Add Limelight portforwarding

Signed-off-by: Jade Turner <[email protected]>

AdvantageScope Swerve Calibration.json

@@ -122,7 +122,7 @@
                     }
                   }
                 ],
-                "game": "2024 Field",
+                "game": "2025 Field",
                 "origin": "blue"
               },
               "controllerUUID": "psf0y633oclnjyocus23hcnq1d4tpyte",

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/org/curtinfrc/frc2025/subsystems/vision/VisionIOLimelight.java

@@ -17,6 +17,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.networktables.DoubleArrayPublisher;
 import edu.wpi.first.networktables.DoubleArraySubscriber;
 import edu.wpi.first.networktables.DoubleSubscriber;
@@ -30,6 +31,8 @@
 
 /** IO implementation for real Limelight hardware. */
 public class VisionIOLimelight implements VisionIO {
+  public static int numberLimelights = 0;
+
   private final Supplier<Rotation2d> rotationSupplier;
   private final DoubleArrayPublisher orientationPublisher;
 
@@ -55,6 +58,12 @@ public VisionIOLimelight(String name, Supplier<Rotation2d> rotationSupplier) {
     megatag1Subscriber = table.getDoubleArrayTopic("botpose_wpiblue").subscribe(new double[] {});
     megatag2Subscriber =
         table.getDoubleArrayTopic("botpose_orb_wpiblue").subscribe(new double[] {});
+
+    int portOffset = 10 * numberLimelights;
+    for (int port = 5800; port <= 5809; port++) {
+      PortForwarder.add(port+portOffset, name + ".local", port);
+    }
+    numberLimelights += 1;
   }
 
   @Override

src/main/java/org/curtinfrc/frc2025/subsystems/vision/VisionIOLimelightGamepiece.java

@@ -1,6 +1,7 @@
 package org.curtinfrc.frc2025.subsystems.vision;
 
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.RobotController;
@@ -15,6 +16,12 @@ public VisionIOLimelightGamepiece(String name) {
     latencySubscriber = table.getDoubleTopic("tl").subscribe(0.0);
     txSubscriber = table.getDoubleTopic("tx").subscribe(0.0);
     tySubscriber = table.getDoubleTopic("ty").subscribe(0.0);
+
+    int portOffset = 10 * VisionIOLimelight.numberLimelights;
+    for (int port = 5800; port <= 5809; port++) {
+      PortForwarder.add(port+portOffset, name + ".local", port);
+    }
+    VisionIOLimelight.numberLimelights += 1;
   }
 
   @Override