Patch 17/03/2025

Patch 04/03/2025
Kirim ke Bandara 27/02/2025
2025-03-17 13:35:05 +07:00 · 2025-03-04 12:25:02 +07:00 · 2025-02-27 15:11:56 +07:00 · 2025-02-25 13:56:57 +07:00 · 2025-02-25 07:35:38 +07:00 · 2024-12-03 15:59:18 +07:00
35 changed files with 2764 additions and 470 deletions
--- a/.idea/inspectionProfiles/Project_Default.xml
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -4,6 +4,7 @@
    <inspection_tool class="ExtractMethodRecommender" enabled="true" level="WARNING" enabled_by_default="true">
      <option name="minLength" value="745" />
    </inspection_tool>
+    <inspection_tool class="GrazieInspection" enabled="false" level="GRAMMAR_ERROR" enabled_by_default="false" />
    <inspection_tool class="HttpUrlsUsage" enabled="true" level="WEAK WARNING" enabled_by_default="true">
      <option name="ignoredUrls">
        <list>
@@ -35,6 +36,7 @@
        </list>
      </option>
    </inspection_tool>
+    <inspection_tool class="LanguageDetectionInspection" enabled="false" level="WARNING" enabled_by_default="false" />
    <inspection_tool class="MethodNameSameAsClassName" enabled="false" level="WARNING" enabled_by_default="false" />
    <inspection_tool class="RedundantCast" enabled="false" level="WARNING" enabled_by_default="false" />
    <inspection_tool class="SpellCheckingInspection" enabled="false" level="TYPO" enabled_by_default="false">
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
  <component name="ExternalStorageConfigurationManager" enabled="true" />
  <component name="MavenProjectsManager">
--- a/Config/config.properties
+++ b/Config/config.properties
@@ -4,13 +4,14 @@ Camera_port = 80
 Camera_user = root
 Camera_password = password
 Camera_Rtsp_path = /axis-media/media.amp
+#Camera_Rtsp_path = /video1
 AudioFile01 = elangWav.wav
 AudioFile02 = gunshotsWav.wav
 AudioFile03 = pinkNoiseWav.wav
 AudioFile04 = 04.mp3
 AudioFile05 = 05.mp3
 AudioVolumeOutput = 100
-SerialPort = /dev/ttyAMA0
+SerialPort = /dev/ttyTHS1
 SerialBaudRate = 9600
 PanTiltID = 1
 WebUsername = admin
--- a/Html/html/index.html
+++ b/Html/html/index.html
@@ -30,11 +30,11 @@
            <div class="collapse navbar-collapse" id="navbarNav">
                <ul class="navbar-nav ms-auto">
                    <li class="nav-item pad-menu">
-                        <a class="nav-link" href="setting.html">Setting</a>
+                        <a class="nav-link nav-setting" href="setting.html">Setting</a>
                    </li>
                    <li class="nav-item pad-menu">
                        <form action="/logout" method="get">
-                            <button class="btn btn-outline-light" type="submit">Logout</button>
+                            <button class="btn btn-outline-light nav-logout" type="submit">Logout</button>
                        </form>
                    </li>
                </ul>
@@ -108,7 +108,7 @@
                <br>
                <div class="row">
                    <div class="col-3 ">
-                        <p>Pan Speed</p>
+                        <p class="text-dash">Pan Speed</p>
                        <div class="btn-group-vertical">
                            <button id="pan1" class="btn btn-outline-dark btn-sm" value="16" onclick="set_pan_speed(16)">1</button>
                            <button id="pan2" class="btn btn-outline-dark btn-sm" value="32" onclick="set_pan_speed(32)">2</button>
@@ -134,8 +134,8 @@
                                    </a>
                                </div>
                                <div class="col">
-                                    <a>
-                                        <i id="btn_center" class="btn-nav-center fa-solid fa-circle"></i>
+                                    <a onmousedown="send_stop_movement()">
+                                        <i id="btn_center" class="btn-nav-center fa-solid fa-circle" title="Stop Movement"></i>
                                    </a>
                                </div>
                                <div class="col">
@@ -156,7 +156,7 @@
                        </div>
                    </div>
                    <div class="col-3">
-                        <p>Tilt Speed</p>
+                        <p class="text-dash">Tilt Speed</p>
                        <div class="btn-group-vertical">
                            <button id="tilt1" class="btn btn-outline-dark btn-sm" value="16" onclick="set_tilt_speed(16)">1</button>
                            <button id="tilt2" class="btn btn-outline-dark btn-sm" value="32" onclick="set_tilt_speed(32)">2</button>
@@ -166,14 +166,14 @@
                    </div>
                </div>
                <div>
-                    <p class="text-center">Zoom</p>
+                    <p class="text-center text-dash">Zoom</p>
                    <div class="row">
                        <div class="col-10">
                            <input id="zoom" type="range" class="form-range" min="1" max="10909" oninput="this.nextElementSibling.value = this.value">
                            <output class="output"></output>
                        </div>
                        <div class="col-2">
-                            <button class="btn btn-primary" onclick="set_zoom()">SET</button>
+                            <button class="btn btn-primary" id="set_zoom" onclick="set_zoom()">SET</button>
                        </div>
                    </div>
                </div>
@@ -250,7 +250,7 @@
                </div>
                <br>
                <div>
-                    <label for="customRange" class="form-label">Volume</label>
+                    <label for="customRange" class="form-label text-dash">Volume</label>
                    <div class="row">

                        <div class="col-10 pad-bar">
@@ -276,7 +276,7 @@

 <!--   SECTION 3   -->
    <div class="container-fluid footer1 outside">
-        <p>2024 Copyright &copy; Galva Technologies. All rights reserved.</p>
+        <p class="footer">2024 Copyright &copy; Galva Technologies. All rights reserved.</p>
    </div>
 </body>
 </html>
--- a/Html/html/index.js
+++ b/Html/html/index.js
@@ -692,11 +692,12 @@ function process_command(dx){
             * @type {{cpu_temperature: string, ram_usage: string, cpu: string, cpu0: string, cpu1: string, cpu2: string, cpu3: string}} systeminfo
             */
            let systeminfo = JSON.parse(dx.data);
+            //console.log(systeminfo);
            if (systeminfo.cpu_temperature && systeminfo.cpu_temperature.length>0) $('#cpu_temperature').html(`${systeminfo.cpu_temperature} °C`);
            if (systeminfo.cpu && systeminfo.cpu.length>0) $('#cpu_usage').html(`${systeminfo.cpu} %`);
            if (systeminfo.ram_usage && systeminfo.ram_usage.length>0) $('#ram_usage').html(`${systeminfo.ram_usage} %`);
-            if (systeminfo.end0_TX && systeminfo.end0_TX.length>0) $('#ethernet_TX').html(systeminfo.end0_TX);
-            if (systeminfo.end0_RX && systeminfo.end0_RX.length>0) $('#ethernet_RX').html(systeminfo.end0_RX);
+            if (systeminfo.enP8p1s0_TX && systeminfo.enP8p1s0_TX.length>0) $('#ethernet_TX').html(systeminfo.enP8p1s0_TX);
+            if (systeminfo.enP8p1s0_RX && systeminfo.enP8p1s0_RX.length>0) $('#ethernet_RX').html(systeminfo.enP8p1s0_RX);
            break;
        case "GET AUDIOFILES":
            //console.log("Get Audio Files: "+dx.data);
--- a/Html/html/public/js/socket.io.min.js
+++ b/Html/html/public/js/socket.io.min.js
--- a/Html/html/public/style/style.css
+++ b/Html/html/public/style/style.css
@@ -833,7 +833,6 @@ input.checkbox{
    justify-content: center;
    gap: 10px;
 }
-
 /* Style the labels (Off and On) */

 .toggle-label {
@@ -911,3 +910,433 @@ select {
 .padleft{
    padding-left: 3px;
 }
+.nav-setting{
+    font-size: 1.2em;
+}
+.nav-logout{
+    font-size: 1.2em !important;
+}
+
+/*-------------------------------------SET RESPONSIVE -----------------*/
+@media (max-width: 900px) {
+    /*Pan Tilt Speed*/
+    button#tilt1,
+    button#tilt2,
+    button#tilt3,
+    button#tilt4,
+    button#pan1,
+    button#pan2,
+    button#pan3,
+    button#pan4{
+        padding: 0.75rem 1rem;
+        font-size: 1.2rem;
+        border-radius: .2rem;
+    }
+    /*End Pan Tilt Speed*/
+    /* ---- NAVIGATION ----- */
+    .btn-nav{
+        margin: 0;
+        font-size: 7em;
+        color: lightgray;
+    }
+    .btn-nav:hover{
+        color: white;
+    }
+    .btn-nav:active{
+        color: dodgerblue;
+    }
+    .btn-nav-center{
+        font-size: 3em;
+        top: -12px;
+        color: dodgerblue;
+    }
+    .btn-center-unactive{
+        font-size: 2em;
+        color: #434343;
+    }
+    .pad-img{
+        padding: 0;
+    }
+    .img-cctv{
+        box-shadow: rgba(14, 30, 37, 0.12) 0px 2px 4px 0px, rgba(14, 30, 37, 0.32) 0px 2px 16px 0px;
+        border-radius: 10px;
+        margin: 1.5em;
+    }
+    .btn-circle{
+        width: 13em;
+        height: 13em;
+        background-color: black;
+        align-items: center;
+        align-content: center;
+        margin: 5%;
+        border-radius: 50%;
+        box-shadow: rgba(0, 0, 0, 0.2) 0px 12px 28px 0px, rgba(0, 0, 0, 0.1) 0px 2px 4px 0px, rgba(255, 255, 255, 0.05) 0px 0px 0px 1px inset;
+    }
+    .pad-top{
+        margin-top: -17px;
+        margin-bottom: -10px;
+    }
+    .pad-left{
+        margin-top: -40px;
+        margin-right: -20px;
+    }
+    .pad-right{
+        margin-top: -40px;
+        margin-left: -20px;
+    }
+    .pad-bottom{
+        margin-top: -40px;
+    }
+
+    /* ---- END - NAVIGATION ----- */
+    /* Mute Button   */
+    .btn-mute{
+        text-decoration: none;
+        background-color: #f7f7f7;
+        background-image: -webkit-gradient(linear, left top, left bottom, from(#f7f7f7), to(#e7e7e7));
+        background-image: -webkit-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -moz-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -ms-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -o-linear-gradient(top, #f7f7f7, #e7e7e7);
+        color: black;
+        width: 2.5em;
+        height: 2.5em;
+        padding: 0.2em;
+        position: relative;
+        text-align: center;
+        border-radius: 50%;
+        box-shadow: 0px 3px 8px #aaa, inset 0px 2px 3px #fff;
+        border: solid 1px transparent;
+        font-size: 1.1em;
+    }
+    /* End Mute Button   */
+
+    .toggle-label {
+        font-size: 16px;
+        color: #555;
+        margin-bottom: 15px;
+        margin-right: 5px;
+        margin-left: 5px;
+        text-align: right;
+    }
+    /* Style the toggle switch (input) */
+    .toggle-switch {
+        -webkit-appearance: none;
+        appearance: none;
+        width: 55px;
+        height: 30px;
+        background-color: #ccc;
+        border-radius: 25px;
+        position: relative;
+        transition: background-color 0.3s;
+        cursor: pointer;
+    }
+
+    /* Circle inside the switch */
+    .toggle-switch::before {
+        content: '';
+        position: absolute;
+        top: 3px;
+        left: 3px;
+        width: 24px;
+        height: 24px;
+        background-color: white;
+        border-radius: 50%;
+        transition: transform 0.3s;
+    }
+    /* When checked (toggle to On), change background color and move the circle */
+    .toggle-switch:checked {
+        background-color: #0d6efd;
+    }
+    .toggle-switch:checked::before {
+        transform: translateX(25px);
+    }
+    .align-right{
+        text-align: right;
+    }
+    /* End Switch   */
+}
+
+@media (min-width: 900px) and (max-width: 1050px) {
+    #streaming_status{
+        text-align: left;
+        font-size: 1.8rem;
+    }
+    .padleft{
+        padding-left: 3px;
+        font-size: 1.8rem;
+    }
+    .icon-system{
+        margin-top: -13px;
+        font-size: 1.8rem;
+    }
+    button#tilt1,
+    button#tilt2,
+    button#tilt3,
+    button#tilt4,
+    button#pan1,
+    button#pan2,
+    button#pan3,
+    button#pan4{
+        padding: 0.75rem 1.5rem;
+        font-size: 2.5rem;
+        border-radius: .2rem;
+    }
+    .text-dash{
+        font-size: 1.8rem;
+    }
+    .text-status1{
+        color: black;
+        font-size: 3em;
+    }
+    /* ----- SWITCH ------ */
+    .toggle-label {
+        font-size: 1.8rem;
+        color: #555;
+        margin-bottom: 15px;
+        margin-right: 5px;
+        margin-left: 5px;
+        text-align: right;
+    }
+    /* Style the toggle switch (input) */
+    .toggle-switch {
+        -webkit-appearance: none;
+        appearance: none;
+        /*width: 50px;*/
+        /*height: 25px;*/
+        width: 75px;
+        height: 50px;
+        background-color: #ccc;
+        border-radius: 25px;
+        position: relative;
+        transition: background-color 0.3s;
+        cursor: pointer;
+    }
+    /* Circle inside the switch */
+    .toggle-switch::before {
+        content: '';
+        position: absolute;
+        top: 3px;
+        left: 3px;
+        width: 44px;
+        height: 44px;
+        background-color: white;
+        border-radius: 50%;
+        transition: transform 0.3s;
+    }
+    /* When checked (toggle to On), change background color and move the circle */
+    .toggle-switch:checked {
+        background-color: #0d6efd;
+    }
+    .toggle-switch:checked::before {
+        transform: translateX(25px);
+    }
+    /*----- END SWITCH -----*/
+
+    /* --- Button CONTENT ---- */
+    .btn-play1{
+        text-decoration: none;
+        background-color: #f7f7f7;
+        background-image: -webkit-gradient(linear, left top, left bottom, from(#f7f7f7), to(#e7e7e7));
+        background-image: -webkit-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -moz-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -ms-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -o-linear-gradient(top, #f7f7f7, #e7e7e7);
+        color: black;
+        /*width: 4.2em;*/
+        /*height: 4.2em;*/
+        width: 7em;
+        height: 7em;
+        position: relative;
+        text-align: center;
+        border-radius: 50%;
+        box-shadow: 0px 3px 8px #aaa, inset 0px 2px 3px #fff;
+        border: solid 1px transparent;
+    }
+
+    .btn-play1:before {
+        content: "";
+        display: block;
+        background: #fff;
+        border-top: 2px solid #ddd;
+        position: absolute;
+        z-index: -1;
+        border-radius: 50%;
+        box-shadow: inset 0px 8px 48px #ddd;
+    }
+
+    .btn-play1:active {
+        box-shadow: 0px 3px 8px #aaa inset, 0px 2px 3px #fff;
+    }
+    .btn-play1:hover {
+        text-decoration: none;
+        /*color: #555;*/
+        color: black;
+        background: #f5f5f5;
+    }
+    .icon1{
+        margin: 27%;
+        font-size: 4.5em;
+        position:  absolute;
+        top: -9px;
+        left: -1px;
+        bottom: 0;
+        right: 0;
+        text-align: center;
+    }
+    .icon2{
+        margin: 27%;
+        font-size: 4.5em;
+        position:  absolute;
+        top: -9px;
+        left: 5px;
+        bottom: 0;
+        right: 0;
+        text-align: center;
+    }
+    /* --- END Button CONTENT ---- */
+
+    .btn-mute{
+        text-decoration: none;
+        background-color: #f7f7f7;
+        background-image: -webkit-gradient(linear, left top, left bottom, from(#f7f7f7), to(#e7e7e7));
+        background-image: -webkit-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -moz-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -ms-linear-gradient(top, #f7f7f7, #e7e7e7);
+        background-image: -o-linear-gradient(top, #f7f7f7, #e7e7e7);
+        color: black;
+        width: 2.2em;
+        height: 2.2em;
+        padding: 0.1em;
+        position: relative;
+        text-align: center;
+        border-radius: 50%;
+        box-shadow: 0px 3px 8px #aaa, inset 0px 2px 3px #fff;
+        border: solid 1px transparent;
+        font-size: 2.2em;
+    }
+    /* ---- NAVIGATION ----- */
+    .btn-nav{
+        margin: 0;
+        font-size: 13em;
+        color: lightgray;
+    }
+    .btn-nav:hover{
+        color: white;
+    }
+    .btn-nav:active{
+        color: dodgerblue;
+    }
+    .btn-nav-center{
+        font-size: 5em;
+        top: -20px;
+        color: dodgerblue;
+    }
+    .btn-center-unactive{
+        font-size: 2em;
+        color: #434343;
+    }
+    .pad-img{
+        padding: 0;
+    }
+    .img-cctv{
+        box-shadow: rgba(14, 30, 37, 0.12) 0px 2px 4px 0px, rgba(14, 30, 37, 0.32) 0px 2px 16px 0px;
+        border-radius: 10px;
+        margin: 1.5em;
+    }
+    .btn-circle{
+        width: 20em;
+        height: 20em;
+        background-color: black;
+        align-items: center;
+        align-content: center;
+        margin: 5%;
+        border-radius: 70%;
+        box-shadow: rgba(0, 0, 0, 0.2) 0px 12px 28px 0px, rgba(0, 0, 0, 0.1) 0px 2px 4px 0px, rgba(255, 255, 255, 0.05) 0px 0px 0px 1px inset;
+    }
+    .pad-top{
+        margin-top: -40px;
+        margin-bottom: -45px;
+    }
+    .pad-left{
+        margin-top: -65px;
+        margin-right: -40px;
+    }
+    .pad-right{
+        margin-top: -65px;
+        margin-left: -40px;
+    }
+    .pad-bottom{
+        margin-top: -110px;
+    }
+    #set_zoom{
+        padding: .5rem 1rem;
+        font-size: 1.7rem;
+        border-radius: .3rem;
+    }
+    .footer{
+        font-size: 1.5em;
+    }
+    .p-title{
+        font-size: 3.5em !important;
+    }
+    .nav-setting{
+        font-size: 1.8em;
+        line-height: 2em;
+    }
+    .nav-logout{
+        font-size: 1.8em !important;
+    }
+    input[type="range"] {
+        -webkit-appearance: none;
+        appearance: none;
+        width: 100%;
+        height: 20px;
+        background: #ddd;
+        border-radius: 10px;
+    }
+
+    input[type="range"]::-webkit-slider-runnable-track {
+        height: 20px;
+        background: #dddddd;
+        border-radius: 10px;
+    }
+
+    input[type="range"]::-webkit-slider-thumb {
+        -webkit-appearance: none;
+        appearance: none;
+        width: 30px;
+        height: 30px;
+        background: #0d6efd;
+        border-radius: 50%;
+        cursor: pointer;
+    }
+    .output{
+        padding-left: 20%;
+        font-size: 1.8em;
+    }
+    .text-setting{
+        font-size: 1.7em;
+    }
+    .text-input{
+        font-size: 0.9em !important;
+    }
+    #icon_confirm,
+    #icon_password,
+    #icon_camera{
+        font-size: 1.5em;
+    }
+    .btn-setting{
+        padding: .5rem 1rem !important;
+        font-size: 1.1rem !important;
+        border-radius: .3rem !important;
+    }
+    .setting-title{
+        font-size: 1.3em;
+    }
+    span.navbar-toggler-icon {
+        font-size: 1.8em;
+    }
+}
+
+
--- a/Html/html/setting.html
+++ b/Html/html/setting.html
@@ -28,11 +28,11 @@
            <div class="collapse navbar-collapse" id="navbarNav">
                <ul class="navbar-nav ms-auto">
                    <li class="nav-item pad-menu">
-                        <a class="nav-link" href="setting.html">Setting</a>
+                        <a class="nav-link nav-setting" href="setting.html">Setting</a>
                    </li>
                    <li class="nav-item pad-menu">
                        <form action="/logout" method="get">
-                            <button class="btn btn-outline-light" type="submit">Logout</button>
+                            <button class="btn btn-outline-light nav-logout" type="submit">Logout</button>
                        </form>
                    </li>
                </ul>
@@ -46,7 +46,7 @@
        <div class="container">
            <div class="card card-shadow">
                <div class="card-header bg-secondary text-light">
-                    <h5 class="text-md-center">Audio Files</h5>
+                    <h5 class="text-md-center setting-title">Audio Files</h5>
                </div>
                <div class="card-body bg-gray">
                    <!--            PRESET 1-->
@@ -55,7 +55,7 @@
                            <p>Preset 1</p>
                        </div>
                        <div class="col-6 col-sm-6 col-md-6 col-lg-6 col-xl-6">
-                            <select id="preset1" class="form-control class100">
+                            <select id="preset1" class="form-control text-input class100">
                                <option>Option 1</option>
                                <option>Option 2</option>
                            </select>
@@ -67,7 +67,7 @@
                            <p>Preset 2</p>
                        </div>
                        <div class="col-6 col-sm-6 col-md-6 col-lg-6 col-xl-6">
-                            <select id="preset2" class="form-control class100">
+                            <select id="preset2" class="form-control text-input class100">
                                <option>Option 1</option>
                                <option>Option 2</option>
                            </select>
@@ -79,7 +79,7 @@
                            <p>Preset 3</p>
                        </div>
                        <div class="col-6 col-sm-6 col-md-6 col-lg-6 col-xl-6">
-                            <select id="preset3" class="form-control class100">
+                            <select id="preset3" class="form-control text-input class100">
                                <option>Option 1</option>
                                <option>Option 2</option>
                            </select>
@@ -91,7 +91,7 @@
                            <p>Preset 4</p>
                        </div>
                        <div class="col-6 col-sm-6 col-md-6 col-lg-6 col-xl-6">
-                            <select id="preset4" class="form-control class100">
+                            <select id="preset4" class="form-control text-input class100">
                                <option>Option 1</option>
                                <option>Option 2</option>
                            </select>
@@ -103,7 +103,7 @@
                            <p>Preset 5</p>
                        </div>
                        <div class="col-6 col-sm-6 col-md-6 col-lg-6 col-xl-6">
-                            <select id="preset5" class="form-control class100">
+                            <select id="preset5" class="form-control text-input class100">
                                <option>Option 1</option>
                                <option>Option 2</option>
                            </select>
@@ -112,7 +112,7 @@
                    <div class="row mt-2">
                        <div class="col-6"></div>
                        <div class="col-6">
-                            <button id="save_audio" class="btn btn-primary class100" onclick="save_audio()">SAVE</button>
+                            <button id="save_audio" class="btn btn-primary btn-setting class100" onclick="save_audio()">SAVE</button>
                        </div>
                    </div>
                </div>
@@ -120,7 +120,7 @@

