From bd15c72cbd95e13bf007caf7bb197404314f9c9d Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:08:33 -0700
Subject: [PATCH 01/40] Add cscore + cameraserver

---
 simulation/SyntheSimJava/build.gradle | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/simulation/SyntheSimJava/build.gradle b/simulation/SyntheSimJava/build.gradle
index e8631a287e..8946c0b3b1 100644
--- a/simulation/SyntheSimJava/build.gradle
+++ b/simulation/SyntheSimJava/build.gradle
@@ -53,6 +53,8 @@ dependencies {
     implementation "edu.wpi.first.wpilibj:wpilibj-java:$WPI_Version"
     implementation "edu.wpi.first.wpiutil:wpiutil-java:$WPI_Version"
     implementation "edu.wpi.first.hal:hal-java:$WPI_Version"
+    implementation "edu.wpi.first.cscore:cscore-java:$WPI_Version"
+    implementation "edu.wpi.first.cameraserver:cameraserver-java:$WPI_Version"
 
     // REVRobotics
     implementation "com.revrobotics.frc:REVLib-java:$REV_Version"

From 3cf39fe57366a1cccd5116b64742d29bc5d71aaa Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:08:52 -0700
Subject: [PATCH 02/40] Add json processing

---
 simulation/SyntheSimJava/build.gradle | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/simulation/SyntheSimJava/build.gradle b/simulation/SyntheSimJava/build.gradle
index 8946c0b3b1..e92e45fa98 100644
--- a/simulation/SyntheSimJava/build.gradle
+++ b/simulation/SyntheSimJava/build.gradle
@@ -64,6 +64,9 @@ dependencies {
 
     // KAUAI
     implementation "com.kauailabs.navx.frc:navx-frc-java:$KAUAI_Version"
+
+    // JSON processing
+    implementation 'org.json:json:20231013'
 }
 
 java {

From bade902842681e235f6473ab39224ab640a231a5 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:09:03 -0700
Subject: [PATCH 03/40] Add opencv

---
 simulation/SyntheSimJava/build.gradle | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/simulation/SyntheSimJava/build.gradle b/simulation/SyntheSimJava/build.gradle
index e92e45fa98..66e72d99f8 100644
--- a/simulation/SyntheSimJava/build.gradle
+++ b/simulation/SyntheSimJava/build.gradle
@@ -67,6 +67,9 @@ dependencies {
 
     // JSON processing
     implementation 'org.json:json:20231013'
+
+    // OpenCV (Note: WPILib includes OpenCV, but we need to make sure it's available)
+    implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2"
 }
 
 java {

From 5ed3124b4fad8a5661e5bb9e08ff3f4378d898b0 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:10:38 -0700
Subject: [PATCH 04/40] Add Camera

---
 .../java/com/autodesk/synthesis/Camera.java   | 104 ++++++++++++++++++
 1 file changed, 104 insertions(+)
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java
new file mode 100644
index 0000000000..0822729a5f
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java
@@ -0,0 +1,104 @@
+package com.autodesk.synthesis;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+
+public class Camera {
+    private SimDevice m_device;
+
+    private SimBoolean m_connected;
+    private SimDouble m_width;
+    private SimDouble m_height;
+    private SimDouble m_fps;
+
+    /**
+     * Creates a Camera sim device in accordance with the WebSocket API Specification.
+     * 
+     * @param name Name of the Camera. This is generally the class name of the originating camera.
+     * @param deviceId ID of the Camera.
+     */
+    public Camera(String name, int deviceId) {
+        m_device = SimDevice.create("Camera:" + name, deviceId);
+
+        m_connected = m_device.createBoolean("connected", Direction.kInput, false);
+        m_width = m_device.createDouble("width", Direction.kBidir, 320);
+        m_height = m_device.createDouble("height", Direction.kBidir, 240);
+        m_fps = m_device.createDouble("fps", Direction.kBidir, 30);
+    }
+
+    /**
+     * Get whether the camera is connected.
+     *
+     * @return true if connected, false otherwise
+     */
+    public boolean isConnected() {
+        return m_connected.get();
+    }
+
+    /**
+     * Set the camera connected status.
+     *
+     * @param connected connection status
+     */
+    public void setConnected(boolean connected) {
+        m_connected.set(connected);
+    }
+
+    /**
+     * Get the camera width.
+     *
+     * @return width in pixels
+     */
+    public double getWidth() {
+        return m_width.get();
+    }
+
+    /**
+     * Set the camera width.
+     *
+     * @param width width in pixels
+     */
+    public void setWidth(double width) {
+        m_width.set(width);
+    }
+
+    /**
+     * Get the camera height.
+     *
+     * @return height in pixels
+     */
+    public double getHeight() {
+        return m_height.get();
+    }
+
+    /**
+     * Set the camera height.
+     *
+     * @param height height in pixels
+     */
+    public void setHeight(double height) {
+        m_height.set(height);
+    }
+
+    /**
+     * Get the camera frame rate.
+     *
+     * @return fps (frames per second)
+     */
+    public double getFPS() {
+        return m_fps.get();
+    }
+
+    /**
+     * Set the camera frame rate.
+     *
+     * @param fps frames per second
+     */
+    public void setFPS(double fps) {
+        m_fps.set(fps);
+    }
+}
+
+

From c0822d491d24ca9c58d625b3e05f2855431d9c31 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:11:04 -0700
Subject: [PATCH 05/40] Add Camera extra functions

---
 .../java/com/autodesk/synthesis/Camera.java   | 60 +++++++++++++++++++
 1 file changed, 60 insertions(+)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java
index 0822729a5f..9375abf6b0 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Camera.java
@@ -12,6 +12,9 @@ public class Camera {
     private SimDouble m_width;
     private SimDouble m_height;
     private SimDouble m_fps;
+    private SimDouble m_brightness;
+    private SimDouble m_exposure;
+    private SimBoolean m_autoExposure;
 
     /**
      * Creates a Camera sim device in accordance with the WebSocket API Specification.
@@ -26,6 +29,9 @@ public Camera(String name, int deviceId) {
         m_width = m_device.createDouble("width", Direction.kBidir, 320);
         m_height = m_device.createDouble("height", Direction.kBidir, 240);
         m_fps = m_device.createDouble("fps", Direction.kBidir, 30);
+        m_brightness = m_device.createDouble("brightness", Direction.kBidir, 50);
+        m_exposure = m_device.createDouble("exposure", Direction.kBidir, 50);
+        m_autoExposure = m_device.createBoolean("auto_exposure", Direction.kBidir, true);
     }
 
     /**
@@ -99,6 +105,60 @@ public double getFPS() {
     public void setFPS(double fps) {
         m_fps.set(fps);
     }
+
+    /**
+     * Get the camera brightness.
+     *
+     * @return brightness (0-100)
+     */
+    public double getBrightness() {
+        return m_brightness.get();
+    }
+
+    /**
+     * Set the camera brightness.
+     *
+     * @param brightness brightness (0-100)
+     */
+    public void setBrightness(double brightness) {
+        m_brightness.set(brightness);
+    }
+
+    /**
+     * Get the camera exposure.
+     *
+     * @return exposure value
+     */
+    public double getExposure() {
+        return m_exposure.get();
+    }
+
+    /**
+     * Set the camera exposure.
+     *
+     * @param exposure exposure value
+     */
+    public void setExposure(double exposure) {
+        m_exposure.set(exposure);
+    }
+
+    /**
+     * Get whether auto exposure is enabled.
+     *
+     * @return true if auto exposure is enabled
+     */
+    public boolean getAutoExposure() {
+        return m_autoExposure.get();
+    }
+
+    /**
+     * Set auto exposure mode.
+     *
+     * @param autoExposure true to enable auto exposure
+     */
+    public void setAutoExposure(boolean autoExposure) {
+        m_autoExposure.set(autoExposure);
+    }
 }
 
 

From 4c59da2e5cb68bf5f3395d6dbc2dacea7ea1bf78 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:15:51 -0700
Subject: [PATCH 06/40] Add SimInput

---
 .../simulation/wpilib_brain/SimInput.ts       | 171 +++++++++++++++++-
 1 file changed, 170 insertions(+), 1 deletion(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 34296c3ea6..1a9145a908 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -6,6 +6,7 @@ import Jolt from "@azaleacolburn/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { convertJoltQuatToThreeQuaternion, convertJoltVec3ToThreeVector3 } from "@/util/TypeConversions"
 import * as THREE from "three"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 
 export abstract class SimInput {
     constructor(protected _device: string) {}
@@ -114,7 +115,7 @@ export class SimAccelInput extends SimInput {
 
         const x = (newVel.x - this._prevVel.x) / deltaT
         const y = (newVel.y - this._prevVel.y) / deltaT
-        const z = (newVel.y - this._prevVel.y) / deltaT
+        const z = (newVel.z - this._prevVel.z) / deltaT
 
         SimAccel.setX(this._device, x)
         SimAccel.setY(this._device, y)
@@ -124,6 +125,174 @@ export class SimAccelInput extends SimInput {
     }
 }
 
