V2.0

.github/workflows/ci.yml

@@ -34,51 +34,50 @@ jobs:
             make -C build -j"$(nproc)" vision_processor geometry_benchmark blob_benchmark
           '
 
-  python:
-    name: Python (wrapper_backend)
+  gui-go:
+    name: Go (gui)
     runs-on: ubuntu-latest
     steps:
+      # gui/internal/{vision,gamecontroller} are generated, not committed (see
+      # gui/buf.gen.yaml) -- the proto/ submodule and a `buf generate` (via
+      # `make .proto`, local plugins, no network needed) are needed before
+      # anything here builds.
       - uses: actions/checkout@v4
         with:
           submodules: recursive
 
       - uses: DeterminateSystems/nix-installer-action@main
       - uses: DeterminateSystems/magic-nix-cache-action@main
 
-      # Importing wrapper_backend runs protoc against the submodule and
-      # generates wrapper_backend/proto/, which mypy needs on its path even
-      # though it excludes the generated files themselves.
-      - name: Lint and type check
+      - name: Format, vet, build, test
         run: |
           nix develop --command bash -c '
-            uv sync --locked
-            uv run python -c "import wrapper_backend"
-            uv run ruff check wrapper_backend/
-            uv run ruff format --check wrapper_backend/
-            uv run mypy
+            cd gui
+            make .proto
+            test -z "$(gofmt -l .)" || { gofmt -l .; exit 1; }
+            make vet
+            make build
+            make go-test
           '
 
   frontend:
-    name: Frontend (wrapper-frontend)
+    name: Frontend (gui/frontend)
     runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: wrapper-frontend
     steps:
+      # frontend/src/proto is generated, not committed (see gui/buf.gen.yaml)
+      # -- this job now needs the proto/ submodule and buf/go (hence nix,
+      # same as gui-go) to produce it before npm can build against it.
       - uses: actions/checkout@v4
-
-      - uses: actions/setup-node@v4
         with:
-          node-version: 22
-          cache: npm
-          cache-dependency-path: wrapper-frontend/package-lock.json
-
-      - run: npm ci
-
-      - run: npm run lint
-
-      - run: npm run format:check
+          submodules: recursive
 
-      - run: npm run check
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
 
-      - run: npm run build
+      - name: Lint, check, build
+        run: |
+          nix develop --command bash -c '
+            cd gui
+            make frontend-test
+            make frontend
+          '

.gitignore

@@ -3,7 +3,9 @@
 /src/cl_kernels.S
 /src/proto
 /python/proto
-/wrapper_backend/proto
+/gui/internal/vision
+/gui/internal/gamecontroller
+/gui/frontend/src/proto
 __pycache__
 
 # Cam viewer
@@ -12,11 +14,31 @@ __pycache__
 # Debug and test image directories
 /img
 /test-data
+*.log
+
+# Config files are local: only the read-only references in config/ are
+# tracked (see config/README.md). Copy one to the repo root and edit the copy;
+# git ignores it wherever it lives, so `git add -A` can't sweep in a venue's
+# config or calibration.
+*.yml
+!/config/**/*.yml
+# Not configs: test fixtures, CI, and vision_processor's default robot height
+# table, which it reads from the working directory.
+!**/testdata/**/*.yml
+!/.gitlab-ci.yml
+!/.github/**/*.yml
+!/robot-heights.yml
 
 #Output binaries
 vision_processor
 blob_benchmark
 geometry_benchmark
+/gui/bin
+/gui/ssl-vision-processor-gui
+
+# Makefile sentinels for the frontend build and protobuf codegen
+/gui/.frontend
+/gui/.proto
 
 #CMake files
 /build
@@ -33,3 +55,6 @@ CMakeCache.txt
 /.cache
 /build*
 /.zed
+
+# AI Files
+.mcp.json

.pre-commit-config.yaml

@@ -1,30 +1,15 @@
 repos:
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.15.12
-    hooks:
-      - id: ruff
-        args: [--fix]
-        files: ^wrapper_backend/
-      - id: ruff-format
-        files: ^wrapper_backend/
   - repo: local
     hooks:
-      - id: mypy
-        name: mypy
-        entry: uv run mypy
-        language: system
-        types: [python]
-        files: ^wrapper_backend/
-        pass_filenames: false
       - id: eslint
         name: eslint
-        entry: npm --prefix wrapper-frontend run lint
+        entry: npm --prefix gui/frontend run lint
         language: system
-        files: ^wrapper-frontend/
+        files: ^gui/frontend/
         pass_filenames: false
       - id: prettier
         name: prettier
-        entry: npm --prefix wrapper-frontend run format:check
+        entry: npm --prefix gui/frontend run format:check
         language: system
-        files: ^wrapper-frontend/
+        files: ^gui/frontend/
         pass_filenames: false

.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+  "recommendations": [
+    "golang.go",
+    "svelte.svelte-vscode",
+    "esbenp.prettier-vscode",
+    "ms-vscode.cpptools",
+    "ms-vscode.cmake-tools",
+    "ms-python.python",
+    "charliermarsh.ruff",
+    "jnoortheen.nix-ide",
+    "bufbuild.vscode-buf"
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,22 @@
+{
+  "[go]": {
+    "editor.defaultFormatter": "golang.go",
+    "editor.formatOnSave": true,
+    "editor.codeActionsOnSave": {
+      "source.organizeImports": "explicit"
+    }
+  },
+  "[svelte]": {
+    "editor.defaultFormatter": "svelte.svelte-vscode",
+    "editor.formatOnSave": true
+  },
+  "[typescript]": {
+    "editor.defaultFormatter": "esbenp.prettier-vscode",
+    "editor.formatOnSave": true
+  },
+  "[javascript]": {
+    "editor.defaultFormatter": "esbenp.prettier-vscode",
+    "editor.formatOnSave": true
+  },
+  "go.vetOnSave": "package"
+}

README.md

@@ -12,12 +12,12 @@ The geometry publisher `geom_publisher.py` publishes the field geometry
 for all vision_processors, teams and the game controller.
 `cam_viewer.py` opens the `mpv` video player with the camera streams from the vision_processor instances.
 