            <div class="card mt-5 card-shadow">
                <div class="card-header bg-secondary text-light">
-                    <h5 class="text-center"> Upload Audio</h5>
+                    <h5 class="text-center setting-title"> Upload Audio</h5>
                </div>
                <div class="card-body bg-gray">
                    <form action="/setting/uploadaudiofile" method="post" enctype="multipart/form-data">
@@ -129,10 +129,10 @@
                                <p> Upload audio files</p>
                            </div>
                            <div class="col-6 col-sm-6 col-md-4 col-lg-4 col-xl-4">
-                                <input class="form-control" type="file" name="file" required title="Select Audio File">
+                                <input class="form-control text-input" type="file" name="file" required title="Select Audio File">
                            </div>
                            <div class="col-6 col-sm-6 col-md-2 col-lg-2 col-xl-2">
-                                <button id="uploadd_file" type="submit" class="btn btn-dark class100">Upload</button>
+                                <button id="uploadd_file" type="submit" class="btn btn-setting btn-dark class100">Upload</button>
                            </div>
                        </div>
                    </form>
@@ -142,7 +142,7 @@

            <div class="card mt-5 card-shadow">
                <div class="card-header bg-secondary text-light ">
-                    <h5 class="text-center">Camera</h5>
+                    <h5 class="text-center setting-title">Camera</h5>
                </div>
                <div class="card-body bg-gray">
                    <div class="row mt-2">
@@ -150,7 +150,7 @@
                            <p>IP Address</p>
                        </div>
                        <div class="col-6">
-                            <input id="setting_ip" name="ip" class="form-control" title="IP Address">
+                            <input id="setting_ip" name="ip" class="form-control text-input" title="IP Address">
                        </div>
                    </div>
                    <div class="row mt-2">
@@ -158,7 +158,7 @@
                            <p>Port</p>
                        </div>
                        <div class="col-6">
-                            <input id="setting_port" name="port" class="form-control" title="Port">
+                            <input id="setting_port" name="port" class="form-control text-input" title="Port">
                        </div>
                    </div>

@@ -167,7 +167,7 @@
                            <p>Username</p>
                        </div>
                        <div class="col-6">
-                            <input id="setting_username" name="username" class="form-control" title="Username">
+                            <input id="setting_username" name="username" class="form-control text-input" title="Username">
                        </div>
                    </div>

@@ -177,7 +177,7 @@
                        </div>
                        <div class="col-6">
                            <div class="input-group">
-                                <input type="password" id="setting_password" name="password" class="form-control" title="Password">
+                                <input type="password" id="setting_password" name="password" class="form-control text-input" title="Password">
                                <span class="input-group-text" onclick="cameraPassword()">
                                        <i class="fa-solid fa-eye" id="icon_camera"></i>
                                    </span>
@@ -187,7 +187,7 @@
                    <div class="row mt-2">
                        <div class="col-6"></div>
                        <div class="col-6">
-                            <button id="save_camera" class="btn btn-primary class100" onclick="save_camera()">SAVE</button>
+                            <button id="save_camera" class="btn btn-primary btn-setting class100" onclick="save_camera()">SAVE</button>
                        </div>
                    </div>
                </div>
@@ -195,7 +195,7 @@

            <div class="card mt-5 card-shadow">
                <div class="card-header bg-secondary text-light">
-                    <h5 class="text-center">Login</h5>
+                    <h5 class="text-center setting-title">Login</h5>
                </div>
                <div class="card-body bg-gray">
                    <div class="row mt-2">
@@ -203,7 +203,7 @@
                            <p>Username</p>
                        </div>
                        <div class="col-6">
-                            <input id="login_username" class="form-control" title="Username">
+                            <input id="login_username" class="form-control text-input" title="Username">
                        </div>
                    </div>
                    <div class="row mt-2">
@@ -212,7 +212,7 @@
                        </div>
                        <div class="col-6">
                            <div class="input-group">
-                                <input type="password" id="edit_password" class="form-control" title="Password">
+                                <input type="password" id="edit_password" class="form-control text-input" title="Password">
                                <span class="input-group-text" onclick="showPassword()">
                                        <i class="fa-solid fa-eye" id="icon_password"></i>
                                    </span>
@@ -225,7 +225,7 @@
                        </div>
                        <div class="col-6">
                            <div class="input-group">
-                                <input type="password" id="confirm_password" class="form-control" title="Confirm Password">
+                                <input type="password" id="confirm_password" class="form-control text-input" title="Confirm Password">
                                <span class="input-group-text" onclick="showConfirm()">
                                        <i class="fa-solid fa-eye" id="icon_confirm"></i>
                                    </span>
@@ -235,7 +235,7 @@
                    <div class="row mt-2">
                        <div class="col-6"></div>
                        <div class="col-6">
-                            <button id="save_login" class="btn btn-primary class100" onclick="save_login()">SAVE</button>
+                            <button id="save_login" class="btn btn-primary btn-setting class100" onclick="save_login()">SAVE</button>
                        </div>
                    </div>
                </div>
@@ -245,7 +245,7 @@

    <!--   SECTION 3   -->
    <div class="container-fluid footer1 outside">
-        <p>2024 Copyright &copy; Galva Technologies. All rights reserved.</p>
+        <p class="footer">2024 Copyright &copy; Galva Technologies. All rights reserved.</p>
    </div>
 </body>
 </html>
--- a/config.properties
+++ b/config.properties
@@ -2,17 +2,18 @@
 AudioFile01=elangWav.wav
 AudioFile02=gunshotsWav.wav
 AudioFile03=pinkNoiseWav.wav
-AudioFile04=
+AudioFile04=null
 AudioFile05=null
 AudioVolumeOutput=100
 Camera_Rtsp_path=/axis-media/media.amp
-Camera_ip=192.168.10.17
+#Camera_Rtsp_path=/video1
+Camera_ip=172.17.195.51
 Camera_password=password
 Camera_port=80
 Camera_user=root
 PanTiltID=1
 SerialBaudRate=9600
-SerialPort=/dev/ttyAMA0
+SerialPort=/dev/ttyTHS1
 WebHost=0.0.0.0
 WebPassword=bandara
 WebPort=8080
--- a/onnx/coco.names
+++ b/onnx/coco.names
@@ -0,0 +1,80 @@
+person
+bicycle
+car
+motorbike
+aeroplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+sofa
+pottedplant
+bed
+diningtable
+toilet
+tvmonitor
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush
--- a/onnx/yolov8n.onnx
+++ b/onnx/yolov8n.onnx
--- a/pom.xml
+++ b/pom.xml
@@ -15,195 +15,78 @@
        </repository>
    </repositories>
    <dependencies>
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>javacv</artifactId>
+            <version>1.5.11</version>
+        </dependency>
+

        <dependency>
            <groupId>org.bytedeco</groupId>
-            <artifactId>javacv-platform</artifactId>
-            <version>1.5.8</version>
-            <exclusions>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>leptonica</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>leptonica-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>artoolkitplus</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>artoolkitplus-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>libdc1394</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>libdc1394-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>libfreenect</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>libfreenect-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>libfreenect2</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>libfreenect2-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>flycapture</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>flycapture-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>librealsense</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>librealsense-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>librealsense2</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>librealsense2-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>videoinput</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>videoinput-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>tesseract</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>tesseract-platform</artifactId>
-                </exclusion>
-                <!-- platform dibuangin semua, kemudian tambah sendiri linux-arm64, windows-x86_64, linux-x86_64 -->
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>javacpp-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>openblas-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>opencv-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>ffmpeg-platform</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>flandmark</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.bytedeco</groupId>
-                    <artifactId>flandmark-platform</artifactId>
-                </exclusion>
-            </exclusions>
+            <artifactId>opencv</artifactId>
+            <version>4.10.0-1.5.11</version>
+            <classifier>windows-x86_64</classifier>
        </dependency>
-        <!-- manual tambah untuk platform windows-x86_64 -->
        <dependency>
            <groupId>org.bytedeco</groupId>
            <artifactId>opencv</artifactId>
-            <version>4.6.0-1.5.8</version>
-            <classifier>windows-x86_64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>javacpp</artifactId>
-            <version>1.5.8</version>
-            <classifier>windows-x86_64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>openblas</artifactId>
-            <version>0.3.21-1.5.8</version>
-            <classifier>windows-x86_64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>ffmpeg</artifactId>
-            <version>5.1.2-1.5.8</version>
-            <classifier>windows-x86_64</classifier>
-        </dependency>
-        <!-- manual tambah untuk platform linux-arm64-->
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>opencv</artifactId>
-            <version>4.6.0-1.5.8</version>
-            <classifier>linux-arm64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>javacpp</artifactId>
-            <version>1.5.8</version>
-            <classifier>linux-arm64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>openblas</artifactId>
-            <version>0.3.21-1.5.8</version>
+            <version>4.10.0-1.5.11</version>
            <classifier>linux-arm64</classifier>
        </dependency>
        <dependency>
            <groupId>org.bytedeco</groupId>
            <artifactId>ffmpeg</artifactId>
-            <version>5.1.2-1.5.8</version>
-            <classifier>linux-arm64</classifier>
-        </dependency>
-        <!-- manual tambah untuk platform linux-x86_64
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>opencv</artifactId>
-            <version>4.9.0-1.5.10</version>
-            <classifier>linux-x86_64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>javacpp</artifactId>
-            <version>1.5.10</version>
-            <classifier>linux-x86_64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>org.bytedeco</groupId>
-            <artifactId>openblas</artifactId>
-            <version>0.3.26-1.5.10</version>
-            <classifier>linux-x86_64</classifier>
+            <version>7.1-1.5.11</version>
+            <classifier>windows-x86_64</classifier>
        </dependency>
        <dependency>
            <groupId>org.bytedeco</groupId>
            <artifactId>ffmpeg</artifactId>
-            <version>6.1.1-1.5.10</version>
-            <classifier>linux-x86_64</classifier>
+            <version>7.1-1.5.11</version>
+            <classifier>linux-arm64</classifier>
        </dependency>
-        -->
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>openblas</artifactId>
+            <version>0.3.28-1.5.11</version>
+            <classifier>windows-x86_64</classifier>
+        </dependency>
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>openblas</artifactId>
+            <version>0.3.28-1.5.11</version>
+            <classifier>linux-arm64</classifier>
+        </dependency>
+
+
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>tensorrt</artifactId>
+            <version>8.6-1.5.10</version>
+        </dependency>
+
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>cuda</artifactId>
+            <version>12.6-9.5-1.5.11</version>
+        </dependency>
+
+
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>javacpp</artifactId>
+            <version>1.5.11</version>
+            <classifier>windows-x86_64</classifier>
+        </dependency>
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>javacpp</artifactId>
+            <version>1.5.11</version>
+            <classifier>linux-arm64</classifier>
+        </dependency>
+
+
        <dependency>
            <groupId>com.corundumstudio.socketio</groupId>
            <artifactId>netty-socketio</artifactId>
@@ -212,7 +95,7 @@
        <dependency>
            <groupId>io.javalin</groupId>
            <artifactId>javalin</artifactId>
-            <version> 6.3.0</version>
+            <version> 6.4.0</version>
        </dependency>
        <dependency>
            <groupId>net.java.dev.jna</groupId>
@@ -227,7 +110,7 @@
        <dependency>
            <groupId>org.projectlombok</groupId>
            <artifactId>lombok</artifactId>
-            <version>1.18.34</version>
+            <version>1.18.36</version>
            <scope>provided</scope>
        </dependency>