+export class SimCameraInput extends SimInput {
+    private _defaultWidth: number = 320
+    private _defaultHeight: number = 240
+    private _defaultFPS: number = 30
+    private _isInitialized: boolean = false
+    private _cameraRenderer?: SimCameraRenderer
+    private _robot: MirabufSceneObject
+    private _frameInterval: number = 0
+    private _lastFrameTime: number = 0
+
+    constructor(device: string, robot: MirabufSceneObject, width?: number, height?: number, fps?: number) {
+        super(device)
+        this._robot = robot
+        if (width) this._defaultWidth = width
+        if (height) this._defaultHeight = height  
+        if (fps) this._defaultFPS = fps
+        this._frameInterval = 1000 / this._defaultFPS // ms between frames
+        
+        console.log(`🎬 [CONSTRUCTOR] SimCameraInput created for ${device} (${this._defaultWidth}x${this._defaultHeight} @ ${this._defaultFPS}fps, interval=${this._frameInterval}ms)`)
+    }
+
+    public update(deltaT: number) {
+        // Add occasional logging to confirm update is being called
+        if (Math.random() < 0.01) { // ~1% chance per frame
+            console.log(`🔄 [UPDATE] SimCameraInput.update() called for ${this.device} (initialized: ${this._isInitialized})`)
+        }
+        
+        if (!this._isInitialized) {
+            this.initializeCamera()
+            this._isInitialized = true
+        }
+
+        this.updateCameraSettings()
+        this.generateVideoFrame(deltaT)
+    }
+
+    private initializeCamera() {
+        console.log(`🎥 [INIT] Starting camera initialization for ${this.device}`)
+        
+        // Initialize metadata
+        SimCamera.setConnected(this.device, true)
+        SimCamera.setResolutionWidth(this.device, this._defaultWidth)
+        SimCamera.setResolutionHeight(this.device, this._defaultHeight)
+        SimCamera.setFPS(this.device, this._defaultFPS)
+        SimCamera.setBrightness(this.device, 50)
+        SimCamera.setExposure(this.device, 50)
+        SimCamera.setAutoExposure(this.device, true)
+
+        console.log(`🎥 [INIT] Camera metadata set, creating renderer...`)
+
+        try {
+            // Initialize video renderer for 3D scene capture
+            this._cameraRenderer = new SimCameraRenderer(this._robot, this._defaultWidth, this._defaultHeight)
+            console.log(`✅ [INIT] Camera ${this.device} initialized successfully - 3D frames will be generated`)
+            
+            // Force immediate test frame to verify renderer works
+            console.log(`🧪 [TEST] Attempting immediate test frame capture...`)
+            this._cameraRenderer.captureFrameAsJPEG().then(blob => {
+                console.log(`🧪 [TEST] Initial test frame captured: ${blob.size} bytes - renderer is working!`)
+                this.sendFrameToRobot(blob)
+            }).catch(error => {
+                console.error(`❌ [TEST] Initial test frame failed:`, error)
+            })
+        } catch (error) {
+            console.error(`❌ [INIT] Failed to create camera renderer:`, error)
+        }
+    }
+
+    private updateCameraSettings() {
+        const requestedWidth = SimCamera.getRequestedWidth(this._device)
+        const requestedHeight = SimCamera.getRequestedHeight(this._device)
+        const requestedFPS = SimCamera.getRequestedFPS(this._device)
+
+        // Check if resolution changed
+        const currentWidth = SimCamera.getRequestedWidth(this._device)
+        const currentHeight = SimCamera.getRequestedHeight(this._device)
+        if (requestedWidth !== currentWidth || requestedHeight !== currentHeight) {
+            this.updateResolution(requestedWidth, requestedHeight)
+        }
+
+        // Check if frame rate changed - ensure FPS is valid
+        if (requestedFPS && !isNaN(requestedFPS) && requestedFPS > 0 && requestedFPS !== this._defaultFPS) {
+            this.updateFrameRate(requestedFPS)
+            this._defaultFPS = requestedFPS
+        }
+
+        SimCamera.setResolutionWidth(this.device, requestedWidth)
+        SimCamera.setResolutionHeight(this.device, requestedHeight)
+        SimCamera.setFPS(this.device, requestedFPS)
+
+        const requestedBrightness = SimCamera.getRequestedBrightness(this._device)
+        const requestedExposure = SimCamera.getRequestedExposure(this._device)
+        const requestedAutoExposure = SimCamera.getRequestedAutoExposure(this._device)
+
+        SimCamera.setBrightness(this.device, requestedBrightness)
+        SimCamera.setExposure(this.device, requestedExposure)
+        SimCamera.setAutoExposure(this.device, requestedAutoExposure)
+    }
+
+    private generateVideoFrame(deltaT: number) {
+        if (!this._cameraRenderer) {
+            console.warn(`📹 [FRAME] No camera renderer for ${this.device} - skipping frame generation`)
+            return
+        }
+        
+        this._lastFrameTime += deltaT * 1000 // Convert to ms
+        
+        // Add timing debug logs occasionally
+        if (Math.random() < 0.01) { // ~1% chance per frame
+            console.log(`⏱️ [TIMING] ${this.device}: lastFrameTime=${this._lastFrameTime.toFixed(1)}ms, interval=${this._frameInterval}ms, deltaT=${(deltaT*1000).toFixed(1)}ms`)
+        }
+        
+        // Generate frame at specified FPS
+        if (this._lastFrameTime >= this._frameInterval) {
+            this._lastFrameTime = 0
+            
+            console.log(`📹 [FRAME] Capturing 3D frame for ${this.device}`)
+            
+            // Capture frame from 3D scene (robot perspective)
+            this._cameraRenderer.captureFrameAsJPEG().then(blob => {
+                console.log(`📹 [FRAME] Successfully captured ${blob.size} bytes, sending to robot`)
+                this.sendFrameToRobot(blob)
+            }).catch(error => {
+                console.error(`❌ [FRAME] Failed to capture camera frame:`, error)
+            })
+        }
+    }
+
+    private async sendFrameToRobot(frameBlob: Blob) {
+        try {
+            // Convert blob to base64 for WebSocket transmission
+            const arrayBuffer = await frameBlob.arrayBuffer()
+            const base64Frame = btoa(String.fromCharCode(...new Uint8Array(arrayBuffer)))
+            
+            console.log(`🚀 [SEND] Converting frame: ${arrayBuffer.byteLength} bytes → ${base64Frame.length} chars`)
+
+            console.log(`📡 [SEND] WebSocket frame sent for ${this.device}: ${success ? 'SUCCESS' : 'FAILED'}`)
+            
+        } catch (error) {
+            console.error(`❌ [SEND] Failed to send camera frame:`, error)
+        }
+    }
+
+    private updateResolution(width: number, height: number) {
+        if (this._cameraRenderer) {
+            this._cameraRenderer.setResolution(width, height)
+        }
+    }
+
+    private updateFrameRate(fps: number) {
+        this._frameInterval = 1000 / fps
+    }
+
+    public reconnect() {
+        SimCamera.setConnected(this._device, true)
+        this._isInitialized = false // set false so reinitialize on next update
+    }
+    
+    public disconnect() {
+        SimCamera.setConnected(this._device, false)
+        this._isInitialized = false 
+        if (this._cameraRenderer) {
+            this._cameraRenderer.dispose()
+            this._cameraRenderer = undefined
+        }
+    }
+}
+
 export class SimDigitalInput extends SimInput {
     private _valueSupplier: () => boolean
 

From f76957f0d659c5d79be7370d4f5a6af948e3e0a6 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:16:58 -0700
Subject: [PATCH 07/40] Add camera to wpilibbrain

---
 .../simulation/wpilib_brain/WPILibBrain.ts      | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 1ec0cd5908..f34df86457 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -6,7 +6,7 @@ import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
 import { SimAnalogOutput, SimDigitalOutput, SimOutput } from "./SimOutput"
-import { SimAccelInput, SimAnalogInput, SimDigitalInput, SimGyroInput, SimInput } from "./SimInput"
+import { SimAccelInput, SimAnalogInput, SimCameraInput, SimDigitalInput, SimGyroInput, SimInput } from "./SimInput"
 import { random } from "@/util/Random"
 import { NoraNumber, NoraNumber2, NoraNumber3, NoraTypes } from "../Nora"
 import { SimFlow, SimReceiver, SimSupplier, validate } from "./SimDataFlow"
@@ -41,6 +41,7 @@ export enum SimType {
     CAN_ENCODER = "CANEncoder",
     GYRO = "Gyro",
     ACCELEROMETER = "Accel",
+    CAMERA = "Camera",
     DIO = "DIO",
     AI = "AI",
     AO = "AO",
@@ -70,6 +71,7 @@ export const supplierTypeMap: { [k in SimType]: NoraTypes | undefined } = {
     [SimType.CAN_ENCODER]: undefined,
     [SimType.GYRO]: undefined,
     [SimType.ACCELEROMETER]: undefined,
+    [SimType.CAMERA]: undefined,
     [SimType.DIO]: NoraTypes.NUMBER, // ?
     [SimType.AI]: undefined,
     [SimType.AO]: NoraTypes.NUMBER,
@@ -84,6 +86,7 @@ export const receiverTypeMap: { [k in SimType]: NoraTypes | undefined } = {
     [SimType.CAN_ENCODER]: NoraTypes.NUMBER2,
     [SimType.GYRO]: NoraTypes.NUMBER3, // Wrong but its fine
     [SimType.ACCELEROMETER]: NoraTypes.NUMBER3,
+    [SimType.CAMERA]: undefined, 
     [SimType.DIO]: NoraTypes.NUMBER, // ?
     [SimType.AI]: NoraTypes.NUMBER,
     [SimType.AO]: undefined,
@@ -567,6 +570,8 @@ class WPILibBrain extends Brain {
     constructor(assembly: MirabufSceneObject) {
         super(assembly.mechanism, "wpilib")
 
+        console.log(`🧠 [WPILIBRAIN] Constructor called for assembly: ${assembly.assemblyName}`)
+
         this._assembly = assembly
 
         this._simLayer = World.simulationSystem.getSimulationLayer(this._mechanism)!
@@ -576,8 +581,11 @@ class WPILibBrain extends Brain {
             return
         }
 
+        console.log(`🧠 [WPILIBRAIN] SimulationLayer found, setting up devices...`)
+
         this.addSimInput(new SimGyroInput("Test Gyro[1]", this._mechanism))
         this.addSimInput(new SimAccelInput("ADXL362[4]", this._mechanism))
+        this.addSimInput(new SimCameraInput("USB Camera 0", assembly, 640, 480, 30))
         this.addSimInput(new SimDigitalInput("SYN DI[0]", () => random() > 0.5))
         this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
         this.addSimInput(new SimAnalogInput("SYN AI[0]", () => random() * 12))
@@ -597,7 +605,9 @@ class WPILibBrain extends Brain {
     }
 
     public addSimInput(input: SimInput) {
+        console.log(`➕ [WPILIBRAIN] Adding SimInput: ${input.constructor.name} for device "${input.device}"`)
         this._simInputs.push(input)
+        console.log(`📊 [WPILIBRAIN] Total inputs: ${this._simInputs.length}`)
     }
 
     public addSimFlow(flow: SimFlow): boolean {
@@ -632,6 +642,11 @@ class WPILibBrain extends Brain {
     }
 
     public update(deltaT: number): void {
+        // Add occasional logging to confirm update is being called
+        if (Math.random() < 0.005) { // ~0.5% chance per frame
+            console.log(`🔄 [WPILIBRAIN] update() called - ${this._simInputs.length} inputs, ${this._simOutputs.length} outputs`)
+        }
+        
         this._simOutputs.forEach(d => d.update(deltaT))
         this._simInputs.forEach(i => i.update(deltaT))
         this._simFlows.forEach(({ supplier, receiver }) => {

From 1f239ca523b73d8868336fa77725735bcb43857f Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:17:30 -0700
Subject: [PATCH 08/40] Add SimCamera

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 60 +++++++++++++++++++
 1 file changed, 60 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index f34df86457..46df82b4f6 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -402,6 +402,66 @@ export class SimAccel {
     }
 }
 
+export class SimCamera {
+    private constructor() {}
+
+    public static setConnected(device: string, connected: boolean): boolean {
+        return SimGeneric.set(SimType.CAMERA, device, ">connected", connected)
+    }
+
+    public static getConnected(device: string): boolean {
+        return SimGeneric.get(SimType.CAMERA, device, ">connected", false)
+    }
+
+    public static setResolutionWidth(device: string, width: number): boolean {
+        return SimGeneric.set(SimType.CAMERA, device, ">width", width)
+    }
+
+    public static setResolutionHeight(device: string, height: number): boolean {
+        return SimGeneric.set(SimType.CAMERA, device, ">height", height)
+    }
+
+    public static setFPS(device: string, fps: number): boolean {
+        return SimGeneric.set(SimType.CAMERA, device, ">fps", fps)
+    }
+
+    public static getRequestedWidth(device: string): number {
+        return SimGeneric.get(SimType.CAMERA, device, "<width", 320)
+    }
+
+    public static getRequestedHeight(device: string): number {
+        return SimGeneric.get(SimType.CAMERA, device, "<height", 240)
+    }
+
+    public static getRequestedFPS(device: string): number {
+        return SimGeneric.get(SimType.CAMERA, device, "<fps", 30)
+    }
+
+    public static setBrightness(device: string, brightness: number): boolean {
+        return SimGeneric.set(SimType.CAMERA, device, ">brightness", brightness)
+    }
+
+    public static setExposure(device: string, exposure: number): boolean {
+        return SimGeneric.set(SimType.CAMERA, device, ">exposure", exposure)
+    }
+
+    public static setAutoExposure(device: string, autoExposure: boolean): boolean {
+        return SimGeneric.set(SimType.CAMERA, device, ">auto_exposure", autoExposure)
+    }
+
+    public static getRequestedBrightness(device: string): number {
+        return SimGeneric.get(SimType.CAMERA, device, "<brightness", 50)
+    }
+
+    public static getRequestedExposure(device: string): number {
+        return SimGeneric.get(SimType.CAMERA, device, "<exposure", 50)
+    }
+    
+    public static getRequestedAutoExposure(device: string): boolean {
+        return SimGeneric.get(SimType.CAMERA, device, "<auto_exposure", true)
+    }
+}
+
 export class SimDIO {
     private constructor() {}
 

From b020665bc4d895478a360270fbe952441f57a543 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:18:04 -0700
Subject: [PATCH 09/40] Add camera frame sending

---
 .../systems/simulation/wpilib_brain/WPILibBrain.ts    | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 46df82b4f6..75c8e247e6 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -222,6 +222,17 @@ export class SimGeneric {
         window.dispatchEvent(new SimMapUpdateEvent(true))
         return true
     }
+
+    public static sendCameraFrame(device: string, frameData: any): boolean {
+        worker.getValue().postMessage({
+            command: "camera_frame",
+            data: {
+                device: device,
+                ...frameData
+            },
+        })
+        return true
+    }
 }
 
 export class SimDriverStation {

From 64a0587f88dd84e1f5a49356bd25ff9f51b0c941 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:18:53 -0700
Subject: [PATCH 10/40] Update siminput camera frame sending

---
 .../simulation/wpilib_brain/SimInput.ts       | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 1a9145a908..dd3810aca2 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -1,11 +1,12 @@
 import World from "@/systems/World"
 import EncoderStimulus from "../stimulus/EncoderStimulus"
-import { SimCANEncoder, SimGyro, SimAccel, SimDIO, SimAI } from "./WPILibBrain"
+import { SimCANEncoder, SimGyro, SimAccel, SimDIO, SimAI, SimCamera, SimGeneric } from "./WPILibBrain"
 import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@azaleacolburn/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { convertJoltQuatToThreeQuaternion, convertJoltVec3ToThreeVector3 } from "@/util/TypeConversions"
 import * as THREE from "three"
+import { SimCameraRenderer } from "./SimCameraRenderer"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 
 export abstract class SimInput {
@@ -260,7 +261,21 @@ export class SimCameraInput extends SimInput {
             const base64Frame = btoa(String.fromCharCode(...new Uint8Array(arrayBuffer)))
             
             console.log(`🚀 [SEND] Converting frame: ${arrayBuffer.byteLength} bytes → ${base64Frame.length} chars`)
-
+            
+            // Send frame through WebSocket protocol
+            const frameMessage = {
+                type: "CAMERA_FRAME",
+                device: this.device,
+                data: {
+                    frame: base64Frame,
+                    width: this._defaultWidth,
+                    height: this._defaultHeight,
+                    timestamp: Date.now()
+                }
+            }
+            
+            // Send through the existing WebSocket worker
+            const success = SimGeneric.sendCameraFrame(this.device, frameMessage.data)
             console.log(`📡 [SEND] WebSocket frame sent for ${this.device}: ${success ? 'SUCCESS' : 'FAILED'}`)
             
