="start"
       class="pb-4 white--text"
     >
-      <v-card-subtitle>Multi-tag pose, field-to-camera</v-card-subtitle>
+      <v-card-subtitle class="ma-0 pa-0 pb-4" style="font-size: 16px">Multi-tag pose, field-to-camera</v-card-subtitle>
       <v-simple-table fixed-header height="100%" dense dark>
         <thead style="font-size: 1.25rem">
           <th class="text-center">X meters</th>
@@ -92,10 +96,10 @@ import { useStateStore } from "@/stores/StateStore";
           <th class="text-center">Z Angle &theta;&deg;</th>
           <th class="text-center">Tags</th>
         </thead>
-        <tbody>
-          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}</td>
-          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}</td>
-          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z.toFixed(2) }}</td>
+        <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
+          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m</td>
+          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m</td>
+          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z.toFixed(2) }}&deg;</td>
           <td>{{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}</td>
         </tbody>
       </v-simple-table>
diff --git a/photon-client/src/components/settings/ApriltagControlCard.vue b/photon-client/src/components/settings/ApriltagControlCard.vue
index f6a3e30629..b0c64ff7cc 100644
--- a/photon-client/src/components/settings/ApriltagControlCard.vue
+++ b/photon-client/src/components/settings/ApriltagControlCard.vue
@@ -39,11 +39,9 @@ const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: num
           <tbody>
             <tr v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags" :key="index">
               <td>{{ tag.ID }}</td>
-              <td v-for="(val, idx) in Object.values(tag.pose.translation)" :key="idx">
-                {{ val.toFixed(2) }}
-              </td>
+              <td v-for="(val, idx) in Object.values(tag.pose.translation)" :key="idx">{{ val.toFixed(2) }}&nbsp;m</td>
               <td v-for="(val, idx) in Object.values(quaternionToEuler(tag.pose.rotation.quaternion))" :key="idx + 4">
-                {{ val.toFixed(2) }}
+                {{ val.toFixed(2) }}&deg;
               </td>
             </tr>
           </tbody>

From c5b42a119135512920accba4482471e71ced68ac Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Mon, 23 Oct 2023 23:28:37 -0400
Subject: [PATCH 3/3] Bump WPILib to beta 2 (#972)

---------

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
---
 build.gradle                                              | 2 +-
 gradle/wrapper/gradle-wrapper.properties                  | 2 +-
 photonlib-cpp-examples/aimandrange/build.gradle           | 2 +-
 photonlib-cpp-examples/aimattarget/build.gradle           | 2 +-
 photonlib-cpp-examples/apriltagExample/build.gradle       | 2 +-
 photonlib-cpp-examples/build.gradle                       | 1 +
 photonlib-cpp-examples/getinrange/build.gradle            | 2 +-
 .../gradle/wrapper/gradle-wrapper.properties              | 2 +-
 photonlib-java-examples/aimandrange/build.gradle          | 2 +-
 photonlib-java-examples/aimattarget/build.gradle          | 2 +-
 photonlib-java-examples/build.gradle                      | 1 +
 photonlib-java-examples/getinrange/build.gradle           | 2 +-
 .../gradle/wrapper/gradle-wrapper.properties              | 2 +-
 photonlib-java-examples/simaimandrange/build.gradle       | 2 +-
 .../swervedriveposeestsim/build.gradle                    | 2 +-
 .../gradle/wrapper/gradle-wrapper.properties              | 2 +-
 shared/common.gradle                                      | 3 +++
 shared/examples_common.gradle                             | 8 --------
 18 files changed, 19 insertions(+), 22 deletions(-)

diff --git a/build.gradle b/build.gradle
index 199729e75a..f593638b90 100644
--- a/build.gradle
+++ b/build.gradle
@@ -26,7 +26,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-1"
+    wpilibVersion = "2024.1.1-beta-2"
     openCVversion = "4.8.0-1"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 7f959b087a..24c4386e93 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/photonlib-cpp-examples/aimandrange/build.gradle b/photonlib-cpp-examples/aimandrange/build.gradle
index ecedfafb40..c1c32d0284 100644
--- a/photonlib-cpp-examples/aimandrange/build.gradle
+++ b/photonlib-cpp-examples/aimandrange/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }
diff --git a/photonlib-cpp-examples/aimattarget/build.gradle b/photonlib-cpp-examples/aimattarget/build.gradle
index ecedfafb40..c1c32d0284 100644
--- a/photonlib-cpp-examples/aimattarget/build.gradle
+++ b/photonlib-cpp-examples/aimattarget/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }
diff --git a/photonlib-cpp-examples/apriltagExample/build.gradle b/photonlib-cpp-examples/apriltagExample/build.gradle
index ecedfafb40..c1c32d0284 100644
--- a/photonlib-cpp-examples/apriltagExample/build.gradle
+++ b/photonlib-cpp-examples/apriltagExample/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }
diff --git a/photonlib-cpp-examples/build.gradle b/photonlib-cpp-examples/build.gradle
index 0d262a1504..f86d65a4ae 100644
--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -1,5 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2" apply false
 }
 