--- a/src/main/java/Audio/AudioFileProperties.java
+++ b/src/main/java/Audio/AudioFileProperties.java
@@ -1,14 +1,33 @@
 package Audio;


-public class AudioFileProperties {
-    public final int handle;
-    public final String filename;
+import com.sun.jna.Pointer;
+import com.sun.jna.Structure;
+
+import java.util.Arrays;
+import java.util.List;
+
+public class AudioFileProperties extends Structure {
+    public int handle;
+    public String filename;
    public long Length;
    public double duration;
-    public AudioFileProperties(int handle, String filename){
+
+    public AudioFileProperties(Pointer p){
+        super(p);
+        read();
+    }
+
+    public AudioFileProperties(int handle, String filename, long length, double duration){
        this.handle = handle;
        this.filename = filename;
+        this.Length = length;
+        this.duration = duration;
+        write();
+    }
+
+    protected List<String> getFieldOrder() {
+        return Arrays.asList("handle", "filename", "Length", "duration");
    }

 }
--- a/src/main/java/Audio/AudioPlayer.java
+++ b/src/main/java/Audio/AudioPlayer.java
@@ -193,9 +193,9 @@ public class AudioPlayer {
            int handle = bass.BASS_StreamCreateFile(false, ff.getAbsolutePath(), 0, 0,0);
            if (handle!=0){
                Logger.info("Audio file {} opened successfully", ff.getName());
-                AudioFileProperties prop = new AudioFileProperties(handle, ff.getName());
-                prop.Length = bass.BASS_ChannelGetLength(handle, Bass.BASS_POS_BYTE);
-                prop.duration = bass.BASS_ChannelBytes2Seconds(handle, prop.Length);
+                long Length = bass.BASS_ChannelGetLength(handle, Bass.BASS_POS_BYTE);
+                double duration = bass.BASS_ChannelBytes2Seconds(handle, Length);
+                AudioFileProperties prop = new AudioFileProperties(handle, ff.getName(), Length, duration);
                return prop;
            } else Logger.error("Failed to open audio file {}, Error Code {}", ff.getAbsolutePath(), bass.BASS_ErrorGetCode());
        } else Logger.info("AudioPlayer not initialized");
@@ -217,8 +217,39 @@ public class AudioPlayer {
                } else Logger.info("Audio file {} closed successfully", prop.filename);
            } else Logger.info("AudioPlayer not initialized");
        }
+
    }

+    PlaybackEvent playbackEvent = null;
+
+    Bass.SYNCPROC endproc = (handle, channel, data, user)->{
+        if (user!=null){
+            AudioFileProperties ap = new AudioFileProperties(user);
+            if (playbackEvent!=null){
+                playbackEvent.onPlaybackFinished(ap);
+            } else Logger.warn("endproc playbackEvent is null");
+        } else Logger.warn("endproc user is null");
+
+    };
+
+    Bass.SYNCPROC freeproc = (handle, channel, data, user)->{
+        if (user!=null){
+            AudioFileProperties ap = new AudioFileProperties(user);
+            if (playbackEvent!=null){
+                playbackEvent.onPlaybackFinished(ap);
+            } else Logger.warn("freeproc playbackEvent is null");
+        } else Logger.warn("freeproc user is null");
+    };
+
+    Bass.SYNCPROC failproc = (handle, channel, data, user)->{
+        if (user!=null){
+            AudioFileProperties ap = new AudioFileProperties(user);
+            if (playbackEvent!=null){
+                playbackEvent.onPlaybackFailure(ap, "Device Failure");
+            } else Logger.warn("failproc playbackEvent is null");
+        } else Logger.warn("failproc user is null");
+    };
+
    /**
     * Play Audio File
     * @param prop AudioFileProperties object to play
@@ -226,23 +257,23 @@ public class AudioPlayer {
     * @param event PlaybackEvent object to handle playback event
     */
    public void PlayAudioFile(AudioFileProperties prop, boolean looping, PlaybackEvent event){
+        this.playbackEvent = null;
        if (inited){
            if (prop!=null){
                if (bass.BASS_ChannelStart(prop.handle)){
+                    this.playbackEvent = event;
                    playbackhandle = prop.handle;
+//                    SyncProcValue spv = new SyncProcValue(prop);
+//                    spv.write();
                    bass.BASS_ChannelSetAttribute(prop.handle, Bass.BASS_ATTRIB_VOL, playbackvolume);
                    if (looping) bass.BASS_ChannelFlags(prop.handle, Bass.BASS_SAMPLE_LOOP, Bass.BASS_SAMPLE_LOOP);
                    if (event!=null) event.onPlaybackStart(prop);
-                    int devfailsync = bass.BASS_ChannelSetSync(prop.handle, Bass.BASS_SYNC_DEV_FAIL,0, (handle, channel, data, user)->{
-                        if (event!=null) event.onPlaybackFailure(prop, "Device Failure");
-                    }, null);
+                    int devfailsync = bass.BASS_ChannelSetSync(prop.handle, Bass.BASS_SYNC_DEV_FAIL,0, failproc, prop.getPointer());
                    if (devfailsync==0) Logger.error("Failed to set Device Failure Sync, Error Code {}", bass.BASS_ErrorGetCode());
-                    int endsync = bass.BASS_ChannelSetSync(prop.handle, Bass.BASS_SYNC_END, 0, (handle, channel, data, user)->{
-                        if (looping) {
-                            if (event!=null) event.onPlaybackLooped(prop);
-                        } else if (event!=null) event.onPlaybackFinished(prop);
-                    }, null);
+                    int endsync = bass.BASS_ChannelSetSync(prop.handle, Bass.BASS_SYNC_END , 0, endproc, prop.getPointer());
                    if (endsync==0) Logger.error("Failed to set End Sync, Error Code {}", bass.BASS_ErrorGetCode());
+                    int freesync = bass.BASS_ChannelSetSync(prop.handle, Bass.BASS_SYNC_FREE , 0, freeproc, prop.getPointer());
+                    if (freesync==0) Logger.error("Failed to set Free Sync, Error Code {}", bass.BASS_ErrorGetCode());
                } else {
                    if (event!=null) event.onPlaybackFailure(prop, String.format("Failed to play audio file %s, Error Code %d", prop.filename, bass.BASS_ErrorGetCode()));
                }
@@ -254,4 +285,23 @@ public class AudioPlayer {
        }
    }

+//    static class SyncProcValue extends Structure{
+//        public AudioFileProperties ap;
+//        public SyncProcValue(AudioFileProperties ap){
+//            this.ap = ap;
+//        }
+//
+//        public SyncProcValue(Pointer p){
+//            super(p);
+//            read();
+//        }
+//
+//        @Override
+//        protected List<String> getFieldOrder() {
+//            return Arrays.asList("ap");
+//        }
+//
+//
+//    }
+
 }
--- a/src/main/java/Audio/Bass.java
+++ b/src/main/java/Audio/Bass.java
@@ -2,6 +2,8 @@ package Audio;

 import com.sun.jna.*;

+import java.util.Objects;
+

@SuppressWarnings("unused")
 public interface Bass extends Library {
--- a/src/main/java/Audio/MultiUSBAudioPlayer.java
+++ b/src/main/java/Audio/MultiUSBAudioPlayer.java
@@ -0,0 +1,324 @@
+package Audio;
+
+import lombok.Getter;
+import org.tinylog.Logger;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.List;
+
+public class MultiUSBAudioPlayer {
+    private final Bass bass;
+    private int[] deviceid;
+    @Getter
+    private boolean inited = false;
+
+    PlaybackHandlewithId[] playbackhandle;
+    float playbackvolume = 1.0f;
+    List<BassDeviceInfoWithId> playbackdevices = new ArrayList<>();
+
+    /**
+     * Create Multi USB Audio Player
+     */
+    public MultiUSBAudioPlayer() {
+        bass = Bass.Instance;
+        Logger.info("Bass Version = {}", Integer.toHexString(bass.BASS_GetVersion()));
+    }
+
+    /**
+     * Unload Multi USB Audio Player
+     */
+    public void Unload(){
+        if (inited){
+            if (deviceid!=null && deviceid.length>0){
+                for(int id: deviceid){
+                    Logger.info("Freeing Device {}", id);
+                    bass.BASS_SetDevice(id);
+                    bass.BASS_Free();
+                }
+            }
+
+        }
+        deviceid = null;
+        inited = false;
+    }
+
+    /**
+     * Detect Output Devices
+     */
+    public void DetectOutputDevices(){
+        Logger.info("Detecting Output Devices...");
+        int ii = 1;
+        playbackdevices.clear();
+        while (true){
+            Bass.BASS_DEVICEINFO info = new Bass.BASS_DEVICEINFO();
+            if (bass.BASS_GetDeviceInfo(ii, info)){
+                //Logger.info("Device {} = {}, flags = {}", ii, info.name, Integer.toHexString(info.flags));
+                playbackdevices.add(new BassDeviceInfoWithId(ii, info));
+                ii++;
+            } else {
+                break;
+            }
+        }
+    }
+
+    /**
+     * Find playback devices with name
+     * @param name specific name
+     * @return array of device id
+     */
+    public int[] FindDeviceIDWithName(String name){
+        if (playbackdevices!=null && !playbackdevices.isEmpty()){
+            List<Integer> result = new ArrayList<>();
+            for(BassDeviceInfoWithId dev : playbackdevices){
+                if (dev.info.name.toLowerCase().contains(name.toLowerCase())){
+                    Logger.info("Found Device id={}, name={}", dev.id, dev.info.name);
+                    result.add(dev.id);
+                }
+            }
+            return result.stream().mapToInt(i->i).toArray();
+        }
+        return new int[0];
+    }
+
+    /**
+     * Open Devices
+     * @param device list of device id
+     * @param freq frequency
+     * @return true if any device is successfully initialized
+     */
+    public boolean OpenDevice(int[] device, int freq){
+        if (device!=null && device.length>0){
+            int flag = Bass.BASS_DEVICE_REINIT | Bass.BASS_DEVICE_16BITS | Bass.BASS_DEVICE_MONO | Bass.BASS_DEVICE_FREQ;
+
+            List<Integer> validdevice = new ArrayList<>();
+            for(int i : device){
+                boolean result = bass.BASS_Init(i, freq, flag);
+                if (result){
+                    Logger.info("Device {} initialized", i);
+                    validdevice.add(i);
+                    inited = true;
+                } else {
+                    Logger.error("Failed to initialize device {}, errorcode={}", i, bass.BASS_ErrorGetCode());
+                }
+            }
+            deviceid = validdevice.stream().mapToInt(i->i).toArray();
+            return inited;
+        }
+        return false;
+    }
+
+    /**
+     * Set Master Output Volume
+     * Master Output Volume related to the system volume (Alsamixer on Linux, Volume Mixer on Windows)
+     * @param value volume value, 0-100
+     */
+    public void setMasterVolume(int value){
+        if (value<0) value = 0;
+        if (value>100) value = 100;
+        if (inited){
+            if (deviceid!=null && deviceid.length>0){
+                for(int id : deviceid){
+                    bass.BASS_SetDevice(id);
+                    if (!bass.BASS_SetVolume(value/100.0f)){
+                        Logger.error("Failed to set Master Volume to {}, Error Code {}", value, bass.BASS_ErrorGetCode());
+                    } else Logger.info("Master Volume set to {}", value);
+                }
+            } else Logger.error("No device initialized");
+        } else Logger.info("MultiUSBAudioPlayer not initialized");
+    }
+
+    /**
+     * Get Playback Volume
+     * is the volume of the currently playing audio file
+     * @return 0 - 100
+     */
+    public int getPlaybackvolume(){
+        if (playbackvolume<0)
+            return 0;
+        else if (playbackvolume>1.0f)
+            return 100;
+        else
+            return (int)(playbackvolume*100);
+    }
+
+    /**
+     * Set Playback Volume
+     * is the volume of the currently playing audio file
+     * @param value 0 - 100
+     */
+    public void setPlaybackvolume(int value){
+        if (value<0) value = 0;
+        if (value>100) value = 100;
+        playbackvolume = value/100.0f;
+        if (playbackhandle!=null && playbackhandle.length>0){
+            for(PlaybackHandlewithId ph : playbackhandle){
+                if (ph.handle.handle!=0){
+                    bass.BASS_SetDevice(ph.id);
+                    bass.BASS_ChannelSetAttribute(ph.handle.handle, Bass.BASS_ATTRIB_VOL, playbackvolume);
+                }
+            }
+        }
+    }
+
+    private float lastplaybackvolume = 1.0f;
+
+    /**
+     * Set Playback Volume to 0
+     */
+    public void Mute(){
+        lastplaybackvolume = playbackvolume;
+        setPlaybackvolume(0);
+    }
+
+    /**
+     * Set Playback Volume to last volume before Mute
+     */
+    public void Unmute(){
+        setPlaybackvolume((int)lastplaybackvolume*100);
+    }
+
+    /**
+     * Open Audio File
+     * @param ff audio file name to open
+     * @return AudioFileProperties object or null if failed
+     */
+    public PlaybackHandlewithId[] OpenAudioFile(File ff){
+        if (inited){
+            AudioFileProperties prop;
+            List<PlaybackHandlewithId> phs = new ArrayList<>();
+            for(int id: deviceid){
+                bass.BASS_SetDevice(id);
+                int handle = bass.BASS_StreamCreateFile(false, ff.getAbsolutePath(), 0, 0,0);
+                if (handle!=0){
+                    long Length = bass.BASS_ChannelGetLength(handle, Bass.BASS_POS_BYTE);
+                    double duration = bass.BASS_ChannelBytes2Seconds(handle, Length);
+                    prop = new AudioFileProperties(handle, ff.getName(), Length, duration);
+                    PlaybackHandlewithId ph = new PlaybackHandlewithId(id, prop);
+                    phs.add(ph);
+                }
+            }
+            if (!phs.isEmpty()){
+                playbackhandle = phs.toArray(new PlaybackHandlewithId[0]);
+                Logger.info("Audio file {} opened successfully", ff.getName());
+                return playbackhandle;
+            } else {
+                Logger.error("Failed to open audio file {}, Error Code {}", ff.getName(), bass.BASS_ErrorGetCode());
+            }
+        } else Logger.info("AudioPlayer not initialized");
+        return new PlaybackHandlewithId[0];
+    }
+
+    /**
+     * Close Audio File
+     * @param prop AudioFileProperties object to close
+     */
+    public void CloseAudioFile(PlaybackHandlewithId[] prop) {
+        if (inited) {
+            if (prop != null && prop.length>0) {
+                for(PlaybackHandlewithId ph : prop){
+                    if (ph.handle.handle!=0){
+                        bass.BASS_SetDevice(ph.id);
+                        if (!bass.BASS_ChannelFree(ph.handle.handle)){
+                            Logger.error("Failed to close audio file {}, Error Code {}", ph.handle.filename, bass.BASS_ErrorGetCode());
+                        } else {
+                            Logger.info("Audio file {} closed successfully", ph.handle.filename);
+                        }
+                        bass.BASS_Stop();
+
+                    }
+                }
+            } else Logger.info("AudioPlayer not initialized");
+        }
+    }
+
+    PlaybackEvent playbackEvent = null;
+
+    Bass.SYNCPROC endproc = (handle, channel, data, user)->{
+        if (user!=null){
+            AudioFileProperties ap = new AudioFileProperties(user);
+            if (playbackEvent!=null){
+                playbackEvent.onPlaybackFinished(ap);
+            } else Logger.warn("endproc playbackEvent is null");
+        } else Logger.warn("endproc user is null");
+
+    };
+
+    Bass.SYNCPROC freeproc = (handle, channel, data, user)->{
+        if (user!=null){
+            AudioFileProperties ap = new AudioFileProperties(user);
+            if (playbackEvent!=null){
+                playbackEvent.onPlaybackFinished(ap);
+            } else Logger.warn("freeproc playbackEvent is null");
+        } else Logger.warn("freeproc user is null");
+    };
+
+    Bass.SYNCPROC failproc = (handle, channel, data, user)->{
+        if (user!=null){
+            AudioFileProperties ap = new AudioFileProperties(user);
+            if (playbackEvent!=null){
+                playbackEvent.onPlaybackFailure(ap, "Device Failure");
+            } else Logger.warn("failproc playbackEvent is null");
+        } else Logger.warn("failproc user is null");
+    };
+
+
+    /**
+     * Play Audio File
+     * @param prop AudioFileProperties object to play
+     * @param looping set true to loop the audio file
+     * @param event PlaybackEvent object to handle playback event
+     */
+    public void PlayAudioFile(PlaybackHandlewithId[] prop, boolean looping, PlaybackEvent event){
+        if (inited){
+            if (prop!=null && prop.length>0){
+                this.playbackEvent = event;
+                for(PlaybackHandlewithId ph : prop){
+                    if (ph.handle.handle!=0){
+                        bass.BASS_SetDevice(ph.id);
+                        bass.BASS_Start();
+                        if (bass.BASS_ChannelStart(ph.handle.handle)) {
+
+                            bass.BASS_ChannelSetAttribute(ph.handle.handle, Bass.BASS_ATTRIB_VOL, playbackvolume);
+                            if (looping) bass.BASS_ChannelFlags(ph.handle.handle, Bass.BASS_SAMPLE_LOOP, Bass.BASS_SAMPLE_LOOP);
+                            if (event != null) event.onPlaybackStart(ph.handle);
+                            int devfailsync = bass.BASS_ChannelSetSync(ph.handle.handle, Bass.BASS_SYNC_DEV_FAIL, 0, failproc, ph.handle.getPointer());
+                            if (devfailsync == 0) Logger.error("Failed to set Device Failure Sync, Error Code {}", bass.BASS_ErrorGetCode());
+                            int endsync = bass.BASS_ChannelSetSync(ph.handle.handle, Bass.BASS_SYNC_END, 0, endproc, ph.handle.getPointer());
+                            if (endsync == 0) Logger.error("Failed to set End Sync, Error Code {}", bass.BASS_ErrorGetCode());
+                            int freesync = bass.BASS_ChannelSetSync(ph.handle.handle, Bass.BASS_SYNC_FREE, 0, freeproc, ph.handle.getPointer());
+                            if (freesync == 0) Logger.error("Failed to set Free Sync, Error Code {}", bass.BASS_ErrorGetCode());
+                        } else {
+                            if (event != null){
+                                event.onPlaybackFailure(ph.handle, String.format("Failed to play audio file %s, Error Code %d", ph.handle.filename, bass.BASS_ErrorGetCode()));
+                            }
+                        }
+                    }
+
+                }
+            } else {
+                if (event!=null) event.onPlaybackFailure(null, "AudioFileProperties is null");
+            }
+        } else {
+            if (event!=null) event.onPlaybackFailure(null, "AudioPlayer not initialized");
+        }
+    }
+
+    public static class PlaybackHandlewithId{
+        public final int id;
+        public final AudioFileProperties handle;
+        public PlaybackHandlewithId(int id, AudioFileProperties handle){
+            this.id = id;
+            this.handle = handle;
+        }
+    }
+
+    static class BassDeviceInfoWithId{
+        public final int id;
+        public final Bass.BASS_DEVICEINFO info;
+        public BassDeviceInfoWithId(int id, Bass.BASS_DEVICEINFO info){
+            this.id = id;
+            this.info = info;
+        }
+    }
+}
--- a/src/main/java/Camera/GrabbingTask.java
+++ b/src/main/java/Camera/GrabbingTask.java
@@ -5,10 +5,14 @@ import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.Consumer;