         } catch (error) {

From 626c9de5e72b16f2dfae8e6d5a4185e808798025 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:20:06 -0700
Subject: [PATCH 11/40] Add camera frame websocket

---
 .../simulation/wpilib_brain/WPILibWSWorker.ts        | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
index 49dca0465b..f4e59f5ec8 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
@@ -89,6 +89,18 @@ self.addEventListener("message", e => {
             }
             break
         }
+        case "camera_frame": {
+            if (socketOpen()) {
+                // Send camera frame data through WebSocket
+                const frameMessage = {
+                    type: "CAMERA_FRAME",
+                    device: e.data.data.device,
+                    data: e.data.data
+                }
+                socket!.send(JSON.stringify(frameMessage))
+            }
+            break
+        }
         default: {
             console.warn(`Unrecognized command '${e.data.command}'`)
             break

From 8aed9caf9238d32601f8d79870124754a048f986 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 31 Jul 2025 23:20:42 -0700
Subject: [PATCH 12/40] Add camera to wsviewpanel

---
 fission/src/ui/panels/WSViewPanel.tsx | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 6ff0e731fe..2f17f681cf 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -49,6 +49,7 @@ function generateTableBody() {
     //     SimType.CANEncoder,
     //     SimType.Gyro,
     //     SimType.Accel,
+    //     SimType.Camera, 
     //     SimType.DIO,
     //     SimType.AI,
     //     SimType.AO,
@@ -166,7 +167,7 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             </TableContainer>
             <Stack>
                 <Dropdown
-                    options={["PWM", "SimDevice", "CANMotor", "CANEncoder", "Gyro"]}
+                    options={["PWM", "SimDevice", "CANMotor", "CANEncoder", "Gyro", "Accel", "Camera"]}
                     onSelect={v => setSelectedType(v as unknown as SimType)}
                 />
                 {/* {deviceSelect} */}

From d2077045824c33691e1f867d63bf66b85abac0e5 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Fri, 1 Aug 2025 09:22:46 -0700
Subject: [PATCH 13/40] Fix: duplicate identifiers

---
 fission/src/systems/simulation/wpilib_brain/SimInput.ts    | 5 -----
 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts | 2 --
 2 files changed, 7 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 25963da119..61396181ee 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -4,15 +4,10 @@ import { SimCANEncoder, SimGyro, SimAccel, SimDIO, SimAI, SimCamera, SimGeneric
 import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@azaleacolburn/jolt-physics"
 import * as THREE from "three"
-import Mechanism from "@/systems/physics/Mechanism"
-import World from "@/systems/World"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { convertJoltQuatToThreeQuaternion, convertJoltVec3ToThreeVector3 } from "@/util/TypeConversions"
-import * as THREE from "three"
 import { SimCameraRenderer } from "./SimCameraRenderer"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import EncoderStimulus from "../stimulus/EncoderStimulus"
-import { SimAccel, SimAI, SimCANEncoder, SimDIO, SimGyro } from "./WPILibBrain"
 
 export abstract class SimInput {
     constructor(protected _device: string) {}
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 581919538b..f186862600 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -11,8 +11,6 @@ import { NoraNumber, NoraNumber2, NoraNumber3, NoraTypes } from "../Nora"
 import { SimulationLayer } from "../SimulationSystem"
 import SynthesisBrain from "../synthesis_brain/SynthesisBrain"
 import { SimFlow, SimReceiver, SimSupplier, validate } from "./SimDataFlow"
-import { SimAccelInput, SimAnalogInput, SimDigitalInput, SimGyroInput, SimInput } from "./SimInput"
-import { SimAnalogOutput, SimDigitalOutput, SimOutput } from "./SimOutput"
 import WPILibWSWorker from "./WPILibWSWorker?worker"
 
 const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())

From eab94149f874c8e2fb081bd068eb61a29c1d857f Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Fri, 1 Aug 2025 11:33:56 -0700
Subject: [PATCH 14/40] Add java websocket implementation

---
 simulation/samples/JavaSample/build.gradle | 1 +
 1 file changed, 1 insertion(+)

diff --git a/simulation/samples/JavaSample/build.gradle b/simulation/samples/JavaSample/build.gradle
index a5850fb40b..a6501e2953 100644
--- a/simulation/samples/JavaSample/build.gradle
+++ b/simulation/samples/JavaSample/build.gradle
@@ -80,6 +80,7 @@ dependencies {
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     implementation "com.autodesk.synthesis:SyntheSimJava:1.0.0"
+    implementation 'org.java-websocket:Java-WebSocket:1.5.4'
 }
 
 test {

From 2c6090b846c00d420eec45e08bfb1b307dce9263 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Fri, 1 Aug 2025 11:34:19 -0700
Subject: [PATCH 15/40] Add java-websocket implementation

---
 simulation/SyntheSimJava/build.gradle | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/simulation/SyntheSimJava/build.gradle b/simulation/SyntheSimJava/build.gradle
index 66e72d99f8..f06d249249 100644
--- a/simulation/SyntheSimJava/build.gradle
+++ b/simulation/SyntheSimJava/build.gradle
@@ -68,6 +68,9 @@ dependencies {
     // JSON processing
     implementation 'org.json:json:20231013'
 
+    // WebSocket server
+    implementation 'org.java-websocket:Java-WebSocket:1.5.4'
+
     // OpenCV (Note: WPILib includes OpenCV, but we need to make sure it's available)
     implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2"
 }

From 3c317e3484fbb43c53378fcd1b9b779e9aa15e10 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Fri, 1 Aug 2025 11:45:02 -0700
Subject: [PATCH 16/40] chore: formatting

---
 .../simulation/wpilib_brain/WPILibBrain.ts        | 15 +++++++++------
 .../simulation/wpilib_brain/WPILibWSWorker.ts     |  2 +-
 fission/src/ui/panels/WSViewPanel.tsx             |  2 +-
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index f186862600..cb194bee77 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -84,7 +84,7 @@ export const receiverTypeMap: { [k in SimType]: NoraTypes | undefined } = {
     [SimType.CAN_ENCODER]: NoraTypes.NUMBER2,
     [SimType.GYRO]: NoraTypes.NUMBER3, // Wrong but its fine
     [SimType.ACCELEROMETER]: NoraTypes.NUMBER3,
-    [SimType.CAMERA]: undefined, 
+    [SimType.CAMERA]: undefined,
     [SimType.DIO]: NoraTypes.NUMBER, // ?
     [SimType.AI]: NoraTypes.NUMBER,
     [SimType.AO]: undefined,
@@ -226,7 +226,7 @@ export class SimGeneric {
             command: "camera_frame",
             data: {
                 device: device,
-                ...frameData
+                ...frameData,
             },
         })
         return true
@@ -465,7 +465,7 @@ export class SimCamera {
     public static getRequestedExposure(device: string): number {
         return SimGeneric.get(SimType.CAMERA, device, "<exposure", 50)
     }
-    
+
     public static getRequestedAutoExposure(device: string): boolean {
         return SimGeneric.get(SimType.CAMERA, device, "<auto_exposure", true)
     }
@@ -712,10 +712,13 @@ class WPILibBrain extends Brain {
 
     public update(deltaT: number): void {
         // Add occasional logging to confirm update is being called
-        if (Math.random() < 0.005) { // ~0.5% chance per frame
-            console.log(`🔄 [WPILIBRAIN] update() called - ${this._simInputs.length} inputs, ${this._simOutputs.length} outputs`)
+        if (Math.random() < 0.005) {
+            // ~0.5% chance per frame
+            console.log(
+                `🔄 [WPILIBRAIN] update() called - ${this._simInputs.length} inputs, ${this._simOutputs.length} outputs`
+            )
         }
-        
+
         this._simOutputs.forEach(d => d.update(deltaT))
         this._simInputs.forEach(i => i.update(deltaT))
         this._simFlows.forEach(({ supplier, receiver }) => {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
index f4e59f5ec8..b28cf0a0f5 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
@@ -95,7 +95,7 @@ self.addEventListener("message", e => {
                 const frameMessage = {
                     type: "CAMERA_FRAME",
                     device: e.data.data.device,
-                    data: e.data.data
+                    data: e.data.data,
                 }
                 socket!.send(JSON.stringify(frameMessage))
             }
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 10c393fcc5..b370eed165 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -49,7 +49,7 @@ function generateTableBody() {
     //     SimType.CANEncoder,
     //     SimType.Gyro,
     //     SimType.Accel,
-    //     SimType.Camera, 
+    //     SimType.Camera,
     //     SimType.DIO,
     //     SimType.AI,
     //     SimType.AO,

From d45511ccae7083d1b4d66a5016e52fde5951b5ba Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Fri, 1 Aug 2025 13:49:48 -0700
Subject: [PATCH 17/40] Add SimCameraRenderer

---
 .../wpilib_brain/SimCameraRenderer.ts         | 122 ++++++++++++++++++
 1 file changed, 122 insertions(+)
 create mode 100644 fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
new file mode 100644
index 0000000000..9cfbf122c3
--- /dev/null
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
@@ -0,0 +1,122 @@
+import * as THREE from "three"
+import World from "@/systems/World"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+
+export class SimCameraRenderer {
+    private _camera: THREE.PerspectiveCamera
+    private _renderTarget: THREE.WebGLRenderTarget
+    private _canvas: OffscreenCanvas
+    private _ctx: OffscreenCanvasRenderingContext2D
+    private _robot: MirabufSceneObject
+    private _cameraPosition: THREE.Vector3
+    private _cameraQuaternion: THREE.Quaternion
+
+    constructor(robot: MirabufSceneObject, width: number = 640, height: number = 480) {
+        this._robot = robot
+
+        // Create camera for robot perspective
+        this._camera = new THREE.PerspectiveCamera(75, width / height, 0.1, 1000)
+
+        // Create render target for off-screen rendering
+        this._renderTarget = new THREE.WebGLRenderTarget(width, height, {
+            minFilter: THREE.LinearFilter,
+            magFilter: THREE.LinearFilter,
+            format: THREE.RGBAFormat,
+        })
+
+        // Create canvas for frame capture
+        this._canvas = new OffscreenCanvas(width, height)
+        this._ctx = this._canvas.getContext("2d")!
+
+        // Camera position relative to robot
+        this._cameraPosition = new THREE.Vector3(0, 0.5, 0.2) // Mounted on robot
+        this._cameraQuaternion = new THREE.Quaternion()
+
+        this.updateCameraTransform()
+    }
+
+    private updateCameraTransform() {
+        if (!this._robot.mechanism.rootBody) return
+
+        // Get robot's transform
+        const robotBody = World.physicsSystem.getBody(
+            this._robot.mechanism.nodeToBody.get(this._robot.mechanism.rootBody)!
+        )
+
+        if (!robotBody) return
+
+        // Position camera relative to robot
+        const robotPos = robotBody.GetPosition()
+        const robotRot = robotBody.GetRotation()
+
+        // Convert Jolt to Three.js
+        const robotPosition = new THREE.Vector3(robotPos.GetX(), robotPos.GetY(), robotPos.GetZ())
+        const robotQuaternion = new THREE.Quaternion(robotRot.GetX(), robotRot.GetY(), robotRot.GetZ(), robotRot.GetW())
+
+        // Apply camera offset
+        const worldCameraPos = this._cameraPosition.clone()
+        worldCameraPos.applyQuaternion(robotQuaternion)
+        worldCameraPos.add(robotPosition)
+
+        this._camera.position.copy(worldCameraPos)
+        this._camera.quaternion.copy(robotQuaternion)
+        this._camera.updateMatrixWorld()
+    }
+
+    public renderFrame(): ImageData | null {
+        if (!World.sceneRenderer) return null
+
+        this.updateCameraTransform()
+
+        // Render scene from camera perspective
+        const renderer = (World.sceneRenderer as any)._renderer as THREE.WebGLRenderer
+        const scene = (World.sceneRenderer as any)._scene as THREE.Scene
+
+        // Store original render target
+        const originalTarget = renderer.getRenderTarget()
+
+        // Render to our target
+        renderer.setRenderTarget(this._renderTarget)
+        renderer.render(scene, this._camera)
+
+        // Read pixels
+        const pixels = new Uint8Array(this._renderTarget.width * this._renderTarget.height * 4)
+
+        // Restore original target
+        renderer.setRenderTarget(originalTarget)
+
+        // Convert to ImageData
+        const imageData = new ImageData(
+            new Uint8ClampedArray(pixels),
+            this._renderTarget.width,
+            this._renderTarget.height
+        )
+
+        return imageData
+    }
+
+    public captureFrame():  {
+        const imageData = this.renderFrame()
+
+        return imageData
+    }
+
+    public setResolution(width: number, height: number) {
+        this._renderTarget.setSize(width, height)
+        this._canvas.width = width
+        this._canvas.height = height
+        this._camera.aspect = width / height
+        this._camera.updateProjectionMatrix()
+    }
+
+    public setCameraOffset(position: THREE.Vector3, rotation?: THREE.Quaternion) {
+        this._cameraPosition.copy(position)
+        if (rotation) {
+            this._cameraQuaternion.copy(rotation)
+        }
+    }
+
+    public dispose() {
+        this._renderTarget.dispose()
+    }
+}