-## Wrapper
+## GUI
 
-A modular replacement for `geom_publisher.py` plus a browser UI:
+A Go host plus a browser UI, replacing `geom_publisher.py` for anyone running it:
 
-- `wrapper_backend/` — async Python (uv-managed). Owns the field geometry, absorbs incoming calibrations, exposes the bus over WebSocket. Run with `./start_wrapper.sh` (defaults to `geometry-divB.yml`). See [`wrapper_backend/README.md`](wrapper_backend/README.md).
-- `wrapper-frontend/` — Svelte 5 + TypeScript + Vite. Connects to the backend's WebSocket and renders the operator UI. Run with `cd wrapper-frontend && npm install && npm run dev`. See [`wrapper-frontend/README.md`](wrapper-frontend/README.md).
+- `gui/` — Go host (`cmd/ssl-vision-processor-gui`). Owns the field geometry, absorbs calibrations from vision processors over multicast, and serves the embedded frontend, JSON API, a WebSocket for live updates, and debug snapshot images all on one port. Run with `cd gui && make run` (defaults to `geometry-divB.yml`). See [`gui/README.md`](gui/README.md) for development and [`gui/ARCHITECTURE.md`](gui/ARCHITECTURE.md) for its design.
+- `gui/frontend/` — Svelte 5 + TypeScript + Vite, embedded into the Go binary. Run standalone with `cd gui && make proto && cd frontend && npm install && npm run dev` (proxies `/api` and `/ws` to the Go host), or serve it from the Go host directly with `make run`. `make proto` regenerates the protobuf bindings the frontend imports (not committed to git; needs `buf`, or use `nix develop`, see [`gui/CLAUDE.md`](gui/CLAUDE.md)) and only needs to be rerun after the `proto/` submodule changes. See [`gui/frontend/README.md`](gui/frontend/README.md).
 
 ## Dependency installation and compilation
 
@@ -65,7 +65,8 @@ Installation with PIP: `pip install protobuf pyyaml`
 ## Setup
 
 1. Complete the dependency installation and compilation section.
-2. Configure one `config-minimal.yml` or `config.yml` for each camera, skip the `geometry` section for now.
+2. Copy `config/legacy/config-minimal.yml` or `config/legacy/config.yml` to the repo root as a
+   `config[X].yml` for each camera, and fill it in. Skip the `geometry` section for now.
    The camera ids are assigned like in ssl-vision:
    ![Camera id pattern](camera_ids.png)
 3. Start `build/vision_processor config[X].yml` for each camera.
@@ -78,13 +79,19 @@ Installation with PIP: `pip install protobuf pyyaml`
    Subsequent edits to thresholds, tracking limits and color references in `config[X].yml`
    are picked up live (within ~0.5 s) without a restart; camera, geometry, network and stream
    sections still require a restart.
-7. Modify `geometry[X].yml` to match your field geometry.
+7. Copy `config/legacy/geometry-divA.yml` or `config/legacy/geometry-divB.yml` to `geometry[X].yml`
+   and modify it to match your field geometry.
    (for simple use cases configuring the field size, penalty area and goal will suffice)
 8. Start `python/geom_publisher.py geometry[X].yml`.
    The calibration is successful when the reprojected livestream views are parallel to the image frame.
    If the calibration is unsuccessful, restart the geom_publisher for a new geometry calibration.
    For setups with multiple cameras it is recommended to tune the calibration by hand.
 
+The reference configs live in [config/](config/README.md) and are read-only: copy one and edit the
+copy. Every other `.yml` config, wherever it is (your `config[X].yml`/`geometry[X].yml`, the GUI's
+`vision.yml`), is gitignored and won't be committed. If you need to track a variant anyway, `git add -f`
+it.
+
 
 ## Troubleshooting
 

config/README.md

@@ -0,0 +1,41 @@
+# Reference configuration
+
+Read-only reference files. Copy one to the repo root under your own name and
+edit the copy; git ignores config files outside this directory, so local
+configs never get committed by accident.
+
+| File | What it is |
+| --- | --- |
+| `vision.yml` | The unified config the GUI host owns: field, shared and per-camera settings, locked calibrations. Start here. |
+| `legacy/config.yml` | vision_processor's own config, with every setting and its default documented. The GUI generates one of these per local camera from `vision.yml`. |
+| `legacy/config-minimal.yml` | The smallest vision_processor config: just what has no usable default. |
+| `legacy/geometry-divA.yml` | Division A field (12 x 9 m). The GUI's Division A preset. |
+| `legacy/geometry-divB.yml` | Division B field (9 x 6 m). The GUI's Division B preset. |
+
+## Getting started
+
+```sh
+cp config/vision.yml vision.yml
+./gui/bin/vision-processor-gui -config vision.yml
+```
+
+For a vision_processor run by hand, without the GUI:
+
+```sh
+cp config/legacy/config.yml config.yml
+./build/vision_processor config.yml
+```
+
+## Read-only
+
+These files are `chmod 444`, and the GUI refuses to write any file without
+write permission, so a `config_path` or Save As pointed here fails instead of
+overwriting a reference. Git doesn't record read-only permissions, so a fresh
+clone needs:
+
+```sh
+chmod 444 config/*.yml config/legacy/*.yml
+```
+
+The GUI's tests parse every file here, so a reference that stops matching
+what the code accepts fails `make test`.