 import Other.SomeCodes;
+import id.co.gtc.Main;
 import lombok.Getter;
 import lombok.Setter;
 import org.bytedeco.javacv.Frame;
 import org.bytedeco.javacv.FrameGrabber;
+import org.bytedeco.javacv.OpenCVFrameConverter;
+import org.opencv.imgproc.Imgproc;
+import org.opencv.core.*;
 import org.tinylog.Logger;

 public class GrabbingTask implements Runnable {
@@ -23,6 +27,8 @@ public class GrabbingTask implements Runnable {
    @Setter private Consumer<Frame> onLQFrameUpdate;
    @Setter private Consumer<String> onHQBase64Update;
    @Setter private Consumer<String> onLQBase64Update;
+    @Setter private Consumer<Frame> onYoloUpdate;
+    @Setter private Consumer<String> onYoloBase64Update;

    // status of capture fps
    @Getter private int CaptureFPS = 0;
@@ -33,6 +39,9 @@ public class GrabbingTask implements Runnable {
    // for FPS calculation
    private int intendedFps = 10;

+    private final YoloDetector_opencv yolo;
+
+
    @SuppressWarnings("SameParameterValue")
    private void updateMessage(String message) {
        if (onMessageUpdate != null) {
@@ -40,9 +49,17 @@ public class GrabbingTask implements Runnable {
        }
    }

+    private void updateYoloBase64(String base64) {
+        if (onYoloBase64Update != null) {
+            onYoloBase64Update.accept(base64);
+        }
+    }

-
-
+    private void updateYoloFrame(Frame frame) {
+        if (onYoloUpdate != null) {
+            onYoloUpdate.accept(frame);
+        }
+    }

    private void updateHQBase64(String base64) {
        if (onHQBase64Update != null) {
@@ -77,6 +94,9 @@ public class GrabbingTask implements Runnable {
        this.isGrabbing = isGrabbing;
        this.grabber = grabber;
        if (fps>0) intendedFps = fps;
+        if (Main.use_Yolo) {
+            yolo = new YoloDetector_opencv();
+        } else yolo = null;
    }


@@ -84,14 +104,69 @@ public class GrabbingTask implements Runnable {
        isGrabbing.set(false);
    }

-    private void processFrame(Frame fr){
-        if (fr!=null){
-            updateHQFrame(fr);
-            updateHQBase64(SomeCodes.FrameToBase64(fr));
-            Frame resized = SomeCodes.ResizeFrame(fr, lowquality_width, lowquality_height);
-            updateLQFrame(resized);
-            updateLQBase64(SomeCodes.FrameToBase64(resized));
-        } else updateMessage("processFrame have null frame");
+
+    @SuppressWarnings({"CallToPrintStackTrace", "CatchMayIgnoreException"})
+    private Mat processFrame(Frame fr){
+        if (fr!=null && fr.image!=null && fr.imageWidth>0 && fr.imageHeight>0){
+            try(var converter = new OpenCVFrameConverter.ToOrgOpenCvCoreMat()){
+                Mat mat = converter.convert(fr);
+                if (mat.cols()>0 && mat.rows()>0){
+                    updateHQFrame(fr);
+                    updateHQBase64(SomeCodes.MatToBase64(mat));
+                    Size lowsize = new Size(lowquality_width, lowquality_height);
+                    Mat resized = new Mat();
+
+                    Imgproc.resize(mat, resized, lowsize);
+                    mat.release();
+
+                    if (resized.cols()>0 && resized.rows()>0){
+                        Frame resizedFrame = converter.convert(resized);
+                        updateLQFrame(resizedFrame);
+                        updateLQBase64(SomeCodes.MatToBase64(resized));
+                        return resized;
+                    } else Logger.error("processFrame resized size is 0");
+                } else Logger.error("processFrame Mat size is 0");
+            } catch (Exception e){
+                if (SomeCodes.ValidString(e.getMessage())) {
+                    if (!e.getMessage().startsWith("unknown exception")) {
+                        Logger.error("Error processing frame: "+e.getMessage());
+                        e.printStackTrace();
+                    }
+                }
+
+            }
+
+        }
+//        else {
+//            Logger.warn("processFrame have null frame");
+//            updateMessage("processFrame have null frame");
+//        }
+        return null;
+    }
+
+    private void DetectYolo(Mat mat){
+        if (yolo!=null){
+            if (mat!=null && mat.cols()>0 && mat.rows()>0){
+                try {
+                    // [0] = predict, [1] = mask
+                    Mat[] processed = yolo.Detect(mat);
+                    // gambar dalam bentuk Mat
+                    Mat yolomat = yolo.Process(mat, processed[0], processed[1]);
+                    // convert jadi frame
+                    Frame yoloFrame = SomeCodes.MatToFrame(yolomat);
+                    updateYoloFrame(yoloFrame);
+                    updateYoloBase64(SomeCodes.MatToBase64(yolomat));
+
+                } catch (Exception e) {
+                    Logger.error("error processing YOLO, Message : " + e.getMessage());
+                    updateYoloFrame(null);
+                    updateYoloBase64("");
+                }
+
+            } else Logger.error("DetectYolo mat is null");
+        }
+
+
    }

    private void flush_grabber(){
@@ -102,31 +177,43 @@ public class GrabbingTask implements Runnable {
        }
    }

+    @SuppressWarnings("CallToPrintStackTrace")
    @Override
    public void run() {
        isGrabbing.set(true);
        Logger.info("Grabbing Task started");
        double fps = grabber.getFrameRate();
        int skippedframes = (int)(fps / intendedFps);
-        //Logger.info("Grabber framerate = {}, intendedFps = {}, Skipping frames = {}", fps, intendedFps, skippedframes);
+        Logger.info("Grabber framerate = {}, intendedFps = {}, Skipping frames = {}", fps, intendedFps, skippedframes);
        int framecount = 0;
        flush_grabber();
        long starttick = System.currentTimeMillis();
        while (isGrabbing.get()) {
            try{
                Thread.yield();
+
                Frame frame = grabber.grab();
                if (framecount<Integer.MAX_VALUE) framecount++; else framecount = 0;
-                if (framecount % skippedframes == 0) processFrame(frame);
+                Mat resized = processFrame(frame);
+                // no need to skip frames, just process all frames
+                if (framecount % skippedframes == 0) {
+                    if (Main.use_Yolo){
+                        DetectYolo(resized);
+                    }
+                }
+                resized.release();
            } catch (Exception e){
                Logger.error("Error grabbing frame: "+e.getMessage());
+                e.printStackTrace();
+
            }

            long elapsed = System.currentTimeMillis() - starttick;
            starttick = System.currentTimeMillis();
            if (elapsed>0) {
                int xx = (int) (1000 / elapsed);
-                if (xx<fps) CaptureFPS = xx;
+                //if (xx<fps) CaptureFPS = xx;
+                CaptureFPS = xx;
            }
            //Logger.info("Elapsed time = {} ms, captureFPS = {}", elapsed, CaptureFPS);
        }
--- a/src/main/java/Camera/PanTiltController.java
+++ b/src/main/java/Camera/PanTiltController.java
@@ -24,12 +24,14 @@ public class PanTiltController {
        if (comports.length>0){
            for (SerialPort port : comports){
                Logger.info("Available Serial Port : {}", port.getSystemPortName());
-                if (port.getSystemPortName().equals(portname)){
+
+                if (portname.contains(port.getSystemPortName())){
                    Logger.info("Serial Port {} found", portname);
                    serialPort = port;

                    break;
                }
+
            }
            if (serialPort!=null){
                serialPort.setBaudRate(baudrate);
@@ -68,10 +70,11 @@ public class PanTiltController {
        command[0] = (byte) 0xFF;           // add synchronization byte
        if (isOpen()) {
            Main.Max485Direction(true);
-            serialPort.writeBytes(command, command.length);
+            int written = serialPort.writeBytes(command, command.length);
            Main.Max485Direction(false);
            Main.Blink_LedPanTilt();
-        }
+            Logger.info("Stop movement written {}", written);
+        } else Logger.warn("Stop Movement failed, serial port not open");
    }

    /**
@@ -87,10 +90,11 @@ public class PanTiltController {
        command[0] = (byte) 0xFF;           // add synchronization byte
        if (isOpen()) {
            Main.Max485Direction(true);
-            serialPort.writeBytes(command, command.length);
+            int written = serialPort.writeBytes(command, command.length);
            Main.Max485Direction(false);
            Main.Blink_LedPanTilt();
-        }
+            Logger.info("Pan Left written {} bytes", written);
+        } else Logger.warn("Pan Left failed, serial port not open");
    }

    /**
@@ -106,10 +110,11 @@ public class PanTiltController {
        command[0] = (byte) 0xFF;           // add synchronization byte
        if (isOpen()) {
            Main.Max485Direction(true);
-            serialPort.writeBytes(command, command.length);
+            int written = serialPort.writeBytes(command, command.length);
            Main.Max485Direction(false);
            Main.Blink_LedPanTilt();
-        }
+            Logger.info("Pan Right written {} bytes", written);
+        } else Logger.warn("Pan Right failed, serial port not open");
    }

    /**
@@ -120,15 +125,16 @@ public class PanTiltController {
        if (speed<0) speed = 0;
        if (speed>0x3F) speed = 0x3F;

-        byte[] command = new byte[]{0, cameraid, 0, 8, speed, 0, 0};
+        byte[] command = new byte[]{0, cameraid, 0, 8, 0, speed, 0};
        command[6] = Checksum(command);     // add checksum
        command[0] = (byte) 0xFF;           // add synchronization byte
        if (isOpen()) {
            Main.Max485Direction(true);
-            serialPort.writeBytes(command, command.length);
+            int written = serialPort.writeBytes(command, command.length);
            Main.Max485Direction(false);
            Main.Blink_LedPanTilt();
-        }
+            Logger.info("Tilt Up written {} bytes", written);
+        } else Logger.warn("Tilt Up failed, serial port not open");
    }

    /**
@@ -139,7 +145,50 @@ public class PanTiltController {
        if (speed<0) speed = 0;
        if (speed>0x3F) speed = 0x3F;

-        byte[] command = new byte[]{0, cameraid, 0, 16, speed, 0, 0};
+        byte[] command = new byte[]{0, cameraid, 0, 16, 0, speed, 0};
+        command[6] = Checksum(command);     // add checksum
+        command[0] = (byte) 0xFF;           // add synchronization byte
+        if (isOpen()) {
+            Main.Max485Direction(true);
+            int written = serialPort.writeBytes(command, command.length);
+            Main.Max485Direction(false);
+            Main.Blink_LedPanTilt();
+            Logger.info("Tilt Down written {} bytes", written);
+        } else Logger.warn("Tilt Down failed, serial port not open");
+    }
+
+    public void DisableMovementTest(){
+        byte[] command = new byte[]{(byte)0xFF, cameraid, 0, 7, 0, (byte)0x54, (byte)0x5c};
+        //command[6] = Checksum(command);
+        //command[0] = (byte) 0xFF;
+        if (isOpen()) {
+            Main.Max485Direction(true);
+            int written = serialPort.writeBytes(command, command.length);
+            Main.Max485Direction(false);
+            Main.Blink_LedPanTilt();
+            Logger.info("DisableMovement test written {} bytes", written);
+        } else Logger.warn("DisableMovement failed, serial port not open");
+    }
+
+    public void EnableMovementTest(){
+        byte[] command = new byte[]{(byte)0xFF, cameraid, 0, 3, 0, (byte)0x54, (byte) 0x58};
+        //command[6] = Checksum(command);
+        //command[0] = (byte) 0xFF;
+        if (isOpen()) {
+            Main.Max485Direction(true);
+            int written = serialPort.writeBytes(command, command.length);
+            Main.Max485Direction(false);
+            Main.Blink_LedPanTilt();
+            Logger.info("EnableMovement test written {} bytes", written);
+        } else Logger.warn("EnableMovement failed, serial port not open");
+    }
+
+    /**
+     * Go to Preset
+     * @param preset preset number
+     */
+    public void GoToPreset(byte preset){
+        byte[] command = new byte[]{0, cameraid, 0, 15, preset, 0, 0};
        command[6] = Checksum(command);     // add checksum
        command[0] = (byte) 0xFF;           // add synchronization byte
        if (isOpen()) {
--- a/src/main/java/Camera/RtspGrabber.java
+++ b/src/main/java/Camera/RtspGrabber.java
@@ -17,8 +17,10 @@ public class RtspGrabber {
    private final AtomicBoolean isGrabbing = new AtomicBoolean(false);
    private Frame lastHQFrame = null;
    private Frame lastLQFrame = null;
+    private Frame lastYoloFrame = null;
    private String lastHQBase64 = null;
    private String lastLQBase64 = null;
+    private String lastYoloBase64 = null;
    private @Getter int HQWidth = 0;
    private @Getter int HQHeight = 0;
    private @Getter int LQWidth = 0;
@@ -26,6 +28,7 @@ public class RtspGrabber {
    private GrabbingTask grabbingTask;

    public RtspGrabber(String ip, String path) {
+
        this.rtspUrl = "rtsp://" + ip + path;
        Logger.info("RtspGrabber created with url: " + rtspUrl);
    }
@@ -62,6 +65,22 @@ public class RtspGrabber {
        return lastLQBase64;
    }