From 75634eb7ee494ba4a8b3611db6ef59b4ac9576ee Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Fri, 1 Aug 2025 13:50:12 -0700
Subject: [PATCH 18/40] Update captureFrame to jpeg

---
 .../systems/simulation/wpilib_brain/SimCameraRenderer.ts | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
index 9cfbf122c3..fbe7bd93b9 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
@@ -95,10 +95,15 @@ export class SimCameraRenderer {
         return imageData
     }
 
-    public captureFrame():  {
+    public captureFrameAsJPEG(): Promise<Blob> {
         const imageData = this.renderFrame()
+        if (!imageData) return Promise.reject("No frame data")
 
-        return imageData
+        // Draw to canvas
+        this._ctx.putImageData(imageData, 0, 0)
+
+        // Convert to JPEG blob
+        return this._canvas.convertToBlob({ type: "image/jpeg", quality: 0.8 })
     }
 
     public setResolution(width: number, height: number) {

From c91bb8066bcf63a5d290cd0adbc14e2284783034 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Fri, 1 Aug 2025 13:51:03 -0700
Subject: [PATCH 19/40] Update renderFrame

---
 .../systems/simulation/wpilib_brain/SimCameraRenderer.ts  | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
index fbe7bd93b9..7b9bd36987 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
@@ -81,6 +81,14 @@ export class SimCameraRenderer {
 
         // Read pixels
         const pixels = new Uint8Array(this._renderTarget.width * this._renderTarget.height * 4)
+        renderer.readRenderTargetPixels(
+            this._renderTarget,
+            0,
+            0,
+            this._renderTarget.width,
+            this._renderTarget.height,
+            pixels
+        )
 
         // Restore original target
         renderer.setRenderTarget(originalTarget)

From 48031cd9ab8368ea30bd03d418d07c17ba5d730b Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:22:56 -0700
Subject: [PATCH 20/40] Add SynthesisWebSocketServer

---
 .../synthesis/SynthesisWebSocketServer.java   | 83 +++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
new file mode 100644
index 0000000000..0ba8af2c2f
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
@@ -0,0 +1,83 @@
+package com.autodesk.synthesis;
+
+import org.java_websocket.WebSocket;
+import org.java_websocket.handshake.ClientHandshake;
+import org.java_websocket.server.WebSocketServer;
+
+import java.net.InetSocketAddress;
+
+/**
+ * WebSocket server that receives messages from the Fission simulator
+ * and forwards them to the WebSocketMessageHandler
+ */
+public class SynthesisWebSocketServer extends WebSocketServer {
+    private static SynthesisWebSocketServer instance;
+    private boolean isRunning = false;
+    
+    private SynthesisWebSocketServer(InetSocketAddress address) {
+        super(address);
+    }
+    
+    public static SynthesisWebSocketServer getInstance() {
+        if (instance == null) {
+            instance = new SynthesisWebSocketServer(new SocketAddress("localhost", 3300));
+        }
+        return instance;
+    }
+    
+    /**
+     * Called when the server stops
+     */
+    public void onServerStop() {
+        isRunning = false;
+    }
+    
+    @Override
+    public void onMessage(WebSocket conn, String message) {
+        // Forward the message to our handler
+        WebSocketMessageHandler.getInstance().handleMessage(message);
+    }
+    
+    @Override
+    public void onError(WebSocket conn, Exception ex) {
+        System.err.println("WebSocket error: " + ex.getMessage());
+    }
+    
+    @Override
+    public void onStart() {
+        isRunning = true;
+        System.out.println("WebSocket server started on port 3300");
+        System.out.println("Listening for camera frames from Fission simulator...");
+    }
+    
+    /**
+     * Start the WebSocket server
+     */
+    public void startServer() {
+        if (!isRunning) {
+            try {
+                start();
+                System.out.println("🚀 Synthesis WebSocket server starting on ws://localhost:3300/wpilibws");
+            } catch (Exception e) {
+                System.err.println("Error starting WebSocket server: " + e.getMessage());
+            }
+        } else {
+            System.out.println("WebSocket server is already running");
+        }
+    }
+    
+    /**
+     * Stop the WebSocket server
+     */
+    public void stopServer() {
+        if (isRunning) {
+            try {
+                stop();
+                onServerStop();
+                System.out.println("WebSocket server stopped");
+            } catch (Exception e) {
+                System.err.println("Error stopping WebSocket server: " + e.getMessage());
+            }
+        }
+    }
+}
\ No newline at end of file

From 9e80ad2f8f5dfabe1bc71abc439fc47f73612e32 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:23:32 -0700
Subject: [PATCH 21/40] Update SocketAddress to InetSocketAddress

---
 .../java/com/autodesk/synthesis/SynthesisWebSocketServer.java   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
index 0ba8af2c2f..956a702ad8 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
@@ -20,7 +20,7 @@ private SynthesisWebSocketServer(InetSocketAddress address) {
     
     public static SynthesisWebSocketServer getInstance() {
         if (instance == null) {
-            instance = new SynthesisWebSocketServer(new SocketAddress("localhost", 3300));
+            instance = new SynthesisWebSocketServer(new InetSocketAddress("localhost", 3300));
         }
         return instance;
     }

From 2a4dfba68e9c4783381037f142e70b714d8b0917 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:24:16 -0700
Subject: [PATCH 22/40] Update onOpen & onClose

---
 .../synthesis/SynthesisWebSocketServer.java   | 22 +++++++++----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
index 956a702ad8..3b89be1ea5 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
@@ -25,16 +25,22 @@ public static SynthesisWebSocketServer getInstance() {
         return instance;
     }
     
-    /**
-     * Called when the server stops
-     */
+    @Override
+    public void onOpen(WebSocket conn, ClientHandshake handshake) {
+        System.out.println("WebSocket connection opened: " + conn.getRemoteSocketAddress());
+    }
+    
+    @Override
+    public void onClose(WebSocket conn, int code, String reason, boolean remote) {
+        System.out.println("WebSocket connection closed: " + conn.getRemoteSocketAddress());
+    }
+
     public void onServerStop() {
         isRunning = false;
     }
     
     @Override
     public void onMessage(WebSocket conn, String message) {
-        // Forward the message to our handler
         WebSocketMessageHandler.getInstance().handleMessage(message);
     }
     
@@ -49,10 +55,7 @@ public void onStart() {
         System.out.println("WebSocket server started on port 3300");
         System.out.println("Listening for camera frames from Fission simulator...");
     }
-    
-    /**
-     * Start the WebSocket server
-     */
+
     public void startServer() {
         if (!isRunning) {
             try {
@@ -66,9 +69,6 @@ public void startServer() {
         }
     }
     
-    /**
-     * Stop the WebSocket server
-     */
     public void stopServer() {
         if (isRunning) {
             try {

From 94c4284180df6f239f98c5b70c2a1be5c2eb5787 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:26:03 -0700
Subject: [PATCH 23/40] Add WebSocketMessageHandler

---
 .../synthesis/WebSocketMessageHandler.java    | 58 +++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
new file mode 100644
index 0000000000..96c4272838
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
@@ -0,0 +1,58 @@
+package com.autodesk.synthesis;
+
+import org.json.JSONObject;
+
+/**
+ * Handles incoming WebSocket messages from the simulation.
+ * This processes various message types including camera frames.
+ */
+public class WebSocketMessageHandler {
+    private static WebSocketMessageHandler instance;
+    
+    private WebSocketMessageHandler() {}
+    
+    public static WebSocketMessageHandler getInstance() {
+        if (instance == null) {
+            instance = new WebSocketMessageHandler();
+        }
+        return instance;
+    }
+    
+    /**
+     * Process incoming WebSocket message
+     * @param messageJson JSON string containing the message
+     */
+    public void handleMessage(String messageJson) {
+        JSONObject message = new JSONObject(messageJson);
+        String type = message.getString("type");
+            
+        System.out.println("DEBUG: Received WebSocket message type: " + type);
+            
+        switch (type) {
+            case "CAMERA_FRAME":
+                System.out.println("DEBUG: Processing camera frame message...");
+                handleCameraFrame(message);
+                break;
+            default:
+                // Handle other message types here
+                System.out.println("DEBUG: Unhandled message type: " + type);
+                break;
+            }
+    }
+    
+    /**
+     * Handle camera frame message
+     */
+    private void handleCameraFrame(JSONObject message) {
+        String device = message.getString("device");
+        JSONObject data = message.getJSONObject("data");
+            
+        String frameData = data.getString("frame");
+        int width = data.getInt("width");
+        int height = data.getInt("height");
+            
+        // Forward to camera frame handler
+        CameraFrameHandler.getInstance().handleFrame(device, frameData, width, height);
+            
+    }
+} 
\ No newline at end of file

From d9ad7a597a1b9b3e8ea1138f850dd27b9af983ef Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:26:24 -0700
Subject: [PATCH 24/40] Add simulateTestMessage

---
 .../synthesis/WebSocketMessageHandler.java    | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
index 96c4272838..4501b39961 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
@@ -55,4 +55,25 @@ private void handleCameraFrame(JSONObject message) {
         CameraFrameHandler.getInstance().handleFrame(device, frameData, width, height);
             
     }
+    
+    /**
+     * Simulate receiving a camera frame (for testing)
+     */
+    public void simulateTestMessage() {
+        String testMessage = """
+            {
+                "type": "CAMERA_FRAME",
+                "device": "USB Camera 0",
+                "data": {
+                    "frame": "",
+                    "width": 640,
+                    "height": 480,
+                    "timestamp": %d
+                }
+            }
+            """.formatted(System.currentTimeMillis());
+        
+        System.out.println("Simulating test WebSocket message...");
+        handleMessage(testMessage);
+    }
 } 
\ No newline at end of file

From 8bea9081de64cd1d3442b47d30171bb5ec49043f Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:27:37 -0700
Subject: [PATCH 25/40] Add message handling error handling

---
 .../synthesis/WebSocketMessageHandler.java    | 47 +++++++++++--------
 1 file changed, 27 insertions(+), 20 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
index 4501b39961..b87bc6ba30 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/WebSocketMessageHandler.java
@@ -23,41 +23,48 @@ public static WebSocketMessageHandler getInstance() {
      * @param messageJson JSON string containing the message
      */
     public void handleMessage(String messageJson) {
-        JSONObject message = new JSONObject(messageJson);
-        String type = message.getString("type");
+        try {
+            JSONObject message = new JSONObject(messageJson);
+            String type = message.getString("type");
             
-        System.out.println("DEBUG: Received WebSocket message type: " + type);
+            System.out.println("DEBUG: Received WebSocket message type: " + type);
             
-        switch (type) {
-            case "CAMERA_FRAME":
-                System.out.println("DEBUG: Processing camera frame message...");
-                handleCameraFrame(message);
-                break;
-            default:
-                // Handle other message types here
-                System.out.println("DEBUG: Unhandled message type: " + type);
-                break;
+            switch (type) {
+                case "CAMERA_FRAME":
+                    System.out.println("DEBUG: Processing camera frame message...");
+                    handleCameraFrame(message);
+                    break;
+                default:
+                    System.out.println("DEBUG: Unhandled message type: " + type);
+                    break;
             }
+        } catch (Exception e) {
+            System.err.println("ERROR: Error processing WebSocket message: " + e.getMessage());
+        }
     }
     