 allprojects {
diff --git a/photonlib-cpp-examples/getinrange/build.gradle b/photonlib-cpp-examples/getinrange/build.gradle
index ecedfafb40..c1c32d0284 100644
--- a/photonlib-cpp-examples/getinrange/build.gradle
+++ b/photonlib-cpp-examples/getinrange/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }
diff --git a/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties b/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties
index 7f959b087a..24c4386e93 100644
--- a/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/photonlib-java-examples/aimandrange/build.gradle b/photonlib-java-examples/aimandrange/build.gradle
index 7d6e58895a..7dda3b59b0 100644
--- a/photonlib-java-examples/aimandrange/build.gradle
+++ b/photonlib-java-examples/aimandrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/photonlib-java-examples/aimattarget/build.gradle b/photonlib-java-examples/aimattarget/build.gradle
index d98e56b952..1442f184c9 100644
--- a/photonlib-java-examples/aimattarget/build.gradle
+++ b/photonlib-java-examples/aimattarget/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/photonlib-java-examples/build.gradle b/photonlib-java-examples/build.gradle
index 35f533e690..68dd2983a2 100644
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -1,5 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2" apply false
 }
 
 apply from: "examples.gradle"
diff --git a/photonlib-java-examples/getinrange/build.gradle b/photonlib-java-examples/getinrange/build.gradle
index 7d6e58895a..7dda3b59b0 100644
--- a/photonlib-java-examples/getinrange/build.gradle
+++ b/photonlib-java-examples/getinrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties b/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
index 7f959b087a..24c4386e93 100644
--- a/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/photonlib-java-examples/simaimandrange/build.gradle b/photonlib-java-examples/simaimandrange/build.gradle
index 7d6e58895a..7dda3b59b0 100644
--- a/photonlib-java-examples/simaimandrange/build.gradle
+++ b/photonlib-java-examples/simaimandrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/photonlib-java-examples/swervedriveposeestsim/build.gradle b/photonlib-java-examples/swervedriveposeestsim/build.gradle
index 424e9fa54a..d0be7323ec 100644
--- a/photonlib-java-examples/swervedriveposeestsim/build.gradle
+++ b/photonlib-java-examples/swervedriveposeestsim/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/photonlib-java-examples/swervedriveposeestsim/gradle/wrapper/gradle-wrapper.properties b/photonlib-java-examples/swervedriveposeestsim/gradle/wrapper/gradle-wrapper.properties
index d3fb630184..ca8f28abd3 100644
--- a/photonlib-java-examples/swervedriveposeestsim/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-java-examples/swervedriveposeestsim/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/shared/common.gradle b/shared/common.gradle
index e8181507e3..cb4ce3f80b 100644
--- a/shared/common.gradle
+++ b/shared/common.gradle
@@ -43,6 +43,9 @@ dependencies {
 
     // test stuff
     testImplementation("org.junit.jupiter:junit-jupiter:5.8.2")
+
+    // wpilib serde
+    implementation 'us.hebi.quickbuf:quickbuf-runtime:1.3.2'
 }
 
 test {
diff --git a/shared/examples_common.gradle b/shared/examples_common.gradle
index b908c64b5e..5212307f0f 100644
--- a/shared/examples_common.gradle
+++ b/shared/examples_common.gradle
@@ -1,14 +1,6 @@
 task copyPhotonlib() {
     doFirst {
         // Assume publish to maven local has just be run. Kinda curst
-        // // first, invoke gradle to generate the vendor json
-        // try {
-        //     exec {
-        //         commandLine 'gradlew', 'photon-lib:generateVendorJson', '-x', "check"
-        //     }
-        // } catch (Exception e) {
-        //     // ignored
-        // }
 
         def vendorJsonSrc = new File("${rootDir}", "../photon-lib/build/generated/vendordeps/");
         def vendorJsonDst = new File("${projectDir}/vendordeps/");