+    private synchronized void setLastYoloBase64(String base64){
+        lastYoloBase64 = base64;
+    }
+
+    public synchronized String getLastYoloBase64(){
+        return lastYoloBase64;
+    }
+
+    private synchronized void setLastYoloFrame(Frame frame){
+        lastYoloFrame = frame;
+    }
+
+    public synchronized Frame getLastYoloFrame(){
+        return lastYoloFrame;
+    }
+
    /**
     * Start grabbing frames from rtsp
     * @param useTcp Use tcp instead of udp
@@ -143,6 +162,8 @@ public class RtspGrabber {
        });
        tt.setOnHQBase64Update(this::setLastHQBase64);
        tt.setOnLQBase64Update(this::setLastLQBase64);
+        tt.setOnYoloUpdate(this::setLastYoloFrame);
+        tt.setOnYoloBase64Update(this::setLastYoloBase64);
        return tt;
    }
 }
--- a/src/main/java/Camera/RtspGrabber_opencv.java
+++ b/src/main/java/Camera/RtspGrabber_opencv.java
@@ -0,0 +1,169 @@
+package Camera;
+import lombok.Getter;
+import org.bytedeco.ffmpeg.global.avutil;
+import org.bytedeco.javacv.FFmpegFrameGrabber;
+import org.bytedeco.javacv.Frame;
+import org.jetbrains.annotations.NotNull;
+import org.tinylog.Logger;
+
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import static Other.SomeCodes.gson;
+
+@SuppressWarnings("unused")
+public class RtspGrabber_opencv {
+    private final String rtspUrl;
+    private FFmpegFrameGrabber grabber;
+    private final AtomicBoolean isGrabbing = new AtomicBoolean(false);
+    private Frame lastHQFrame = null;
+    private Frame lastLQFrame = null;
+    private Frame lastYoloFrame = null;
+    private String lastHQBase64 = null;
+    private String lastLQBase64 = null;
+    private String lastYoloBase64 = null;
+    private @Getter int HQWidth = 0;
+    private @Getter int HQHeight = 0;
+    private @Getter int LQWidth = 0;
+    private @Getter int LQHeight = 0;
+    private GrabbingTask grabbingTask;
+
+    public RtspGrabber_opencv(String ip, String path) {
+
+        this.rtspUrl = "rtsp://" + ip + path;
+        Logger.info("RtspGrabber created with url: " + rtspUrl);
+    }
+
+    private synchronized void setLastHQFrame(Frame frame){
+        lastHQFrame = frame;
+    }
+
+    public synchronized Frame getLastHQFrame(){
+        return lastHQFrame;
+    }
+
+    private synchronized void setLastLQFrame(Frame frame){
+        lastLQFrame = frame;
+    }
+
+    public synchronized Frame getLastLQFrame(){
+        return lastLQFrame;
+    }
+
+    private synchronized void setLastHQBase64(String base64){
+        lastHQBase64 = base64;
+    }
+
+    public synchronized String getLastHQBase64(){
+        return lastHQBase64;
+    }
+
+    private synchronized void setLastLQBase64(String base64){
+        lastLQBase64 = base64;
+    }
+
+    public synchronized String getLastLQBase64(){
+        return lastLQBase64;
+    }
+
+    private synchronized void setLastYoloBase64(String base64){
+        lastYoloBase64 = base64;
+    }
+
+    public synchronized String getLastYoloBase64(){
+        return lastYoloBase64;
+    }
+
+    private synchronized void setLastYoloFrame(Frame frame){
+        lastYoloFrame = frame;
+    }
+
+    public synchronized Frame getLastYoloFrame(){
+        return lastYoloFrame;
+    }
+
+    /**
+     * Start grabbing frames from rtsp
+     * @param useTcp Use tcp instead of udp
+     */
+    public void Start(boolean useTcp, final int width, final int height){
+
+        try{
+            grabber = FFmpegFrameGrabber.createDefault(rtspUrl);
+            if (useTcp) grabber.setOption("rtsp_transport", "tcp");
+
+            grabber.setPixelFormat(avutil.AV_PIX_FMT_BGR24);
+            grabber.start();
+
+            avutil.av_log_set_level(avutil.AV_LOG_ERROR);
+
+            Logger.info("Grabber started");
+            GrabbingTask tt = getGrabbingTask();
+            grabbingTask = tt;
+            new Thread(tt).start();
+
+        } catch (Exception e){
+            Logger.error("Error starting grabber: " + e.getMessage());
+        }
+    }
+
+
+
+    /**
+     * Stop grabbing frames
+     */
+    public void Stop(){
+        isGrabbing.set(false);
+        if (grabbingTask!=null){
+            grabbingTask.Stop();
+        }
+        grabbingTask = null;
+        if (grabber!=null) {
+            try{
+                grabber.stop();
+                grabber.releaseUnsafe();
+                Logger.info("Grabber stopped");
+            } catch (Exception e){
+                Logger.error("Error stopping grabber: " + e.getMessage());
+            }
+        }
+        grabber = null;
+    }
+
+    public String LQStreamingStatus(){
+        return gson.toJson(new String[]{String.valueOf(LQWidth), String.valueOf(LQHeight) , String.valueOf(grabbingTask!=null ? grabbingTask.getCaptureFPS():"0")});
+    }
+
+    public String HQStreamingStatus(){
+        return gson.toJson(new String[]{String.valueOf(HQWidth), String.valueOf(HQHeight) , String.valueOf(grabbingTask!=null ? grabbingTask.getCaptureFPS(): "0")});
+    }
+
+    @NotNull
+    private GrabbingTask getGrabbingTask() {
+        GrabbingTask tt = new GrabbingTask(isGrabbing, grabber,5);
+        tt.setOnMessageUpdate(Logger::info);
+        tt.setOnHQFrameUpdate(value -> {
+            if (value!=null){
+                if (value.imageWidth>0 && value.imageHeight>0){
+                    setLastHQFrame(value);
+                    HQWidth = value.imageWidth;
+                    HQHeight = value.imageHeight;
+                }
+
+            }
+        });
+        tt.setOnLQFrameUpdate(value -> {
+            if (value!=null){
+                if (value.imageWidth>0 && value.imageHeight>0){
+                    setLastLQFrame(value);
+                    LQWidth = value.imageWidth;
+                    LQHeight = value.imageHeight;
+                }
+            }
+        });
+        tt.setOnHQBase64Update(this::setLastHQBase64);
+        tt.setOnLQBase64Update(this::setLastLQBase64);
+        tt.setOnYoloUpdate(this::setLastYoloFrame);
+        tt.setOnYoloBase64Update(this::setLastYoloBase64);
+        return tt;
+    }
+}
--- a/src/main/java/Camera/YoloDetector.java
+++ b/src/main/java/Camera/YoloDetector.java
@@ -0,0 +1,169 @@
+package Camera;
+
+import Other.SomeCodes;
+import id.co.gtc.Main;
+import lombok.Getter;
+
+import org.bytedeco.javacpp.DoublePointer;
+import org.bytedeco.javacpp.FloatPointer;
+import org.bytedeco.javacpp.IntPointer;
+import org.bytedeco.opencv.global.opencv_core;
+import org.bytedeco.opencv.global.opencv_dnn;
+import org.bytedeco.opencv.global.opencv_imgproc;
+import org.bytedeco.opencv.opencv_core.*;
+import org.bytedeco.opencv.opencv_dnn.Net;
+import org.opencv.imgproc.Imgproc;
+import org.tinylog.Logger;
+
+
+import java.io.BufferedReader;
+import java.io.FileReader;
+import java.util.ArrayList;
+import java.util.List;
+
+import static org.bytedeco.opencv.global.opencv_core.CV_32F;
+
+public class YoloDetector {
+    private Net net;
+    private @Getter boolean NetLoaded;
+    private List<String> classes ;
+
+
+    public YoloDetector() {
+        NetLoaded = false;
+        net = null;
+        classes = null;
+        String namesfile = SomeCodes.ExtractResource("/coco.names", SomeCodes.currentDirectory);
+        String netfile = SomeCodes.ExtractResource("/yolov8n.onnx", SomeCodes.currentDirectory);
+        if (SomeCodes.ValidFile(netfile)){
+            net = opencv_dnn.readNetFromONNX(netfile);
+            if (Main.haveCuda){
+                net.setPreferableBackend(opencv_dnn.DNN_BACKEND_CUDA);
+                net.setPreferableTarget(opencv_dnn.DNN_TARGET_CUDA_FP16);
+                Logger.info("Net loaded with CUDA");
+            } else {
+                net.setPreferableBackend(opencv_dnn.DNN_BACKEND_OPENCV);
+                net.setPreferableTarget(opencv_dnn.DNN_TARGET_CPU);
+                Logger.info("Net loaded with CPU");
+            }
+        } else Logger.error("net file not found");
+
+        if (net!=null){
+            classes = new ArrayList<>();
+            if (namesfile!=null){
+                try(BufferedReader br = new BufferedReader(new FileReader(namesfile))) {
+                    String line;
+                    while ((line = br.readLine()) != null) {
+                        classes.add(line);
+                    }
+                } catch (Exception e){
+                    Logger.error("reading names file, Exception : ",e.getMessage());
+                }
+            }
+
+            if (!net.empty()){
+                if (!classes.isEmpty()){
+                    NetLoaded = true;
+                } else Logger.error("names file is empty");
+            } else Logger.error("net is empty");
+        } else Logger.error("Net is not loaded");
+
+    }
+
+   // Source : https://blog.csdn.net/taoli188/article/details/134720614
+    public Mat[] Detect(Mat frame){
+        try{
+            if (NetLoaded){
+                Size inputSize = new Size(640, 640);
+                Scalar mean = new Scalar(0, 0, 0, 0);
+                double scaleFactor = 1.0f/255.0f;
+                boolean swapRB = true;
+                boolean crop = false;
+
+                //Mat blob = opencv_dnn.blobFromImage(frame, scaleFactor, inputSize, mean , swapRB, crop, CV_32F);
+                Mat blob = new Mat();
+                opencv_dnn.blobFromImage(frame, blob, scaleFactor, inputSize, mean, swapRB, crop, CV_32F);
+                net.setInput(blob);
+
+                Mat predict = net.forward();
+                Mat mask = predict.reshape(0,1).reshape(0, predict.size(1));
+
+                return new Mat[]{predict,mask};
+            } else {
+                Logger.error("Net not loaded");
+                return new Mat[0];
+            }
+        } catch (Exception e){
+            Logger.error("Error detecting: "+e.getMessage());
+            return new Mat[0];
+        }
+
+    }
+
+    @SuppressWarnings("CallToPrintStackTrace")
+    public Mat Process(Mat frame, Mat predict, Mat mask){
+        try{
+
+            double width = frame.cols() / 640.0;
+            double height = frame.rows() / 640.0;
+            Rect2d[] rect2d = new Rect2d[mask.cols()];
+            float[] scoref = new float[mask.cols()];
+            int[] classid = new int[mask.cols()];
+
+            for(int i=0;i<mask.cols();i++){
+                double[] x = SomeCodes.getColumnValues(mask,i, new int[]{0});
+                double[] y = SomeCodes.getColumnValues(mask,i, new int[]{1});
+                double[] w = SomeCodes.getColumnValues(mask,i, new int[]{2});
+                double[] h = SomeCodes.getColumnValues(mask,i, new int[]{3});
+                rect2d[i] = new Rect2d((x[0]-w[0]/2)*width, (y[0]-h[0]/2)*height, w[0]*width, h[0]*height);
+
+                //Mat score = mask.col(i).submat(4, predict.size(1)-1,0,1)   ;
+                Mat score = SomeCodes.getSubmat(mask,i,4,predict.size(1)-1);
+//                Core.MinMaxLocResult mm = Core.minMaxLoc(score);
+//                scoref[i] = (float)mm.maxVal;
+//                classid[i] = (int)mm.maxLoc.y;
+
+                DoublePointer minVal = new DoublePointer(1);
+                DoublePointer maxVal = new DoublePointer(1);
+                Point minLoc = new Point();
+                Point maxLoc = new Point();
+                opencv_core.minMaxLoc(score, minVal, maxVal, minLoc, maxLoc, null);
+                scoref[i] = (float)maxVal.get();
+                classid[i] = (int)maxLoc.y();
+            }
+
+            //MatOfRect2d bboxes = new MatOfRect2d(rect2d);
+            Rect2dVector bboxes = new Rect2dVector(rect2d);
+            //MatOfFloat scores = new MatOfFloat(scoref);
+            FloatPointer scores = new FloatPointer(scoref);
+            //MatOfInt indices = new MatOfInt();
+            //IntVector indices = new IntVector();
+            IntPointer indices = new IntPointer();
+            // minimum confidence for detections
+            float confidence_threshold = 0.4f;
+            // Non-maximum suppression threshold
+            float nms_threshold = 0.4f;
+
+            opencv_dnn.NMSBoxes(bboxes, scores, confidence_threshold, nms_threshold, indices);
+
+            if (indices.limit()>0){
+                int[] idx = new int[(int)indices.limit()];
+                indices.get(idx);
+                for(int ii : idx){
+                    Rect rr = new Rect(SomeCodes.toPoint(rect2d[ii].tl()), SomeCodes.toSize(rect2d[ii].size()));
+                    opencv_imgproc.rectangle(frame,rr, Scalar.GREEN);
+                    opencv_imgproc.putText(frame, classes.get(classid[ii])+" "+String.format("%.2f", scoref[ii]), rr.tl(), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, Scalar.RED);
+                }
+            }
+
+        } catch (Exception e){
+            Logger.error("Error processing detection: "+e.getMessage());
+            e.printStackTrace();
+        }
+
+
+
+        return frame;
+    }
+
+}
--- a/src/main/java/Camera/YoloDetector_opencv.java
+++ b/src/main/java/Camera/YoloDetector_opencv.java
@@ -0,0 +1,146 @@
+package Camera;
+
+import Other.SomeCodes;
+import id.co.gtc.Main;
+import lombok.Getter;
+import org.opencv.core.*;
+import org.opencv.dnn.Dnn;
+import org.opencv.dnn.Net;
+import org.opencv.imgproc.Imgproc;
+import org.tinylog.Logger;
+
+import java.io.BufferedReader;
+import java.io.FileReader;
+import java.util.ArrayList;
+import java.util.List;
+
+import static org.bytedeco.opencv.global.opencv_core.CV_32F;
+
+public class YoloDetector_opencv {
+    private Net net;
+    private @Getter boolean NetLoaded;
+    private List<String> classes ;
+
+
+    public YoloDetector_opencv() {
+        NetLoaded = false;
+        net = null;
+        classes = null;
+        String namesfile = SomeCodes.ExtractResource("/coco.names", SomeCodes.currentDirectory);
+        String netfile = SomeCodes.ExtractResource("/yolov8n.onnx", SomeCodes.currentDirectory);
+        if (SomeCodes.ValidFile(netfile)){
+            net = Dnn.readNetFromONNX(netfile);
+            if (Main.haveCuda){
+                net.setPreferableBackend(Dnn.DNN_BACKEND_CUDA);
+                net.setPreferableTarget(Dnn.DNN_TARGET_CUDA_FP16);
+                Logger.info("Net loaded with CUDA");
+            } else {
+                net.setPreferableBackend(Dnn.DNN_BACKEND_OPENCV);
+                net.setPreferableTarget(Dnn.DNN_TARGET_CPU);
+                Logger.info("Net loaded with CPU");
+            }
+        } else Logger.error("net file not found");
+
+        if (net!=null){
+            classes = new ArrayList<>();
+            if (namesfile!=null){
+                try(BufferedReader br = new BufferedReader(new FileReader(namesfile))) {
+                    String line;
+                    while ((line = br.readLine()) != null) {
+                        classes.add(line);
+                    }
+                } catch (Exception e){
+                    Logger.error("reading names file, Exception : ",e.getMessage());
+                }
+            }
+
+            if (!net.empty()){
+                if (!classes.isEmpty()){
+                    NetLoaded = true;
+                } else Logger.error("names file is empty");
+            } else Logger.error("net is empty");
+        } else Logger.error("Net is not loaded");
+
+    }
+
+   // Source : https://blog.csdn.net/taoli188/article/details/134720614
+    public Mat[] Detect(Mat frame){
+        try{
+            if (NetLoaded){
+                Size inputSize = new Size(640, 640);
+                Scalar mean = new Scalar(0, 0, 0, 0);
+                float scaleFactor = 1.0f/255.0f;
+                boolean swapRB = true;
+                boolean crop = false;
+
+                Mat blob = Dnn.blobFromImage(frame, scaleFactor, inputSize, mean , swapRB, crop, CV_32F);
+                //Mat blob = Dnn.blobFromImage(frame, scaleFactor, inputSize);
+
+                net.setInput(blob);
+
+                Mat predict = net.forward();
+                Mat mask = predict.reshape(0,1).reshape(0, predict.size(1));
+
+                return new Mat[]{predict,mask};
+            } else {
+                Logger.error("Net not loaded");
+                return new Mat[0];
+            }
+        } catch (Exception e){
+            Logger.error("Error detecting: "+e.getMessage());
+            return new Mat[0];
+        }
+
+    }
+
+    @SuppressWarnings("CallToPrintStackTrace")
+    public Mat Process(Mat frame, Mat predict, Mat mask){
+        try{
+
+            double width = frame.cols() / 640.0;
+            double height = frame.rows() / 640.0;
+            Rect2d[] rect2d = new Rect2d[mask.cols()];
+            float[] scoref = new float[mask.cols()];
+            int[] classid = new int[mask.cols()];
+
+            for(int i=0;i<mask.cols();i++){
+                double[] x = mask.col(i).get(0, 0);
+                double[] y = mask.col(i).get(1, 0);
+                double[] w = mask.col(i).get(2, 0);
+                double[] h = mask.col(i).get(3, 0);
+                rect2d[i] = new Rect2d((x[0]-w[0]/2)*width, (y[0]-h[0]/2)*height, w[0]*width, h[0]*height);
+                Mat score = mask.col(i).submat(4, predict.size(1)-1,0,1)   ;
+                Core.MinMaxLocResult mm = Core.minMaxLoc(score);
+                scoref[i] = (float)mm.maxVal;
+                classid[i] = (int)mm.maxLoc.y;
+            }
+
+            MatOfRect2d bboxes = new MatOfRect2d(rect2d);
+            MatOfFloat scores = new MatOfFloat(scoref);
+            MatOfInt indices = new MatOfInt();
+            // minimum confidence for detections
+            float confidence_threshold = 0.4f;
+            // Non-maximum suppression threshold
+            float nms_threshold = 0.4f;
+            Dnn.NMSBoxes(bboxes, scores, confidence_threshold, nms_threshold, indices);
+
+            if (!indices.empty()){
+                int[] idx = indices.toArray();
+                for(int ii : idx){
+                    Rect rr = new Rect(rect2d[ii].tl(), rect2d[ii].size());
+                    Imgproc.rectangle(frame, rr, new Scalar(0, 255, 0), 2);
+                    Imgproc.putText(frame, classes.get(classid[ii])+" "+String.format("%.2f", scoref[ii]), rr.tl(), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(0, 0, 255));
+                }
+            }
+
+        } catch (Exception e){
+            Logger.error("Error processing detection: "+e.getMessage());
+            e.printStackTrace();
+        }
+
+
+
+        return frame;
+    }
+
+}
--- a/src/main/java/Other/SomeCodes.java
+++ b/src/main/java/Other/SomeCodes.java
@@ -1,45 +1,38 @@
 package Other;