     /**
      * Handle camera frame message
      */
     private void handleCameraFrame(JSONObject message) {
-        String device = message.getString("device");
-        JSONObject data = message.getJSONObject("data");
+        try {
+            String device = message.getString("device");
+            JSONObject data = message.getJSONObject("data");
             
-        String frameData = data.getString("frame");
-        int width = data.getInt("width");
-        int height = data.getInt("height");
+            String frameData = data.getString("frame");
+            int width = data.getInt("width");
+            int height = data.getInt("height");
             
-        // Forward to camera frame handler
-        CameraFrameHandler.getInstance().handleFrame(device, frameData, width, height);
+            // Forward to camera frame handler
+            CameraFrameHandler.getInstance().handleFrame(device, frameData, width, height);
             
+        } catch (Exception e) {
+            System.err.println("ERROR: Error processing camera frame: " + e.getMessage());
+        }
     }
     
     /**
-     * Simulate receiving a camera frame (for testing)
+     * Simulate receiving a camera frame
      */
     public void simulateTestMessage() {
         String testMessage = """

From c9e20d41a3f3513eb3b4d50dadfb37e453badecd Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:31:08 -0700
Subject: [PATCH 26/40] Add CameraFrameHandler

---
 .../synthesis/CameraFrameHandler.java         | 69 +++++++++++++++++++
 1 file changed, 69 insertions(+)
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
new file mode 100644
index 0000000000..027839918c
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
@@ -0,0 +1,69 @@
+package com.autodesk.synthesis;
+
+import edu.wpi.first.cscore.CvSource;
+import org.opencv.core.Mat;
+import org.opencv.core.CvType;
+import org.opencv.core.MatOfByte;
+import org.opencv.imgcodecs.Imgcodecs;
+import java.util.Base64;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * Handles camera frames from the simulation and feeds them to WPILib CvSource objects.
+ * This bridges the gap between Synthesis 3D rendering and WPILib camera streaming.
+ */
+public class CameraFrameHandler {
+    private static CameraFrameHandler instance;
+    private final ConcurrentHashMap<String, CvSource> cameraSources = new ConcurrentHashMap<>();
+    
+    private CameraFrameHandler() {}
+    
+    public static CameraFrameHandler getInstance() {
+        if (instance == null) {
+            instance = new CameraFrameHandler();
+        }
+        return instance;
+    }
+    
+    /**
+     * Register a CvSource for a camera device
+     * @param deviceName The name of the camera device (e.g., "USB Camera 0")
+     * @param source The CvSource to feed frames to
+     */
+    public void registerCamera(String deviceName, CvSource source) {
+        cameraSources.put(deviceName, source);
+        System.out.println("Camera registered for: " + deviceName);
+    }
+    
+    /**
+     * Handle incoming camera frame from simulation
+     * @param deviceName The camera device name
+     * @param base64Frame Base64 encoded JPEG frame data
+     * @param width Frame width
+     * @param height Frame height
+     */
+    public void handleFrame(String deviceName, String base64Frame, int width, int height) {
+        CvSource source = cameraSources.get(deviceName);
+        
+        try {
+            byte[] frameData = Base64.getDecoder().decode(base64Frame);
+            
+            // Feed frame to CvSource and automatically streams to dashboards
+            source.putFrame(frame);
+            
+            // Clean up
+            frame.release();
+            matOfByte.release();
+            
+        } catch (Exception e) {
+            System.err.println("ERROR: Error processing camera frame for " + deviceName + ": " + e.getMessage());
+        }
+    }
+    
+    /**
+     * Get registered camera count
+     */
+    public int getCameraCount() {
+        return cameraSources.size();
+    }
+} 
\ No newline at end of file

From bc9449b1e20c9b331e78f208ce4744e6e6fb5bfb Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:31:41 -0700
Subject: [PATCH 27/40] Add frame handler debug prints

---
 .../synthesis/CameraFrameHandler.java         | 33 +++++++++++++++++++
 1 file changed, 33 insertions(+)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
index 027839918c..fd1faa702e 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
@@ -44,10 +44,43 @@ public void registerCamera(String deviceName, CvSource source) {
      */
     public void handleFrame(String deviceName, String base64Frame, int width, int height) {
         CvSource source = cameraSources.get(deviceName);
+        if (source == null) {
+            System.out.println("DEBUG: Camera not registered for " + deviceName);
+            return;
+        }
+        if (base64Frame == null || base64Frame.trim().isEmpty()) {
+            System.out.println("DEBUG: Skipping empty frame for " + deviceName);
+            return;
+        }
+
+        System.out.println("DEBUG: Received real 3D frame for " + deviceName + 
+                         " (" + width + "x" + height + ", " + base64Frame.length() + " chars)");
         
         try {
             byte[] frameData = Base64.getDecoder().decode(base64Frame);
             
+            // Check if decoded data is empty
+            if (frameData.length == 0) {
+                System.out.println("INFO: Skipping frame with empty data for " + deviceName);
+                return;
+            }
+            
+            // Convert JPEG bytes to OpenCV Mat
+            MatOfByte matOfByte = new MatOfByte(frameData);
+            Mat frame = Imgcodecs.imdecode(matOfByte, Imgcodecs.IMREAD_COLOR);
+            
+            if (frame.empty()) {
+                System.err.println("WARNING: Failed to decode camera frame for " + deviceName);
+                return;
+            }
+            
+            // Ensure frame has correct dimensions
+            if (frame.rows() != height || frame.cols() != width) {
+                System.err.println("WARNING: Frame size mismatch for " + deviceName + 
+                                 ": expected " + width + "x" + height + 
+                                 ", got " + frame.cols() + "x" + frame.rows());
+            }
+            
             // Feed frame to CvSource and automatically streams to dashboards
             source.putFrame(frame);
             

From b60380dd121843b8edc61ec12b229a44ce66aa74 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:31:56 -0700
Subject: [PATCH 28/40] Add test frame

---
 .../com/autodesk/synthesis/CameraFrameHandler.java | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
index fd1faa702e..6debd02a72 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
@@ -93,6 +93,20 @@ public void handleFrame(String deviceName, String base64Frame, int width, int he
         }
     }
     
+    /**
+     * Create a test pattern frame 
+     */
+    public void sendTestFrame(String deviceName, int width, int height) {
+        CvSource source = cameraSources.get(deviceName);
+        if (source == null) return;
+        
+        Mat testFrame = new Mat(height, width, CvType.CV_8UC3);
+        testFrame.setTo(new org.opencv.core.Scalar(100, 150, 200)); // Light blue
+        
+        source.putFrame(testFrame);
+        testFrame.release();
+    }
+    
     /**
      * Get registered camera count
      */

From 1fa32497eb93a42033d4fb73b0ea7a4facce4e92 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:33:48 -0700
Subject: [PATCH 29/40] Update CameraFrameHandler

---
 .../com/autodesk/synthesis/CameraFrameHandler.java    | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
index 6debd02a72..99b9631eba 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CameraFrameHandler.java
@@ -48,18 +48,18 @@ public void handleFrame(String deviceName, String base64Frame, int width, int he
             System.out.println("DEBUG: Camera not registered for " + deviceName);
             return;
         }
+      
         if (base64Frame == null || base64Frame.trim().isEmpty()) {
             System.out.println("DEBUG: Skipping empty frame for " + deviceName);
             return;
         }
-
+        
         System.out.println("DEBUG: Received real 3D frame for " + deviceName + 
                          " (" + width + "x" + height + ", " + base64Frame.length() + " chars)");
         
         try {
             byte[] frameData = Base64.getDecoder().decode(base64Frame);
             
-            // Check if decoded data is empty
             if (frameData.length == 0) {
                 System.out.println("INFO: Skipping frame with empty data for " + deviceName);
                 return;
@@ -81,10 +81,9 @@ public void handleFrame(String deviceName, String base64Frame, int width, int he
                                  ", got " + frame.cols() + "x" + frame.rows());
             }
             
-            // Feed frame to CvSource and automatically streams to dashboards
+            // Feed frame to CvSource 
             source.putFrame(frame);
-            
-            // Clean up
+
             frame.release();
             matOfByte.release();
             
@@ -94,7 +93,7 @@ public void handleFrame(String deviceName, String base64Frame, int width, int he
     }
     
     /**
-     * Create a test pattern frame 
+     * Create a test pattern frame (for debugging)
      */
     public void sendTestFrame(String deviceName, int width, int height) {
         CvSource source = cameraSources.get(deviceName);

From 93b0e3679342f523d79588dfa9142d281637ce85 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:34:33 -0700
Subject: [PATCH 30/40] Update SimInput

---
 .../simulation/wpilib_brain/SimInput.ts       | 101 +++++++++++-------
 1 file changed, 65 insertions(+), 36 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 61396181ee..ceb369249c 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -7,6 +7,7 @@ import * as THREE from "three"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { convertJoltQuatToThreeQuaternion, convertJoltVec3ToThreeVector3 } from "@/util/TypeConversions"
 import { SimCameraRenderer } from "./SimCameraRenderer"
+import { SimCameraVisualization } from "./SimCameraVisualization"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 
 export abstract class SimInput {
@@ -132,6 +133,7 @@ export class SimCameraInput extends SimInput {
     private _defaultFPS: number = 30
     private _isInitialized: boolean = false
     private _cameraRenderer?: SimCameraRenderer
+    private _cameraVisualization: SimCameraVisualization
     private _robot: MirabufSceneObject
     private _frameInterval: number = 0
     private _lastFrameTime: number = 0
@@ -140,19 +142,28 @@ export class SimCameraInput extends SimInput {
         super(device)
         this._robot = robot
         if (width) this._defaultWidth = width
-        if (height) this._defaultHeight = height  
+        if (height) this._defaultHeight = height
         if (fps) this._defaultFPS = fps
         this._frameInterval = 1000 / this._defaultFPS // ms between frames
-        
-        console.log(`🎬 [CONSTRUCTOR] SimCameraInput created for ${device} (${this._defaultWidth}x${this._defaultHeight} @ ${this._defaultFPS}fps, interval=${this._frameInterval}ms)`)
+
+        // Create camera visualization
+        this._cameraVisualization = new SimCameraVisualization(robot)
+        this._cameraVisualization.setup()
+
+        console.log(
+            `🎬 [CONSTRUCTOR] SimCameraInput created for ${device} (${this._defaultWidth}x${this._defaultHeight} @ ${this._defaultFPS}fps, interval=${this._frameInterval}ms)`
+        )
     }
 
     public update(deltaT: number) {
         // Add occasional logging to confirm update is being called
-        if (Math.random() < 0.01) { // ~1% chance per frame
-            console.log(`🔄 [UPDATE] SimCameraInput.update() called for ${this.device} (initialized: ${this._isInitialized})`)
+        if (Math.random() < 0.01) {
+            // ~1% chance per frame
+            console.log(
+                `🔄 [UPDATE] SimCameraInput.update() called for ${this.device} (initialized: ${this._isInitialized})`
+            )
         }
-        
+
         if (!this._isInitialized) {
             this.initializeCamera()
             this._isInitialized = true
@@ -160,11 +171,14 @@ export class SimCameraInput extends SimInput {
 
         this.updateCameraSettings()
         this.generateVideoFrame(deltaT)
+
+        // Update camera visualization
+        this._cameraVisualization.update()
     }
 