 import com.google.gson.Gson;
-import org.bytedeco.javacpp.Loader;
+import com.sun.jna.Platform;
+import org.bytedeco.javacpp.BytePointer;
+import org.bytedeco.javacpp.indexer.DoubleIndexer;
 import org.bytedeco.javacv.Frame;
-import org.bytedeco.javacv.Java2DFrameConverter;
 import org.bytedeco.javacv.OpenCVFrameConverter;
 import org.bytedeco.opencv.global.opencv_core;
+import org.bytedeco.opencv.global.opencv_imgcodecs;
 import org.bytedeco.opencv.global.opencv_imgproc;
-import org.bytedeco.opencv.opencv_core.Mat;
-import org.bytedeco.opencv.opencv_core.Size;
-import org.bytedeco.opencv.opencv_core.UMat;
-import org.bytedeco.opencv.opencv_java;
+import org.bytedeco.opencv.opencv_core.*;
 import org.jetbrains.annotations.NotNull;
 import org.opencv.core.MatOfByte;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.tinylog.Logger;

 import java.io.*;
-import java.net.Inet4Address;
-import java.net.Inet6Address;
 import java.net.InetAddress;
 import java.nio.file.*;
-import java.time.LocalDateTime;
-import java.time.format.DateTimeFormatter;
 import java.util.Base64;
 import java.util.Properties;

-@SuppressWarnings("unused")
 public class SomeCodes {
    static{
-        Loader.load(opencv_java.class);
+        //Loader.load(opencv_java.class);
+        if (Platform.isLinux()){
+            LoadLinuxLibrary("/usr/local/lib/libopencv_java4100.so");
+        } else Logger.info("Platform is not Linux, loading standard opencv");
    }

    public final static String currentDirectory = System.getProperty("user.dir");
    public final static Path audioPath = Path.of(currentDirectory, "audiofiles");
-    private static final DateTimeFormatter dtf = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
-    public static final OpenCVFrameConverter.ToMat matConverter = new OpenCVFrameConverter.ToMat();
    public static final OpenCVFrameConverter.ToOrgOpenCvCoreMat CoreMatConverter = new OpenCVFrameConverter.ToOrgOpenCvCoreMat();

-    public static final Java2DFrameConverter frameConverter = new Java2DFrameConverter();
-    public static final Path logsPath = Path.of(currentDirectory, "logs");
    public static final boolean haveOpenCL = opencv_core.haveOpenCL();
    public static boolean useOpenCL;
    private static final Base64.Encoder base64encoder = java.util.Base64.getEncoder();
@@ -48,6 +41,17 @@ public class SomeCodes {
    public static final double MB_threshold = 1024.0 * 1024.0;
    public static final double GB_threshold = 1024.0 * 1024.0 * 1024.0;

+    private static void LoadLinuxLibrary(String library){
+        if (Platform.isLinux()){
+            File ff = new File(library);
+            if (ff.isFile()){
+                Logger.info("Loading library: "+library);
+                System.load(ff.getAbsolutePath());
+            }
+        }
+    }
+
+    @SuppressWarnings("resource")
    public static String[] GetAudioFiles(){
        try{
            return Files.list(audioPath).map(f -> f.getFileName().toString()).toArray(String[]::new);
@@ -58,10 +62,6 @@ public class SomeCodes {
        return new String[0];
    }

-    public static String LocalDateTimeToString(LocalDateTime x){
-        return x.format(dtf);
-    }
-
    public static String ExtractResource(String filename, String targetdirectory){
        try {
            File destination = new File(targetdirectory, filename);
@@ -89,13 +89,7 @@ public class SomeCodes {



-    public static boolean ValidDirectory(String path){
-        if (ValidString(path)){
-            File ff = new File(path);
-            return ff.isDirectory();
-        }
-        return false;
-    }
+

    public static boolean ValidFile(String filename){
        if (ValidString(filename)){
@@ -122,6 +116,13 @@ public class SomeCodes {
        return defaultspeed;
    }

+    public static boolean ValidIntArray(int[] xx){
+        if (xx!=null){
+            return xx.length>0;
+        }
+        return false;
+    }
+
    public static boolean ValidInteger(String x){
        try{
            Integer.parseInt(x);
@@ -131,6 +132,15 @@ public class SomeCodes {
        }
    }

+    public static String IntArrayToString(int[] id){
+        StringBuilder sb = new StringBuilder();
+        for (int i : id){
+            if (!sb.isEmpty()) sb.append(",");
+            sb.append(i);
+        }
+        return "["+ sb +"]";
+    }
+
    public static boolean ValidPortNumber(int port){
        return port>0 && port<65536;
    }
@@ -144,66 +154,116 @@ public class SomeCodes {
        }
    }

-    public static boolean ValidIPV4(String ipaddress){
-        if (ValidString(ipaddress)){
-            try{
-                InetAddress inet = InetAddress.getByName(ipaddress);
-                if (inet instanceof Inet4Address){
-                    if (inet.getHostAddress().equals(ipaddress)){
-                        return true;
-                    }
+    public static String MatToBase64(Mat mat){
+        if (mat!=null){
+            if (mat.cols()>0 && mat.rows()>0){
+                try{
+                    BytePointer mob = new BytePointer();
+                    opencv_imgcodecs.imencode(".jpg", mat, mob);
+                    byte[] data = new byte[(int) mob.limit()];
+                    mob.get(data);
+                    String base64 = base64encoder.encodeToString(data);
+                    mob.deallocate();
+                    return base64;
+                } catch (Exception e){
+                    Logger.error("Error converting Mat to Base64: "+e.getMessage());
                }
-            } catch (Exception ignored) {
-            }
-        }
-        return false;
-    }
-
-    public static boolean ValidIPV6(String ipaddress){
-        if (ValidString(ipaddress)){
-            try{
-                InetAddress inet = InetAddress.getByName(ipaddress);
-                if (inet instanceof Inet6Address){
-                    if (inet.getHostAddress().equals(ipaddress)){
-                        return true;
-                    }
-                }
-            } catch (Exception ignored) {
-            }
-        }
-        return false;
-    }
-
-    public static String GetFileName(String filepath){
-        if (ValidString(filepath)){
-            File ff = new File(filepath);
-            if (ff.isFile()){
-                return ff.getName();
            }
        }
        return "";
    }

-
-    // Function ini pakai opencv, bukan javacv, jadi perlu Loader.load(opencv_java.class) di awal
-    // lebih optimal untuk konversi frame ke base64
-    public static String FrameToBase64(Frame frame){
-        if (frame!=null){
-            org.opencv.core.Mat converted = CoreMatConverter.convert(frame);
-            if (converted!=null){
-                if (!converted.empty()){
+    public static String MatToBase64(org.opencv.core.Mat mat){
+        if (mat!=null){
+            if (mat.cols()>0 && mat.rows()>0){
+                try{
                    MatOfByte mob = new MatOfByte();
-                    Imgcodecs.imencode(".jpg", converted, mob);
-                    byte[] jpgdata = mob.toArray();
+                    Imgcodecs.imencode(".jpg", mat, mob);
+                    String base64 = base64encoder.encodeToString(mob.toArray());
                    mob.release();
-                    converted.release();
-                    return base64encoder.encodeToString(jpgdata);
+                    return base64;
+                } catch (Exception e){
+                    Logger.error("Error converting Mat to Base64: "+e.getMessage());
                }
            }
        }
        return "";
    }

+    public static Frame MatToFrame(Mat mat){
+        if (mat!=null && mat.cols()>0 && mat.rows()>0){
+            try{
+                return CoreMatConverter.convert(mat);
+            } catch (Exception e){
+                Logger.error("Error converting Mat to Frame: "+e.getMessage());
+            }
+        }
+
+        return null;
+    }
+
+    public static Frame MatToFrame(org.opencv.core.Mat mat){
+        if (mat!=null && mat.cols()>0 && mat.rows()>0){
+            try{
+                return CoreMatConverter.convert(mat);
+            } catch (Exception e){
+                Logger.error("Error converting Mat to Frame: "+e.getMessage());
+            }
+        }
+
+        return null;
+    }
+
+    public static double[] getColumnValues(Mat mat, int colIndex, int[] rowIndices) {
+        if (mat.empty()) {
+            throw new IllegalArgumentException("Mat is empty.");
+        }
+        if (colIndex < 0 || colIndex >= mat.cols()) {
+            throw new IllegalArgumentException("Column index out of range.");
+        }
+
+        // Get the column as a new Mat
+        Mat colMat = mat.col(colIndex);
+
+        // Create an indexer for efficient access
+        DoubleIndexer indexer = colMat.createIndexer();
+
+        // Extract specific row values
+        double[] values = new double[rowIndices.length];
+        for (int i = 0; i < rowIndices.length; i++) {
+            values[i] = indexer.get(rowIndices[i], 0);
+        }
+
+        return values;
+    }
+
+
+
+    public static Point toPoint(Point2d p) {
+        return new Point((int)p.x(), (int)p.y());
+    }
+
+    public static Size toSize(Size2d s) {
+        return new Size((int)s.width(), (int)s.height());
+    }
+
+    public static Mat getSubmat(Mat mask, int colIndex, int startRow, int endRow) {
+        if (mask.empty()) {
+            throw new IllegalArgumentException("Mat is empty.");
+        }
+        if (colIndex < 0 || colIndex >= mask.cols()) {
+            throw new IllegalArgumentException("Column index out of range.");
+        }
+        if (startRow < 0 || endRow > mask.rows() || startRow >= endRow) {
+            throw new IllegalArgumentException("Invalid row range.");
+        }
+
+        // Extract column i
+        Mat colMat = mask.col(colIndex);
+
+        // Extract submatrix from row startRow to endRow
+        return colMat.rowRange(startRow, endRow);
+    }

    /**
     * Load properties file
@@ -247,6 +307,7 @@ public class SomeCodes {
        return config.getProperty(key, null);
    }

+    @Deprecated
    public static Mat ResizeMat(Mat source, int width, int height){
        Size sz = new Size(width, height);
        Mat dest = new Mat();
@@ -254,7 +315,6 @@ public class SomeCodes {
            UMat src = new UMat();
            source.copyTo(src);
            UMat dst = new UMat();
-
            opencv_imgproc.resize(src, dst, sz);
            dst.copyTo(dest);
        } else {
@@ -263,11 +323,6 @@ public class SomeCodes {
        return dest;
    }

-    public static Frame ResizeFrame(Frame source, int width, int height){
-        Mat mat = matConverter.convertToMat(source);
-        Mat resized = ResizeMat(mat, width, height);
-        return matConverter.convert(resized);
-    }

    /**
     * check if an ip address is reachable
@@ -283,4 +338,20 @@ public class SomeCodes {
        }
        return false;
    }
+
+    public static void Sleep(int milliseconds){
+        try{
+            Thread.sleep(milliseconds);
+        } catch (Exception e){
+            Logger.error("Error sleeping: "+e.getMessage());
+        }
+    }
+
+    public static GpuMat ConvertToGpuMat(Mat mat){
+        GpuMat gmat = new GpuMat();
+        gmat.upload(mat);
+        return gmat;
+    }
+
+
 }
--- a/src/main/java/SBC/GPIO.java
+++ b/src/main/java/SBC/GPIO.java
@@ -32,7 +32,7 @@ public class GPIO {
     * @param pin GPIO pin number
     * @return true if the pin is already exported
     */
-    public static boolean GpioPinExists(@NotNull RaspberryPi5BPins pin){
+    public static boolean GpioPinExists(@NotNull JetsonOrinPins pin){
        Path pinPath = gpioPath.resolve("gpio"+pin.gpionumber);
        return pinPath.toFile().isDirectory();
    }
@@ -42,7 +42,7 @@ public class GPIO {
     * @param pin GPIO pin number
     * @return true if the pin is successfully exported
     */
-    public static boolean ExportPin(@NotNull RaspberryPi5BPins pin){
+    public static boolean ExportPin(@NotNull JetsonOrinPins pin){
        try{
            if (Files.isWritable(gpioExportPath)){
                Files.write(gpioExportPath, String.valueOf(pin.gpionumber).getBytes());
@@ -55,12 +55,13 @@ public class GPIO {
        return false;
    }

+
    /**
     * Unexport the pin
     * @param pin GPIO pin number
     * @return true if the pin is successfully unexported
     */
-    public static boolean UnexportPin(@NotNull RaspberryPi5BPins pin){
+    public static boolean UnexportPin(@NotNull JetsonOrinPins pin){
        if (Files.isWritable(gpioUnexportPath)){
            try{
                Files.write(gpioUnexportPath, String.valueOf(pin.gpionumber).getBytes());
@@ -80,7 +81,7 @@ public class GPIO {
     * @return "in" if the pin is input, "out" if the pin is output, "unknown" if the direction is unknown
     */
    @SuppressWarnings("unused")
-    public static String GetPinDirection(@NotNull RaspberryPi5BPins pin){
+    public static String GetPinDirection(@NotNull JetsonOrinPins pin){
        Path pinPath = gpioPath.resolve("gpio"+pin.gpionumber).resolve("direction");
        if (pinPath.toFile().isFile()){
            if (Files.isReadable(pinPath)){
@@ -100,7 +101,7 @@ public class GPIO {
     * @param direction "in" for input, "out" for output
     * @return true if the direction is successfully set
     */
-    public static boolean SetPinDirection(@NotNull RaspberryPi5BPins pin, String direction){
+    public static boolean SetPinDirection(@NotNull JetsonOrinPins pin, String direction){
        Path pinPath = gpioPath.resolve("gpio"+pin.gpionumber).resolve("direction");
        if (pinPath.toFile().isFile()){
            if (Files.isWritable(pinPath)){
@@ -126,7 +127,7 @@ public class GPIO {
     * @return true if the value is successfully set
     */
    @SuppressWarnings("UnusedReturnValue")
-    public static boolean SetValue(@NotNull RaspberryPi5BPins pin, boolean isON){
+    public static boolean SetValue(@NotNull JetsonOrinPins pin, boolean isON){
        Path pinPath = gpioPath.resolve("gpio"+pin.gpionumber).resolve("value");
        if (pinPath.toFile().isFile()){
            if (Files.isWritable(pinPath)){
@@ -148,7 +149,7 @@ public class GPIO {
     * @return "1" if the pin value is 1, "0" if the pin value is 0, "unknown" if the value is unknown
     */
    @SuppressWarnings("unused")
-    public static String GetValue(@NotNull RaspberryPi5BPins pin){
+    public static String GetValue(@NotNull JetsonOrinPins pin){
        Path pinPath = gpioPath.resolve("gpio"+pin.gpionumber).resolve("value");
        if (pinPath.toFile().isFile()){
            if (Files.isReadable(pinPath)){
--- a/src/main/java/SBC/I2C_BUS.java
+++ b/src/main/java/SBC/I2C_BUS.java
@@ -0,0 +1,38 @@
+package SBC;
+
+import lombok.Getter;
+
+public class I2C_BUS {
+    private final Linux_C_lib C = Linux_C_lib.INSTANCE;
+
+
+    private @Getter boolean opened = false;
+    private final @Getter String i2c_name;
+    private @Getter int i2c_handle = -1;
+
+    public I2C_BUS(int bus_number){
+        this.i2c_name = "/dev/i2c-"+bus_number;
+    }
+
+    public boolean Open_Bus(){
+        if (!opened){
+            final int O_RDWR = 0x00000002;
+            i2c_handle = C.open(i2c_name, O_RDWR);
+            if (i2c_handle>=0){
+                opened = true;
+                return true;
+            }
+        }
+        return false;
+    }
+
+    public void Close_Bus(){
+        if (opened){
+            if (i2c_handle>=0){
+                C.close(i2c_handle);
+                i2c_handle = -1;
+            }
+            opened = false;
+        }
+    }
+}
--- a/src/main/java/SBC/I2C_Device.java
+++ b/src/main/java/SBC/I2C_Device.java
@@ -0,0 +1,147 @@
+package SBC;
+
+import lombok.Getter;
+
+@SuppressWarnings("unused")
+public class I2C_Device {
+
+
+    Linux_C_lib C = Linux_C_lib.INSTANCE;
+    private @Getter int bus_handle;
+    private @Getter int device_address;
+    private @Getter int dev_handle;
+    private @Getter boolean opened = false;
+
+    /**
+     * Create I2C Device
+     * @param bus_handle I2C Bus Handle, from opening I2C_Bus
+     * @param device_address I2C Device Address
+     */
+    public I2C_Device(int bus_handle, int device_address){
+        opened = false;
+        if (bus_handle<0 || device_address<0) return;
+        this.bus_handle = bus_handle;
+        this.device_address = device_address;
+    }
+
+    /**
+     * Open I2C Device in Slave mode
+     * @return true if successfully opened
+     */
+    public boolean Open_Slave(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_SLAVE, device_address);
+        if (dev_handle>=0){
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Open I2C Device in Slave mode with Force
+     * @return true if successfully opened
+     */
+    public boolean Open_SlaveForce(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_SLAVE_FORCE, device_address);
+        if (dev_handle>=0){
+            C.ioctl(bus_handle,I2C_Flags.I2C_RETRIES, 3);
+            C.ioctl(bus_handle,I2C_Flags.I2C_TIMEOUT, 1000);
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Open I2C Device in Read Write mode
+     * @return true if successfully opened
+     */
+    public boolean Open_RDWR(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_RDWR, device_address);
+        if (dev_handle>=0){
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Open I2C Device in SMBus mode
+     * @return true if successfully opened
+     */
+    public boolean Open_SMBus(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_SMBUS, device_address);
+        if (dev_handle>=0){
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Close I2C Device
+     */
+    public void Close(){
+        C.close(dev_handle);
+        opened = false;
+        dev_handle = -1;
+    }
+
+    /**
+     * Write Bytes to I2C Device
+     * @param data bytes to write
+     * @return number of bytes written
+     */
+    public int WriteBytes(byte[] data){
+        if (bus_handle<0 || dev_handle<0 || device_address<0) return -1;
+        return C.write(bus_handle, data, data.length);
+    }
+
+    /**
+     * Write Byte to I2C Device
+     * @param register_address register address
+     * @param data byte to write
+     * @return number of bytes written
+     */
+    public int WriteBytes(int register_address, byte data){
+        byte[] cmd = new byte[2];
+        cmd[0] = (byte) register_address;
+        cmd[1] = data;
+        return WriteBytes(cmd);
+    }
+
+    /**
+     * Write Bytes to I2C Device
+     * @param register_address register address
+     * @param data bytes to write
+     * @return number of bytes written
+     */
+    public int WriteBytes(int register_address, byte[] data){
+        byte[] cmd = new byte[data.length+1];
+        cmd[0] = (byte) register_address;
+        System.arraycopy(data, 0, cmd, 1, data.length);
+        return WriteBytes(cmd);
+    }
+
+    /**
+     * Read Bytes from I2C Device
+     * @param readsize number of bytes to read
+     * @return bytes read
+     */
+    public byte[] ReadBytes(int readsize){
+        if (bus_handle<0 || dev_handle<0 || device_address<0) return null;
+        byte[] data = new byte[readsize];
+        int read = C.read(bus_handle, data, readsize);
+        if (read<0) return null;
+        if (read<readsize){
+            byte[] temp = new byte[read];
+            System.arraycopy(data, 0, temp, 0, read);
+            return temp;
+        }
+        return data;
+    }
+}
--- a/src/main/java/SBC/I2C_Flags.java
+++ b/src/main/java/SBC/I2C_Flags.java
@@ -0,0 +1,13 @@
+package SBC;
+
+public class I2C_Flags {
+    public final static int I2C_RETRIES = 0x701;				/* number of times a device address should be polled when not acknowledging */
+    public final static int I2C_TIMEOUT = 0x702;				/* set timeout in units of 10 ms */
+    public final static int I2C_SLAVE = 0x703;				/* Command at ioctl, means : Use this slave address */
+    public final static int I2C_TENBIT = 0x704;				/* 0 for 7 bit addrs, != 0 for 10 bit */
+    public final static int I2C_FUNCS = 0x705;				/* Command at ioctl, means : Get the adapter functionality */
+    public final static int I2C_SLAVE_FORCE = 0x706;		/* Command at ioctl, means : Use this slave address, even if it is already in use by a driver! */
+    public final static int I2C_RDWR = 0x707;				/* Command at ioctl, means : Combined R/W transfer (one stop only) */
+    public final static int I2C_PEC = 0x708;				/* != 0 to use PEC with SMBus */
+    public final static int I2C_SMBUS = 0x720;				/* SMBus transfer */
+}
--- a/src/main/java/SBC/JetsonOrinPins.java
+++ b/src/main/java/SBC/JetsonOrinPins.java
@@ -0,0 +1,38 @@
+package SBC;
+
+/**
+ * Source : <a href="https://jetsonhacks.com/nvidia-jetson-orin-nano-gpio-header-pinout/">...</a>
+ */
+public enum JetsonOrinPins {
+    Pin07(7,"AUDIO_MCLK",144),
+    Pin11(11,"UART1_RTS",112),
+    Pin12(12,"I2S0_SCLK",50),
+    Pin13(13,"SPI1_SCK",122),
+    Pin15(15,"GPIO12",85),
+    Pin16(16,"SPI1_CS1",126),
+    Pin18(18,"SPI1_CS0",125),
+    Pin19(19,"SPI0_MOSI",135),
+    Pin21(21,"SPI0_MISO",134),
+    Pin22(22,"SPI1_MISO",123),
+    Pin23(23,"SPI0_SCK",133),
+    Pin24(24,"SPI0_CS0",136),
+    Pin25(26,"SPI0_CS1",137),
+    Pin29(29,"GPIO01",105),
+    Pin31(31,"GPIO11",106),
+    Pin32(32,"GPIO07",41),
+    Pin33(33,"GPIO13",43),
+    Pin35(35,"I2S0_FS",53),
+    Pin36(36,"UART1_CTS",113),
+    Pin37(37,"SPI1_MOSI",124),
+    Pin38(38,"I2S0_SDIN",52),
+    Pin40(40,"I2S0_SDOUT",51);
+    public final int pin;
+    public final String name;
+    public final int gpionumber;
+
+    JetsonOrinPins(int pin, String name, int gpionumber){
+        this.pin = pin;
+        this.name = name;
+        this.gpionumber = gpionumber;
+    }
+}
--- a/src/main/java/SBC/LibGpioD.java
+++ b/src/main/java/SBC/LibGpioD.java
@@ -0,0 +1,20 @@
+package SBC;
+
+import com.sun.jna.Library;
+import com.sun.jna.Native;
+import com.sun.jna.Pointer;
+
+public interface LibGpioD extends Library {
+    String CHIP_NAME = "/dev/gpiochip0"; // First GPIO chip
+    LibGpioD Instance = Native.load("gpiod", LibGpioD.class);
+
+    Pointer gpiod_chip_open(String chipname);
+    void gpiod_chip_close(Pointer chip);
+
+    Pointer gpiod_line_get(Pointer chip, int offset);
+    int gpiod_line_request_output(Pointer line, String consumer, int default_val);
+    int gpiod_line_request_input(Pointer line, String consumer);
+    int gpiod_line_set_value(Pointer line, int value);
+    int gpiod_line_get_value(Pointer line);
+    void gpiod_line_release(Pointer line);
+}
--- a/src/main/java/SBC/Linux_C_lib.java
+++ b/src/main/java/SBC/Linux_C_lib.java
@@ -0,0 +1,69 @@
+package SBC;
+
+import java.util.Arrays;
+import java.util.List;
+
+import com.sun.jna.Native;
+import com.sun.jna.NativeLong;
+import com.sun.jna.Pointer;
+import com.sun.jna.Structure;
+
+public interface Linux_C_lib extends com.sun.jna.Library {
+    Linux_C_lib INSTANCE = (Linux_C_lib) Native.load("c", Linux_C_lib.class);
+
+	long memcpy(int[] dst, short[] src, long n);
+
+    int memcpy(int[] dst, short[] src, int n);
+
+    int pipe(int[] fds);
+
+    int tcdrain(int fd);
+
+    int fcntl(int bus_handle, int command, int args);
+
+    int ioctl(int bus_handle, int command, int args);
+    
+    int ioctl(int bus_handle, int command, int... args);
+    
+    int ioctl(int bus_handle, int command, Pointer args);
+    
+    int open(String path, int flags);
+
+    int close(int fd);
+
+    int write(int bus_handle, byte[] buffer, int count);
+
+    int read(int bus_handle, byte[] buffer, int count);
+
+    long write(int bus_handle, byte[] buffer, long count);
+
+    long read(int bus_handle, byte[] buffer, long count);
+
+    int select(int n, int[] read, int[] write, int[] error, timeval timeout);
+
+    int poll(int[] fds, int nfds, int timeout);
+
+    int tcflush(int fd, int qs);
+
+    void perror(String msg);
+
+    int tcsendbreak(int fd, int duration);
+    
+    public class timeval extends Structure {
+        public NativeLong tv_sec;
+        public NativeLong tv_usec;
+
+
+		protected List<String> getFieldOrder() {
+            return Arrays.asList(//
+                    "tv_sec",//
+                    "tv_usec"//
+                    );
+        }
+
+        public timeval(long second, long usecond) {
+        	tv_sec =  new NativeLong(second);
+        	tv_usec = new NativeLong(usecond);
+        }
+    }
+}
--- a/src/main/java/SBC/PCF8574.java
+++ b/src/main/java/SBC/PCF8574.java
@@ -0,0 +1,164 @@
+package SBC;
+
+import lombok.Getter;
+
+
+@SuppressWarnings("unused")
+public class PCF8574 extends I2C_Device{
+
+    private Byte data = 0;
+    private final @Getter String[] pinNames = new String[8];
+
+    /**
+     * Create new PCF8574
+     * @param bus_number I2C Bus Number
+     * @param address PCF8574 Address
+     */
+    public PCF8574(int bus_number, int address){
+        super(bus_number, address);
+        for(int i=0; i<8; i++){
+            pinNames[i] = i+"";
+        }
+    }
+
+    /**
+     * Set new Pin Name
+     * @param pin pin number, 0-7
+     * @param name new name
+     */
+    public void setPinName(int pin, String name){
+        if (pin<0 || pin>7) return;
+        pinNames[pin] = name;
+    }
+
+    /**
+     * Get Pin Name
+     * @param pin pin number, 0-7
+     * @return pin name, or null if not available
+     */
+    public String getPinName(int pin){
+        if (pin<0 || pin>7) return null;
+        return pinNames[pin];
+    }
+
+    /**
+     * Set All Pins High
+     * @return true if successful
+     */
+    public boolean AllOn(){
+        if (super.isOpened()){
+            if (super.WriteBytes(new byte[]{(byte)0xFF})>0){
+                data = (byte)0xFF;
+                return true;
+            }
+        }
+        return false;
+    }
+
+    /**
+     * Set all Pins Low
+     * @return true if successful
+     */
+    public boolean AllOff(){
+        if (super.isOpened()){
+            if (super.WriteBytes(new byte[]{(byte)0x00})>0){
+                data = (byte)0x00;
+                return true;
+            }
+        }
+       return false;
+    }
+
+    /**
+     * Set Pin by Pin Name
+     * @param pinName pin name
+     * @return true if successful
+     */
+    public boolean SetPin(String pinName){
+        for(int i=0; i<8; i++){
+            if (pinNames[i].equals(pinName)){
+                return SetPin(i);
+            }
+        }
+        return false;
+    }
+
+
+
+    /**
+     * Set Pin High
+     * @param pin pin number 0-7
+     * @return true if successful
+     */
+    public boolean SetPin(int pin){
+        if (pin<0 || pin>7) return false;
+        if (super.isOpened()){
+            synchronized (data){
+                data = (byte) (data | (1<<pin));
+                return super.WriteBytes(new byte[]{data})>0;
+            }
+        }
+        return false;
+    }
+
+    /**
+     * Clear Pin by Pin Name
+     * @param pinName pin name
+     * @return true if successful
+     */
+    public boolean ClearPin(String pinName){
+        for(int i=0; i<8; i++){
+            if (pinNames[i].equals(pinName)){
+                return ClearPin(i);
+            }
+        }
+        return false;
+    }
+
+    /**
+     * Set Pin Low
+     * @param pin pin number 0-7
+     * @return true if successful
+     */
+    public boolean ClearPin(int pin){
+        if (pin<0 || pin>7) return false;
+        if (super.isOpened()){
+            synchronized (data){
+                data = (byte) (data & ~(1<<pin));
+                return super.WriteBytes(new byte[]{data})>0;
+            }
+        }
+        return false;
+    }
+
+
+    /**
+     * Read Pin by Pin Name
+     * @param pinName pin name
+     * @return 1 if high, 0 if low, -1 if error
+     */
+    public int ReadPin(String pinName){
+        for(int i=0; i<8; i++){
+            if (pinNames[i].equals(pinName)){
+                return ReadPin(i);
+            }
+        }
+        return -1;
+    }
+
+
+    /**
+     * Read Pin
+     * @param pin pin to read, 0 - 7
+     * @return 1 if high, 0 if low, -1 if error
+     */
+    public int ReadPin(int pin){
+        if (pin<0 || pin>7) return -1;
+        if (super.isOpened()){
+            byte[] buffer = super.ReadBytes(1);
+            byte masker = (byte) (1<<pin);
+            return (buffer[0] & masker) > 0 ? 1 : 0;
+        }
+        return -1;
+    }
+}
--- a/src/main/java/SBC/RaspberryPi5BPins.java
+++ b/src/main/java/SBC/RaspberryPi5BPins.java
@@ -1,42 +0,0 @@
-package SBC;
-
-public enum RaspberryPi5BPins {
-    Pin03(3,"GPIO2/SDA", 573),
-    Pin05(5,"GPIO3/SCL", 574),
-    Pin07(7,"GPIO4/GPCLK0", 575),
-    Pin08(8,"GPIO14/TXD", 585),
-    Pin10(10,"GPIO15/RXD", 586),
-    Pin11(11,"GPIO17", 588),
-    Pin12(12,"GPIO18/PCMCLK", 589),
-    Pin13(13,"GPIO27", 598),
-    Pin15(15,"GPIO22", 593),
-    Pin16(16,"GPIO23", 594),
-    Pin18(18,"GPIO24", 595),
-    Pin19(19,"GPIO10/MOSI", 581),
-    Pin21(21,"GPIO9/MISO", 580),
-    Pin22(22,"GPIO25", 596),
-    Pin23(23,"GPIO11/SCLK", 582),
-    Pin24(24,"GPIO8/CE0", 579),
-    Pin26(26,"GPIO7/CE1", 578),
-    Pin27(27,"GPIO0/IDSD", 587),
-    Pin28(28,"GPIO1/IDSC", 587),
-    Pin29(29,"GPIO5", 576),
-    Pin31(31,"GPIO6", 577),
-    Pin32(32,"GPIO12/PWM0", 583),
-    Pin33(33,"GPIO13/PWM1", 584),
-    Pin35(35,"GPIO19/PCMFS", 590),
-    Pin36(36,"GPIO16", 587),
-    Pin37(37,"GPIO26", 597),
-    Pin38(38,"GPIO20/PCMDIN", 591),
-    Pin40(40,"GPIO21/PCMDOUT", 592);
-
-    public final int pin;
-    public final String name;
-    public final int gpionumber;
-
-    RaspberryPi5BPins(int pin, String name, int gpionumber){
-        this.pin = pin;
-        this.name = name;
-        this.gpionumber = gpionumber;
-    }
-}
--- a/src/main/java/SBC/SystemInformation.java
+++ b/src/main/java/SBC/SystemInformation.java
@@ -32,7 +32,7 @@ public class SystemInformation {
            File ff = new File("/proc/net/dev");
            if (ff.isFile() && ff.canRead()){
                List<NetworkTransmitReceiveInfo> result = new ArrayList<>();
-                final Pattern pattern = Pattern.compile("\\s+(.*):\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)");
+                final Pattern pattern = Pattern.compile("\\s*(.*):\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)\\s+(\\d+)");
                try{
                    String[] lines = Files.readString(ff.toPath()).split("\n");
                    for (String line : lines){
--- a/src/main/java/Web/WebServer.java
+++ b/src/main/java/Web/WebServer.java
@@ -36,6 +36,8 @@ public class WebServer {
        this.webusername = webusername;
        this.webpassword = webpassword;
        app = Javalin.create(config -> {
+            config.useVirtualThreads = true;
+
            config.staticFiles.add("/html");
            config.router.apiBuilder(()-> path("setting", () ->{
                get(ctx -> ctx.json(SettingInfo.getInstance()));
@@ -267,12 +269,14 @@ public class WebServer {
            connectedWebsocketClients.clear();
            app.stop();
            Logger.info("Web server stopped");
+            socketServer.stop();
            socketIOClients.forEach((key, client) -> client.disconnect());
            socketIOClients.clear();
-            socketServer.stop();
+
            Logger.info("SocketIO server stopped");
        } catch (JavalinException e){
            Logger.error("Web server failed to stop: {}", e.getMessage());
+            e.printStackTrace();
        }
    }