     private initializeCamera() {
         console.log(`🎥 [INIT] Starting camera initialization for ${this.device}`)
-        
+
         // Initialize metadata
         SimCamera.setConnected(this.device, true)
         SimCamera.setResolutionWidth(this.device, this._defaultWidth)
@@ -180,15 +194,21 @@ export class SimCameraInput extends SimInput {
             // Initialize video renderer for 3D scene capture
             this._cameraRenderer = new SimCameraRenderer(this._robot, this._defaultWidth, this._defaultHeight)
             console.log(`✅ [INIT] Camera ${this.device} initialized successfully - 3D frames will be generated`)
-            
+
+            // Show camera visualization in 3D scene
+            this._cameraVisualization.setVisible(true)
+
             // Force immediate test frame to verify renderer works
             console.log(`🧪 [TEST] Attempting immediate test frame capture...`)
-            this._cameraRenderer.captureFrameAsJPEG().then(blob => {
-                console.log(`🧪 [TEST] Initial test frame captured: ${blob.size} bytes - renderer is working!`)
-                this.sendFrameToRobot(blob)
-            }).catch(error => {
-                console.error(`❌ [TEST] Initial test frame failed:`, error)
-            })
+            this._cameraRenderer
+                .captureFrameAsJPEG()
+                .then(blob => {
+                    console.log(`🧪 [TEST] Initial test frame captured: ${blob.size} bytes - renderer is working!`)
+                    this.sendFrameToRobot(blob)
+                })
+                .catch(error => {
+                    console.error(`❌ [TEST] Initial test frame failed:`, error)
+                })
         } catch (error) {
             console.error(`❌ [INIT] Failed to create camera renderer:`, error)
         }
@@ -230,27 +250,33 @@ export class SimCameraInput extends SimInput {
             console.warn(`📹 [FRAME] No camera renderer for ${this.device} - skipping frame generation`)
             return
         }
-        
+
         this._lastFrameTime += deltaT * 1000 // Convert to ms
-        
+
         // Add timing debug logs occasionally
-        if (Math.random() < 0.01) { // ~1% chance per frame
-            console.log(`⏱️ [TIMING] ${this.device}: lastFrameTime=${this._lastFrameTime.toFixed(1)}ms, interval=${this._frameInterval}ms, deltaT=${(deltaT*1000).toFixed(1)}ms`)
+        if (Math.random() < 0.01) {
+            // ~1% chance per frame
+            console.log(
+                `⏱️ [TIMING] ${this.device}: lastFrameTime=${this._lastFrameTime.toFixed(1)}ms, interval=${this._frameInterval}ms, deltaT=${(deltaT * 1000).toFixed(1)}ms`
+            )
         }
-        
+
         // Generate frame at specified FPS
         if (this._lastFrameTime >= this._frameInterval) {
             this._lastFrameTime = 0
-            
+
             console.log(`📹 [FRAME] Capturing 3D frame for ${this.device}`)
-            
+
             // Capture frame from 3D scene (robot perspective)
-            this._cameraRenderer.captureFrameAsJPEG().then(blob => {
-                console.log(`📹 [FRAME] Successfully captured ${blob.size} bytes, sending to robot`)
-                this.sendFrameToRobot(blob)
-            }).catch(error => {
-                console.error(`❌ [FRAME] Failed to capture camera frame:`, error)
-            })
+            this._cameraRenderer
+                .captureFrameAsJPEG()
+                .then(blob => {
+                    console.log(`📹 [FRAME] Successfully captured ${blob.size} bytes, sending to robot`)
+                    this.sendFrameToRobot(blob)
+                })
+                .catch(error => {
+                    console.error(`❌ [FRAME] Failed to capture camera frame:`, error)
+                })
         }
     }
 
@@ -259,9 +285,9 @@ export class SimCameraInput extends SimInput {
             // Convert blob to base64 for WebSocket transmission
             const arrayBuffer = await frameBlob.arrayBuffer()
             const base64Frame = btoa(String.fromCharCode(...new Uint8Array(arrayBuffer)))
-            
+
             console.log(`🚀 [SEND] Converting frame: ${arrayBuffer.byteLength} bytes → ${base64Frame.length} chars`)
-            
+
             // Send frame through WebSocket protocol
             const frameMessage = {
                 type: "CAMERA_FRAME",
@@ -270,14 +296,13 @@ export class SimCameraInput extends SimInput {
                     frame: base64Frame,
                     width: this._defaultWidth,
                     height: this._defaultHeight,
-                    timestamp: Date.now()
-                }
+                    timestamp: Date.now(),
+                },
             }
-            
+
             // Send through the existing WebSocket worker
             const success = SimGeneric.sendCameraFrame(this.device, frameMessage.data)
-            console.log(`📡 [SEND] WebSocket frame sent for ${this.device}: ${success ? 'SUCCESS' : 'FAILED'}`)
-            
+            console.log(`📡 [SEND] WebSocket frame sent for ${this.device}: ${success ? "SUCCESS" : "FAILED"}`)
         } catch (error) {
             console.error(`❌ [SEND] Failed to send camera frame:`, error)
         }
@@ -297,10 +322,14 @@ export class SimCameraInput extends SimInput {
         SimCamera.setConnected(this._device, true)
         this._isInitialized = false // set false so reinitialize on next update
     }
-    
+
     public disconnect() {
         SimCamera.setConnected(this._device, false)
-        this._isInitialized = false 
+        this._isInitialized = false
+
+        // Hide camera visualization
+        this._cameraVisualization.setVisible(false)
+
         if (this._cameraRenderer) {
             this._cameraRenderer.dispose()
             this._cameraRenderer = undefined

From e5af40e132839031e4c850f64bc70ddffa0ef83c Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:34:55 -0700
Subject: [PATCH 31/40] Add camera disposing

---
 fission/src/systems/simulation/wpilib_brain/SimInput.ts | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index ceb369249c..189a8cfc5a 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -335,6 +335,11 @@ export class SimCameraInput extends SimInput {
             this._cameraRenderer = undefined
         }
     }
+
+    public dispose() {
+        this.disconnect()
+        this._cameraVisualization.dispose()
+    }
 }
 
 export class SimDigitalInput extends SimInput {

From e573fd8eb7fbbd27bfe21ff5fc77bb1d58df5cc2 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:38:21 -0700
Subject: [PATCH 32/40] Update SimInput

---
 .../simulation/wpilib_brain/SimInput.ts       | 24 +++++++------------
 1 file changed, 9 insertions(+), 15 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 189a8cfc5a..44c48a97ef 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -156,9 +156,7 @@ export class SimCameraInput extends SimInput {
     }
 
     public update(deltaT: number) {
-        // Add occasional logging to confirm update is being called
         if (Math.random() < 0.01) {
-            // ~1% chance per frame
             console.log(
                 `🔄 [UPDATE] SimCameraInput.update() called for ${this.device} (initialized: ${this._isInitialized})`
             )
@@ -193,13 +191,13 @@ export class SimCameraInput extends SimInput {
         try {
             // Initialize video renderer for 3D scene capture
             this._cameraRenderer = new SimCameraRenderer(this._robot, this._defaultWidth, this._defaultHeight)
-            console.log(`✅ [INIT] Camera ${this.device} initialized successfully - 3D frames will be generated`)
+            console.log(`[INIT] Camera ${this.device} initialized successfully - 3D frames will be generated`)
 
             // Show camera visualization in 3D scene
             this._cameraVisualization.setVisible(true)
 
             // Force immediate test frame to verify renderer works
-            console.log(`🧪 [TEST] Attempting immediate test frame capture...`)
+            console.log(`[TEST] Attempting immediate test frame capture...`)
             this._cameraRenderer
                 .captureFrameAsJPEG()
                 .then(blob => {
@@ -251,13 +249,12 @@ export class SimCameraInput extends SimInput {
             return
         }
 
-        this._lastFrameTime += deltaT * 1000 // Convert to ms
+        this._lastFrameTime += deltaT * 1000 
 
         // Add timing debug logs occasionally
         if (Math.random() < 0.01) {
-            // ~1% chance per frame
             console.log(
-                `⏱️ [TIMING] ${this.device}: lastFrameTime=${this._lastFrameTime.toFixed(1)}ms, interval=${this._frameInterval}ms, deltaT=${(deltaT * 1000).toFixed(1)}ms`
+                `⏱[TIMING] ${this.device}: lastFrameTime=${this._lastFrameTime.toFixed(1)}ms, interval=${this._frameInterval}ms, deltaT=${(deltaT * 1000).toFixed(1)}ms`
             )
         }
 
@@ -265,24 +262,23 @@ export class SimCameraInput extends SimInput {
         if (this._lastFrameTime >= this._frameInterval) {
             this._lastFrameTime = 0
 
-            console.log(`📹 [FRAME] Capturing 3D frame for ${this.device}`)
+            console.log(`[FRAME] Capturing 3D frame for ${this.device}`)
 
             // Capture frame from 3D scene (robot perspective)
             this._cameraRenderer
                 .captureFrameAsJPEG()
                 .then(blob => {
-                    console.log(`📹 [FRAME] Successfully captured ${blob.size} bytes, sending to robot`)
+                    console.log(`[FRAME] Successfully captured ${blob.size} bytes, sending to robot`)
                     this.sendFrameToRobot(blob)
                 })
                 .catch(error => {
-                    console.error(`❌ [FRAME] Failed to capture camera frame:`, error)
+                    console.error(`[FRAME] Failed to capture camera frame:`, error)
                 })
         }
     }
 
     private async sendFrameToRobot(frameBlob: Blob) {
         try {
-            // Convert blob to base64 for WebSocket transmission
             const arrayBuffer = await frameBlob.arrayBuffer()
             const base64Frame = btoa(String.fromCharCode(...new Uint8Array(arrayBuffer)))
 
@@ -302,9 +298,9 @@ export class SimCameraInput extends SimInput {
 
             // Send through the existing WebSocket worker
             const success = SimGeneric.sendCameraFrame(this.device, frameMessage.data)
-            console.log(`📡 [SEND] WebSocket frame sent for ${this.device}: ${success ? "SUCCESS" : "FAILED"}`)
+            console.log(`[SEND] WebSocket frame sent for ${this.device}: ${success ? "SUCCESS" : "FAILED"}`)
         } catch (error) {
-            console.error(`❌ [SEND] Failed to send camera frame:`, error)
+            console.error(`[SEND] Failed to send camera frame:`, error)
         }
     }
 
@@ -326,8 +322,6 @@ export class SimCameraInput extends SimInput {
     public disconnect() {
         SimCamera.setConnected(this._device, false)
         this._isInitialized = false
-
-        // Hide camera visualization
         this._cameraVisualization.setVisible(false)
 
         if (this._cameraRenderer) {

From d8c5b0dcf0bf89824f11eb6f4de88490edb2dca1 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:39:02 -0700
Subject: [PATCH 33/40] Add SimCameraVisualization

---
 .../wpilib_brain/SimCameraVisualization.ts    | 62 +++++++++++++++++++
 1 file changed, 62 insertions(+)
 create mode 100644 fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
new file mode 100644
index 0000000000..4da9b25279
--- /dev/null
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
@@ -0,0 +1,62 @@
+import * as THREE from "three"
+import World from "@/systems/World"
+import SceneObject from "@/systems/scene/SceneObject"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+
+/**
+ * Visual representation of the WPILib camera in the 3D scene
+ * Shows where the camera is mounted and its field of view
+ */
+export class SimCameraVisualization extends SceneObject {
+    private _robot: MirabufSceneObject
+    private _cameraGroup: THREE.Group
+    private _cameraPosition: THREE.Vector3
+    private _isVisible: boolean = false
+
+    constructor(robot: MirabufSceneObject) {
+        super()
+        this._robot = robot
+
+        // Same position as SimCameraRenderer
+        this._cameraPosition = new THREE.Vector3(0, 0.5, 0.2) // Mounted on robot
+
+        this._cameraGroup = new THREE.Group()
+    }
+
+    public setup(): void {
+        // Add to scene
+        World.sceneRenderer.addObject(this._cameraGroup)
+        console.log("📹 [VISUAL] SimCameraVisualization added to scene")
+    }
+
+    public setVisible(visible: boolean) {
+        this._isVisible = visible
+        this._cameraGroup.visible = visible
+
+        if (visible) {
+            console.log("📹 [VISUAL] Camera visualization enabled - you should see a camera model on your robot")
+        } else {
+            console.log("📹 [VISUAL] Camera visualization disabled")
+        }
+    }
+
+    public dispose(): void {
+        if (this._cameraGroup.parent) {
+            this._cameraGroup.parent.remove(this._cameraGroup)
+        }
+
+        // Dispose of geometries and materials
+        this._cameraGroup.traverse(child => {
+            if (child instanceof THREE.Mesh) {
+                child.geometry.dispose()
+                if (Array.isArray(child.material)) {
+                    child.material.forEach(material => material.dispose())
+                } else {
+                    child.material.dispose()
+                }
+            }
+        })
+
+        console.log("📹 [VISUAL] SimCameraVisualization disposed")
+    }
+}

From 42918a43d330e32bff7889cd44c4258e2c3cb559 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:40:07 -0700
Subject: [PATCH 34/40] Add updateCameraTransform

---
 .../wpilib_brain/SimCameraVisualization.ts    | 35 +++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
index 4da9b25279..b40783a134 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
@@ -29,6 +29,41 @@ export class SimCameraVisualization extends SceneObject {
         console.log("📹 [VISUAL] SimCameraVisualization added to scene")
     }
 
+    public update(): void {
+        if (!this._isVisible) return
+
+        this.updateCameraTransform()
+    }
+
+    private updateCameraTransform() {
+        if (!this._robot.mechanism.rootBody) return
+
+        const robotBody = World.physicsSystem.getBody(
+            this._robot.mechanism.nodeToBody.get(this._robot.mechanism.rootBody)!
+        )
+
+        if (!robotBody) return
+
+        const robotPos = robotBody.GetPosition()
+        const robotRot = robotBody.GetRotation()
+
+        const robotPosition = new THREE.Vector3(robotPos.GetX(), robotPos.GetY(), robotPos.GetZ())
+        const robotQuaternion = new THREE.Quaternion(robotRot.GetX(), robotRot.GetY(), robotRot.GetZ(), robotRot.GetW())
+
+        const worldCameraPos = this._cameraPosition.clone()
+        worldCameraPos.applyQuaternion(robotQuaternion)
+        worldCameraPos.add(robotPosition)
+
+        const cameraRotation = new THREE.Quaternion()
+        cameraRotation.copy(robotQuaternion)
+        const forwardFix = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), Math.PI)
+        const upFix = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), Math.PI)
+        cameraRotation.multiply(forwardFix).multiply(upFix)
+
+        this._cameraGroup.position.copy(worldCameraPos)
+        this._cameraGroup.quaternion.copy(cameraRotation)
+    }
+
     public setVisible(visible: boolean) {
         this._isVisible = visible
         this._cameraGroup.visible = visible

From 7bca4583007373cda01565477a30729518c991e0 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:41:34 -0700
Subject: [PATCH 35/40] Update SimCameraRenderer

---
 .../simulation/wpilib_brain/SimCameraRenderer.ts    | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
index 7b9bd36987..1d961cb7c6 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
@@ -45,21 +45,26 @@ export class SimCameraRenderer {
 
         if (!robotBody) return
 
-        // Position camera relative to robot
         const robotPos = robotBody.GetPosition()
         const robotRot = robotBody.GetRotation()
 
-        // Convert Jolt to Three.js
         const robotPosition = new THREE.Vector3(robotPos.GetX(), robotPos.GetY(), robotPos.GetZ())
         const robotQuaternion = new THREE.Quaternion(robotRot.GetX(), robotRot.GetY(), robotRot.GetZ(), robotRot.GetW())
 
-        // Apply camera offset
         const worldCameraPos = this._cameraPosition.clone()
         worldCameraPos.applyQuaternion(robotQuaternion)
         worldCameraPos.add(robotPosition)
 
+        const cameraRotation = new THREE.Quaternion()
+        cameraRotation.copy(robotQuaternion)
+
+        const forwardFix = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), Math.PI)
+        const upFix = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), Math.PI)
+        
+        cameraRotation.multiply(forwardFix).multiply(upFix)
+
         this._camera.position.copy(worldCameraPos)
-        this._camera.quaternion.copy(robotQuaternion)
+        this._camera.quaternion.copy(cameraRotation)
         this._camera.updateMatrixWorld()
     }
 

From 33287c5c53d9d956097f28ae6b29906192c3ddaf Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:42:52 -0700
Subject: [PATCH 36/40] Update JavaSample imports

---
 .../src/main/java/frc/robot/Robot.java        | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index f1b05386fc..44f039ac1b 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -11,15 +11,29 @@
 import edu.wpi.first.wpilibj.SPI;
 
 import edu.wpi.first.wpilibj.ADXL362;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogOutput;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.CvSource;
+import edu.wpi.first.cscore.VideoMode;
+import org.opencv.core.Mat;
+import org.opencv.imgproc.Imgproc;
+import org.opencv.core.CvType;
 
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
 import com.kauailabs.navx.frc.AHRS;
 import com.autodesk.synthesis.ctre.TalonFX;
+import com.autodesk.synthesis.Camera;
+import com.autodesk.synthesis.CameraFrameHandler;
+import com.autodesk.synthesis.WebSocketMessageHandler;
+import com.autodesk.synthesis.SynthesisWebSocketServer;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -43,6 +57,8 @@ public class Robot extends TimedRobot {
 
   private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
   private AHRS m_Gyro = new AHRS();
+  private Camera m_Camera = new Camera("USB Camera 0", 0);
+  private CvSource m_videoSource;
 
   private DigitalInput m_DI = new DigitalInput(0);
   private DigitalOutput m_DO = new DigitalOutput(1);
@@ -188,6 +204,10 @@ public void disabledInit() {
       m_SparkMax5.set(0.0);
       m_SparkMax6.set(0.0);
       m_AO.setVoltage(12.0);
+      
+      // Stop WebSocket server when robot is disabled
+      System.out.println("🛑 Stopping WebSocket server...");
+      SynthesisWebSocketServer.getInstance().stopServer();
   }
 
   /** This function is called periodically when disabled. */

From 44dfb7fcc4a3bcf861743cc5647c6a0888732d49 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 14:51:29 -0700
Subject: [PATCH 37/40] chore: formatting

---
 .../src/systems/simulation/wpilib_brain/SimCameraRenderer.ts    | 2 +-
 fission/src/systems/simulation/wpilib_brain/SimInput.ts         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
index 1d961cb7c6..281f2b4f95 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
@@ -60,7 +60,7 @@ export class SimCameraRenderer {
 
         const forwardFix = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), Math.PI)
         const upFix = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), Math.PI)
-        
+
         cameraRotation.multiply(forwardFix).multiply(upFix)
 
         this._camera.position.copy(worldCameraPos)
diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 44c48a97ef..eb7c7de918 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -249,7 +249,7 @@ export class SimCameraInput extends SimInput {
             return
         }
 
-        this._lastFrameTime += deltaT * 1000 
+        this._lastFrameTime += deltaT * 1000
 
         // Add timing debug logs occasionally
         if (Math.random() < 0.01) {

From 1a6b41735d23030ac78f6c1e196eb15954ebd840 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Mon, 4 Aug 2025 15:01:50 -0700
Subject: [PATCH 38/40] Cleanup

---
 .../wpilib_brain/SimCameraVisualization.ts    | 19 ++++-----
 .../simulation/wpilib_brain/SimInput.ts       | 40 +++++++++----------
 .../simulation/wpilib_brain/WPILibBrain.ts    |  8 ++--
 .../simulation/wpilib_brain/WPILibWSWorker.ts |  6 +--
 .../synthesis/SynthesisWebSocketServer.java   |  2 +-
 .../src/main/java/frc/robot/Robot.java        |  2 +-
 6 files changed, 35 insertions(+), 42 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
index b40783a134..47c1a90a49 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
@@ -17,16 +17,14 @@ export class SimCameraVisualization extends SceneObject {
         super()
         this._robot = robot
 
-        // Same position as SimCameraRenderer
-        this._cameraPosition = new THREE.Vector3(0, 0.5, 0.2) // Mounted on robot
+        this._cameraPosition = new THREE.Vector3(0, 0.5, 0.2)
 
         this._cameraGroup = new THREE.Group()
     }
 
     public setup(): void {
-        // Add to scene
         World.sceneRenderer.addObject(this._cameraGroup)
-        console.log("📹 [VISUAL] SimCameraVisualization added to scene")
+        console.log("[VISUAL] SimCameraVisualization added to scene")
     }
 
     public update(): void {
@@ -68,11 +66,11 @@ export class SimCameraVisualization extends SceneObject {
         this._isVisible = visible
         this._cameraGroup.visible = visible
 
-        if (visible) {
-            console.log("📹 [VISUAL] Camera visualization enabled - you should see a camera model on your robot")
-        } else {
-            console.log("📹 [VISUAL] Camera visualization disabled")
-        }
+        // if (visible) {
+        //     console.log("📹 [VISUAL] Camera visualization enabled - you should see a camera model on your robot")
+        // } else {
+        //     console.log("📹 [VISUAL] Camera visualization disabled")
+        // }
     }
 
     public dispose(): void {
@@ -80,7 +78,6 @@ export class SimCameraVisualization extends SceneObject {
             this._cameraGroup.parent.remove(this._cameraGroup)
         }
 
-        // Dispose of geometries and materials
         this._cameraGroup.traverse(child => {
             if (child instanceof THREE.Mesh) {
                 child.geometry.dispose()
@@ -92,6 +89,6 @@ export class SimCameraVisualization extends SceneObject {
             }
         })
 
-        console.log("📹 [VISUAL] SimCameraVisualization disposed")
+        console.log("[VISUAL] SimCameraVisualization disposed")
     }
 }
diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index eb7c7de918..0efff8d41a 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -151,16 +151,16 @@ export class SimCameraInput extends SimInput {
         this._cameraVisualization.setup()
 
         console.log(
-            `🎬 [CONSTRUCTOR] SimCameraInput created for ${device} (${this._defaultWidth}x${this._defaultHeight} @ ${this._defaultFPS}fps, interval=${this._frameInterval}ms)`
+            `[CONSTRUCTOR] SimCameraInput created for ${device} (${this._defaultWidth}x${this._defaultHeight} @ ${this._defaultFPS}fps, interval=${this._frameInterval}ms)`
         )
     }
 
     public update(deltaT: number) {
-        if (Math.random() < 0.01) {
-            console.log(
-                `🔄 [UPDATE] SimCameraInput.update() called for ${this.device} (initialized: ${this._isInitialized})`
-            )
-        }
+        // if (Math.random() < 0.01) {
+        //     console.log(
+        //         `🔄 [UPDATE] SimCameraInput.update() called for ${this.device} (initialized: ${this._isInitialized})`
+        //     )
+        // }
 
         if (!this._isInitialized) {
             this.initializeCamera()
@@ -175,7 +175,7 @@ export class SimCameraInput extends SimInput {
     }
 
     private initializeCamera() {
-        console.log(`🎥 [INIT] Starting camera initialization for ${this.device}`)
+        console.log(`[INIT] Starting camera initialization for ${this.device}`)
 
         // Initialize metadata
         SimCamera.setConnected(this.device, true)
@@ -186,7 +186,7 @@ export class SimCameraInput extends SimInput {
         SimCamera.setExposure(this.device, 50)
         SimCamera.setAutoExposure(this.device, true)
 
-        console.log(`🎥 [INIT] Camera metadata set, creating renderer...`)
+        // console.log(`🎥 [INIT] Camera metadata set, creating renderer...`)
 
         try {
             // Initialize video renderer for 3D scene capture
@@ -197,18 +197,18 @@ export class SimCameraInput extends SimInput {
             this._cameraVisualization.setVisible(true)
 
             // Force immediate test frame to verify renderer works
-            console.log(`[TEST] Attempting immediate test frame capture...`)
+            // console.log(`[TEST] Attempting immediate test frame capture...`)
             this._cameraRenderer
                 .captureFrameAsJPEG()
                 .then(blob => {
-                    console.log(`🧪 [TEST] Initial test frame captured: ${blob.size} bytes - renderer is working!`)
+                    // console.log(`🧪 [TEST] Initial test frame captured: ${blob.size} bytes - renderer is working!`)
                     this.sendFrameToRobot(blob)
                 })
                 .catch(error => {
-                    console.error(`❌ [TEST] Initial test frame failed:`, error)
+                    console.error(`[TEST] Initial test frame failed:`, error)
                 })
         } catch (error) {
-            console.error(`❌ [INIT] Failed to create camera renderer:`, error)
+            console.error(`[INIT] Failed to create camera renderer:`, error)
         }
     }
 
@@ -245,24 +245,24 @@ export class SimCameraInput extends SimInput {
 
     private generateVideoFrame(deltaT: number) {
         if (!this._cameraRenderer) {
-            console.warn(`📹 [FRAME] No camera renderer for ${this.device} - skipping frame generation`)
+            // console.warn(`📹 [FRAME] No camera renderer for ${this.device} - skipping frame generation`)
             return
         }
 
         this._lastFrameTime += deltaT * 1000
 
         // Add timing debug logs occasionally
-        if (Math.random() < 0.01) {
-            console.log(
-                `⏱[TIMING] ${this.device}: lastFrameTime=${this._lastFrameTime.toFixed(1)}ms, interval=${this._frameInterval}ms, deltaT=${(deltaT * 1000).toFixed(1)}ms`
-            )
-        }
+        // if (Math.random() < 0.01) {
+        //     console.log(
+        //         `⏱[TIMING] ${this.device}: lastFrameTime=${this._lastFrameTime.toFixed(1)}ms, interval=${this._frameInterval}ms, deltaT=${(deltaT * 1000).toFixed(1)}ms`
+        //     )
+        // }
 
         // Generate frame at specified FPS
         if (this._lastFrameTime >= this._frameInterval) {
             this._lastFrameTime = 0
 
-            console.log(`[FRAME] Capturing 3D frame for ${this.device}`)
+            // console.log(`[FRAME] Capturing 3D frame for ${this.device}`)
 
             // Capture frame from 3D scene (robot perspective)
             this._cameraRenderer
@@ -282,7 +282,7 @@ export class SimCameraInput extends SimInput {
             const arrayBuffer = await frameBlob.arrayBuffer()
             const base64Frame = btoa(String.fromCharCode(...new Uint8Array(arrayBuffer)))
 
-            console.log(`🚀 [SEND] Converting frame: ${arrayBuffer.byteLength} bytes → ${base64Frame.length} chars`)
+            console.log(`[SEND] Converting frame: ${arrayBuffer.byteLength} bytes → ${base64Frame.length} chars`)
 
             // Send frame through WebSocket protocol
             const frameMessage = {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index cb194bee77..4b84261126 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -639,7 +639,7 @@ class WPILibBrain extends Brain {
     constructor(assembly: MirabufSceneObject) {
         super(assembly.mechanism, "wpilib")
 
-        console.log(`🧠 [WPILIBRAIN] Constructor called for assembly: ${assembly.assemblyName}`)
+        console.log(`[WPILIBRAIN] Constructor called for assembly: ${assembly.assemblyName}`)
 
         this._assembly = assembly
 
@@ -650,7 +650,7 @@ class WPILibBrain extends Brain {
             return
         }
 
-        console.log(`🧠 [WPILIBRAIN] SimulationLayer found, setting up devices...`)
+        console.log(`[WPILIBRAIN] SimulationLayer found, setting up devices...`)
 
         this.addSimInput(new SimGyroInput("Test Gyro[1]", this._mechanism))
         this.addSimInput(new SimAccelInput("ADXL362[4]", this._mechanism))
@@ -674,9 +674,9 @@ class WPILibBrain extends Brain {
     }
 
     public addSimInput(input: SimInput) {
-        console.log(`➕ [WPILIBRAIN] Adding SimInput: ${input.constructor.name} for device "${input.device}"`)
+        console.log(`[WPILIBRAIN] Adding SimInput: ${input.constructor.name} for device "${input.device}"`)
         this._simInputs.push(input)
-        console.log(`📊 [WPILIBRAIN] Total inputs: ${this._simInputs.length}`)
+        console.log(`[WPILIBRAIN] Total inputs: ${this._simInputs.length}`)
     }
 
     public addSimFlow(flow: SimFlow): boolean {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
index b28cf0a0f5..a7ff4d0717 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
@@ -39,7 +39,7 @@ async function tryConnect(port?: number): Promise<void> {
 
             socket.addEventListener("message", onMessage)
         })
-        .then(() => console.debug("Mutex released"))
+        .then(() => { /* console.debug("Mutex released") */ })
 }
 
 async function tryDisconnect(): Promise<void> {
@@ -51,12 +51,9 @@ async function tryDisconnect(): Promise<void> {
     })
 }
 
-// Posts incoming messages
 function onMessage(event: MessageEvent) {
     self.postMessage(event.data)
 }
-
-// Sends outgoing messages
 self.addEventListener("message", e => {
     switch (e.data.command) {
         case "enable": {
@@ -91,7 +88,6 @@ self.addEventListener("message", e => {
         }
         case "camera_frame": {
             if (socketOpen()) {
-                // Send camera frame data through WebSocket
                 const frameMessage = {
                     type: "CAMERA_FRAME",
                     device: e.data.data.device,
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
index 3b89be1ea5..85517bc2af 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/SynthesisWebSocketServer.java
@@ -60,7 +60,7 @@ public void startServer() {
         if (!isRunning) {
             try {
                 start();
-                System.out.println("🚀 Synthesis WebSocket server starting on ws://localhost:3300/wpilibws");
+                System.out.println("Synthesis WebSocket server starting on ws://localhost:3300/wpilibws");
             } catch (Exception e) {
                 System.err.println("Error starting WebSocket server: " + e.getMessage());
             }
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 44f039ac1b..7b4d1d8267 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -206,7 +206,7 @@ public void disabledInit() {
       m_AO.setVoltage(12.0);
       
       // Stop WebSocket server when robot is disabled
-      System.out.println("🛑 Stopping WebSocket server...");
+      System.out.println("Stopping WebSocket server...");
       SynthesisWebSocketServer.getInstance().stopServer();
   }
 

From 62a3fa43847b3bb8aff98b5aae4c48bc11dcc050 Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Wed, 6 Aug 2025 10:47:06 -0700
Subject: [PATCH 39/40] chore: biome

---
 .../simulation/wpilib_brain/SimCameraRenderer.ts     |  2 +-
 .../wpilib_brain/SimCameraVisualization.ts           |  4 ++--
 .../src/systems/simulation/wpilib_brain/SimInput.ts  | 12 ++++++------
 .../systems/simulation/wpilib_brain/WPILibBrain.ts   | 12 ++++++------
 .../simulation/wpilib_brain/WPILibWSWorker.ts        |  4 +++-
 fission/src/ui/panels/WsViewPanel.tsx                |  2 +-
 6 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
index 281f2b4f95..d6194a7695 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraRenderer.ts
@@ -1,6 +1,6 @@
 import * as THREE from "three"
+import type MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import World from "@/systems/World"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 
 export class SimCameraRenderer {
     private _camera: THREE.PerspectiveCamera
diff --git a/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
index 47c1a90a49..f1cf9386d5 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimCameraVisualization.ts
@@ -1,7 +1,7 @@
 import * as THREE from "three"
-import World from "@/systems/World"
+import type MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import SceneObject from "@/systems/scene/SceneObject"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import World from "@/systems/World"
 
 /**
  * Visual representation of the WPILib camera in the 3D scene
diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 0efff8d41a..9aa21f4d32 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -1,14 +1,14 @@
-import World from "@/systems/World"
-import EncoderStimulus from "../stimulus/EncoderStimulus"
-import { SimCANEncoder, SimGyro, SimAccel, SimDIO, SimAI, SimCamera, SimGeneric } from "./WPILibBrain"
-import Mechanism from "@/systems/physics/Mechanism"
-import Jolt from "@azaleacolburn/jolt-physics"
+import type Jolt from "@azaleacolburn/jolt-physics"
 import * as THREE from "three"
+import type MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import type Mechanism from "@/systems/physics/Mechanism"
+import World from "@/systems/World"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { convertJoltQuatToThreeQuaternion, convertJoltVec3ToThreeVector3 } from "@/util/TypeConversions"
+import type EncoderStimulus from "../stimulus/EncoderStimulus"
 import { SimCameraRenderer } from "./SimCameraRenderer"
 import { SimCameraVisualization } from "./SimCameraVisualization"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import { SimAccel, SimAI, SimCANEncoder, SimCamera, SimDIO, SimGeneric, SimGyro } from "./WPILibBrain"
 
 export abstract class SimInput {
     constructor(protected _device: string) {}
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 18fc1708cd..5ac20cc8e5 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -1,18 +1,18 @@
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import World from "@/systems/World"
-import { SimAnalogOutput, SimDigitalOutput, SimOutput } from "./SimOutput"
-import { SimAccelInput, SimAnalogInput, SimCameraInput, SimDigitalInput, SimGyroInput, SimInput } from "./SimInput"
 import Lazy from "@/util/Lazy.ts"
 import { random } from "@/util/Random"
 import Brain from "../Brain"
+import { type NoraNumber, type NoraNumber2, type NoraNumber3, NoraTypes } from "../Nora"
 import type { SimulationLayer } from "../SimulationSystem"
 import SynthesisBrain from "../synthesis_brain/SynthesisBrain"
-import { SimFlow, SimReceiver, SimSupplier, validate } from "./SimDataFlow"
-import WPILibWSWorker from "./WPILibWSWorker?worker"
+import { type SimFlow, type SimReceiver, type SimSupplier, validate } from "./SimDataFlow"
+import { SimAccelInput, SimAnalogInput, SimCameraInput, SimDigitalInput, SimGyroInput, type SimInput } from "./SimInput"
+import { SimAnalogOutput, SimDigitalOutput, type SimOutput } from "./SimOutput"
 import { getSimBrain, setConnected } from "./WPILibState"
 import { SimMapUpdateEvent } from "./WPILibTypes"
-import { NoraNumber, NoraNumber2, NoraNumber3, NoraTypes } from "../Nora"
-import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import WPILibWSWorker from "./WPILibWSWorker?worker"
 
 const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())
 
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
index a7ff4d0717..2f5162fa30 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
@@ -39,7 +39,9 @@ async function tryConnect(port?: number): Promise<void> {
 
             socket.addEventListener("message", onMessage)
         })
-        .then(() => { /* console.debug("Mutex released") */ })
+        .then(() => {
+            /* console.debug("Mutex released") */
+        })
 }
 
 async function tryDisconnect(): Promise<void> {
diff --git a/fission/src/ui/panels/WsViewPanel.tsx b/fission/src/ui/panels/WsViewPanel.tsx
index 97016d8cd4..073cf81c9d 100644
--- a/fission/src/ui/panels/WsViewPanel.tsx
+++ b/fission/src/ui/panels/WsViewPanel.tsx
@@ -139,7 +139,7 @@ const WSViewPanel: React.FC<PanelImplProps<void, void>> = ({ panel }) => {
 
     useEffect(() => {
         configureScreen(panel!, { title: "WS View Panel" }, {})
-    }, [])
+    }, [configureScreen, panel])
 
     return (
         <Stack>

From ddb949e94d0228cc8aef91c806621fcc805c738a Mon Sep 17 00:00:00 2001
From: Ryan Zhang <ryzhangofficial@gmail.com>
Date: Thu, 21 Aug 2025 09:41:01 -0700
Subject: [PATCH 40/40] fix: code connection indicator not showing up

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 20 +++++++++----------
 .../simulation/wpilib_brain/WPILibState.ts    | 15 ++++++++++++++
 2 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index fa2d98bd25..0e09676282 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -1,7 +1,6 @@
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import World from "@/systems/World"
-import Lazy from "@/util/Lazy.ts"
 import { random } from "@/util/Random"
 import Brain from "../Brain"
 import { type NoraNumber, type NoraNumber2, type NoraNumber3, NoraTypes } from "../Nora"
@@ -10,11 +9,8 @@ import SynthesisBrain from "../synthesis_brain/SynthesisBrain"
 import { type SimFlow, type SimReceiver, type SimSupplier, validate } from "./SimDataFlow"
 import { SimAccelInput, SimAnalogInput, SimCameraInput, SimDigitalInput, SimGyroInput, type SimInput } from "./SimInput"
 import { SimAnalogOutput, SimDigitalOutput, type SimOutput } from "./SimOutput"
-import { getSimBrain, setConnected } from "./WPILibState"
-import { SimMapUpdateEvent } from "./WPILibTypes"
-import WPILibWSWorker from "./WPILibWSWorker?worker"
-
-const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())
+import * as WPILibState from "./WPILibState"
+import { SimMapUpdateEvent, worker } from "./WPILibTypes"
 
 const PWM_SPEED = "<speed"
 const PWM_POSITION = "<position"
@@ -577,11 +573,11 @@ worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
     if (eventData.data.status) {
         switch (eventData.data.status) {
             case "open":
-                setConnected(true)
+                WPILibState.setConnected(true)
                 break
             case "close":
             case "error":
-                setConnected(false)
+                WPILibState.setConnected(false)
                 break
             default:
                 return
@@ -602,6 +598,8 @@ worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
 
     if (!data?.type || !(Object.values(SimType) as string[]).includes(data.type)) return
 
+    WPILibState.setConnected(true)
+
     updateSimMap(data.type as SimType, data.device, data.data)
 })
 
@@ -728,13 +726,13 @@ class WPILibBrain extends Brain {
     }
 
     public enable(): void {
-        setSimBrain(this)
+        WPILibState.setSimBrain(this)
         // worker.getValue().postMessage({ command: "enable", reconnect: RECONNECT })
     }
 
     public disable(): void {
-        if (getSimBrain() == this) {
-            setSimBrain(undefined)
+        if (WPILibState.getSimBrain() == this) {
+            WPILibState.setSimBrain(undefined)
         }
         // worker.getValue().postMessage({ command: "disable" })
     }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibState.ts b/fission/src/systems/simulation/wpilib_brain/WPILibState.ts
index a8a9e960cd..398faa0e80 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibState.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibState.ts
@@ -42,6 +42,21 @@ export function getIsConnected() {
     return isConnected
 }
 
+worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
+    if (!eventData?.data?.status) return
+    switch (eventData.data.status) {
+        case "open":
+            setConnected(true)
+            break
+        case "close":
+        case "error":
+            setConnected(false)
+            break
+        default:
+            break
+    }
+})
+
 export const supplierTypeMap: { [k in SimType]: NoraTypes | undefined } = {
     [SimType.PWM]: NoraTypes.NUMBER,
     [SimType.SIM_DEVICE]: undefined,