--- a/src/main/java/id/co/gtc/Main.java
+++ b/src/main/java/id/co/gtc/Main.java
@@ -1,16 +1,15 @@
 package id.co.gtc;

-import Audio.AudioFileProperties;
-import Audio.AudioPlayer;
-import Audio.Bass;
-import Audio.PlaybackEvent;
+import Audio.*;
 import Camera.PanTiltController;
-import Camera.RtspGrabber;
+import Camera.RtspGrabber_opencv;
 import Camera.VapixProtocol;
 import Other.SomeCodes;
 import SBC.*;
 import Web.*;
 import com.google.gson.JsonObject;
+import com.sun.jna.Platform;
+import com.sun.jna.Pointer;
 import org.bytedeco.opencv.global.opencv_core;
 import org.tinylog.Logger;

@@ -23,11 +22,21 @@ import java.util.concurrent.Executors;
 import static Other.SomeCodes.*;

 public class Main {
+    //change parameter ini untuk single audio output atau multi audio output
+    private static final boolean use_multiusb_audio = true;
+    private static MultiUSBAudioPlayer multiUSBAudioPlayer;
+    private static MultiUSBAudioPlayer.PlaybackHandlewithId[] playbackHandles;
    private static AudioPlayer audioPlayer;
-    private static WebServer webServer;
-    private static RtspGrabber rtspGrabber;
-    private static PanTiltController panTiltController;
    private static AudioFileProperties audioFileProperties;
+
+    private static WebServer webServer;
+
+    //change parameter ini untuk menggunakan Yolo atau tidak
+    public static final boolean use_Yolo = false;
+    private static RtspGrabber_opencv rtspGrabber;
+    public static boolean haveCuda = false;
+
+    private static PanTiltController panTiltController;
    private static VapixProtocol vapixProtocol;
    private static Timer timer;
    private static int cpuTemperature;
@@ -37,24 +46,57 @@ public class Main {
    private static NetworkTransmitReceiveInfo[] previousNetworkInfo;
    private static final Map<String, String> networkTX = new HashMap<>();
    private static final Map<String, String> networkRX = new HashMap<>();
-    private static RaspberryPi5BPins AmplifierPower = null;
-    private static RaspberryPi5BPins LedWeb = null;
-    private static RaspberryPi5BPins LedIpCamera = null;
-    private static RaspberryPi5BPins LedPanTilt = null;
-    private static RaspberryPi5BPins Max485Direction = null;
+    private static JetsonOrinPins AmplifierPower = null;
+    private static JetsonOrinPins LedWeb = null;
+    private static JetsonOrinPins LedIpCamera = null;
+    private static JetsonOrinPins LedPanTilt = null;
+    private static JetsonOrinPins Max485Direction = null;

    private static ExecutorService gpioExecutor = null;

+    private static PCF8574 pcf8574 = null;
+    private static final String Version = "V1.09 (17/03/2025)";
    // Application start from here
    public static void main(String[] args) {
+        System.setProperty("jna.debug_load", "false");
+        System.out.println("BirdStrikeSoetta "+Version);
+
        Runtime.getRuntime().addShutdownHook(new Thread(() -> {
-            if (audioPlayer!=null) audioPlayer.Unload();
-            if (webServer!=null) webServer.Stop();
-            if (rtspGrabber!=null) rtspGrabber.Stop();
-            if (panTiltController!=null) panTiltController.Close();
-            if (vapixProtocol!=null) vapixProtocol.Close();
-            if (timer!=null) timer.cancel();
-            if (gpioExecutor!=null) gpioExecutor.shutdown();
+            if (use_multiusb_audio) {
+                if (multiUSBAudioPlayer != null) {
+                    multiUSBAudioPlayer.Unload();
+                    Logger.info("MultiUSB Audio Unloaded");
+                }
+            } else {
+                if (audioPlayer != null) {
+                    audioPlayer.Unload();
+                    Logger.info("Audio Unloaded");
+                }
+            }
+            if (webServer!=null) {
+                webServer.Stop();
+                Logger.info("Web Server stopped");
+            }
+            if (rtspGrabber!=null) {
+                rtspGrabber.Stop();
+                Logger.info("Rtsp Grabber stopped");
+            }
+            if (panTiltController!=null) {
+                panTiltController.Close();
+                Logger.info("Pan Tilt Controller closed");
+            }
+            if (vapixProtocol!=null) {
+                vapixProtocol.Close();
+                Logger.info("Vapix Protocol closed");
+            }
+            if (timer!=null) {
+                timer.cancel();
+                Logger.info("Timer cancelled");
+            }
+            if (gpioExecutor!=null) {
+                gpioExecutor.shutdown();
+                Logger.info("GPIO Executor shutdown");
+            }
            if (AmplifierPower!=null) {
                Logger.info("GPIO pin {} unexport : {}",AmplifierPower.pin, GPIO.UnexportPin(AmplifierPower));
            }
@@ -70,36 +112,135 @@ public class Main {
            if (Max485Direction!=null) {
                Logger.info("GPIO pin {} unexport : {}", Max485Direction.pin, GPIO.UnexportPin(Max485Direction));
            }
+            if (pcf8574!=null){
+                pcf8574.Close();
+                Logger.info("PCF8574 closed");
+            }
+            Logger.info("Application Stopped");

        }));

-        init_gpio();
+        Logger.info("Current Directory : "+currentDirectory);
+
+
+        //init_gpio();
+        init_pcf8574();
        init_system_monitoring();

        init_properties();
        init_audiofiles();

        init_Vapix();
-        init_audio();
+        if (use_multiusb_audio) {
+            Logger.info("Using MultiUSB Audio");
+            init_multiusb_audio();
+        } else {
+            Logger.info("Using USB Audio");
+            init_audio();
+        }
+
        init_pantiltcontroller();
        init_webserver();
        init_rtspgrabber();
    }

+    private static void init_pcf8574(){
+        if (Platform.isLinux()){
+            I2C_BUS i2c_bus = new I2C_BUS(7);
+            if (i2c_bus.Open_Bus()){
+                Logger.info("I2C Bus opened");
+                pcf8574 = new PCF8574(i2c_bus.getI2c_handle(), 0x27);
+                if (pcf8574.Open_Slave()){
+                    Logger.info("PCF8574 opened");
+                    pcf8574.AllOff();
+//                    pcf8574.setPinName(0, "Amplifier Power");
+//                    pcf8574.setPinName(1, "Led Web");
+//                    pcf8574.setPinName(2, "Led IP Camera");
+//                    pcf8574.setPinName(3, "Led Pan Tilt");
+//                    pcf8574.setPinName(4, "Max485 Direction");
+                    gpioExecutor = Executors.newVirtualThreadPerTaskExecutor();
+
+
+                } else {
+                    Logger.error("Failed to open PCF8574");
+                }
+            } else {
+                Logger.error("Failed to open I2C Bus");
+            }
+        } else Logger.error("PCF8574 not supported on this platform");
+    }
+
+    // Untuk test libgpiod
+    // use for jetpack 6.x
+    @SuppressWarnings("unused")
    private static void init_gpio(){
-        if (GPIO.HaveGPIO()){
-            gpioExecutor = Executors.newVirtualThreadPerTaskExecutor();
-            AmplifierPower = InitializePin(RaspberryPi5BPins.Pin13, true);
-            LedWeb = InitializePin(RaspberryPi5BPins.Pin15, true);
-            LedIpCamera = InitializePin(RaspberryPi5BPins.Pin19, true);
-            LedPanTilt = InitializePin(RaspberryPi5BPins.Pin21, true);
-            Max485Direction = InitializePin(RaspberryPi5BPins.Pin23, true);
-        }
+        LibGpioD gpio;
+        Pointer openPointer;
+        // Source : https://jetsonhacks.com/nvidia-jetson-orin-nano-gpio-header-pinout/
+        int gpio_MOSI = 135;
+        int gpio_MISO = 134;
+        if (Platform.isLinux()){
+            gpio = LibGpioD.Instance;
+            openPointer = gpio.gpiod_chip_open(LibGpioD.CHIP_NAME);
+            if (openPointer!=null){
+                Logger.info("GPIO Chip opened : {}", LibGpioD.CHIP_NAME);
+                Pointer miso = gpio.gpiod_line_get(openPointer, gpio_MISO);
+                if (miso!=null){
+                    Logger.info("GPIO Line MISO opened : {}", gpio_MISO);
+                    if (gpio.gpiod_line_request_input(miso, "MISO")!=0){
+                        Logger.error("Failed to set MISO as input");
+                    } else {
+                        Logger.info("MISO opened");
+                        Logger.info("MISO value : {}", gpio.gpiod_line_get_value(miso));
+                    }
+                    gpio.gpiod_line_release(miso);
+                    Logger.info("GPIO Line MISO released : {}", gpio_MISO);
+                } else Logger.error("Failed to open GPIO Line : {}", gpio_MISO);
+                Pointer mosi = gpio.gpiod_line_get(openPointer, gpio_MOSI);
+                if (mosi!=null){
+                    Logger.info("GPIO Line MOSI opened : {}", gpio_MOSI);
+                    if (gpio.gpiod_line_request_output(mosi, "MOSI", 0)!=0){
+                        Logger.error("Failed to set MOSI as output");
+                    } else {
+                        Logger.info("MOSI opened");
+                        int result = gpio.gpiod_line_set_value(mosi, 1);
+                        if (result!=0){
+                            Logger.error("Failed to set MOSI value : {}", result);
+                        } else Logger.info("Success set MOSI value : 1");
+                    }
+                    gpio.gpiod_line_release(mosi);
+                    Logger.info("GPIO Line MOSI released : {}", gpio_MOSI);
+                } else Logger.error("Failed to open GPIO Line : {}", gpio_MOSI);
+                gpio.gpiod_chip_close(openPointer);
+                Logger.info("GPIO Chip closed : {}", LibGpioD.CHIP_NAME);
+            } else Logger.error("Failed to open GPIO Chip : {}", LibGpioD.CHIP_NAME);
+        } else Logger.info("GPIO not supported on this platform");
+    }
+
+
+    // use for jetpack 4.x and 5.x
+    @SuppressWarnings("unused")
+    private static void init_gpio_sysfs(){
+        if (Platform.isLinux()){
+            if (GPIO.HaveGPIO()){
+                gpioExecutor = Executors.newVirtualThreadPerTaskExecutor();
+                AmplifierPower = InitializePin(JetsonOrinPins.Pin13, true);
+                LedWeb = InitializePin(JetsonOrinPins.Pin15, true);
+                LedIpCamera = InitializePin(JetsonOrinPins.Pin19, true);
+                LedPanTilt = InitializePin(JetsonOrinPins.Pin21, true);
+                Max485Direction = InitializePin(JetsonOrinPins.Pin23, true);
+                GPIO.SetValue(AmplifierPower,false);
+                GPIO.SetValue(LedWeb,false);
+                GPIO.SetValue(LedIpCamera,false);
+                GPIO.SetValue(LedPanTilt,false);
+                GPIO.SetValue(Max485Direction,false);
+            }
+        } else Logger.info("GPIO not supported on this platform");
    }


    @SuppressWarnings("SameParameterValue")
-    private static RaspberryPi5BPins InitializePin(RaspberryPi5BPins pin, boolean isOutput){
+    private static JetsonOrinPins InitializePin(JetsonOrinPins pin, boolean isOutput){
        boolean exported = false;
        if (GPIO.GpioPinExists(pin)){
            exported = true;
@@ -121,29 +262,80 @@ public class Main {
    public static void Max485Direction(boolean isTransmit){
        if (Max485Direction!=null){
            GPIO.SetValue(Max485Direction, isTransmit);
+        } else if (pcf8574!=null && pcf8574.isOpened()){
+//            if (isTransmit){
+//                pcf8574.SetPin("Max485 Direction");
+//            } else {
+//                pcf8574.ClearPin("Max485 Direction");
+//            }
        }
    }

    // dipanggil di PanTiltController, maka perlu public dan static
    public static void Blink_LedPanTilt(){
-        Blink(LedPanTilt);
+        if (LedPanTilt!=null){
+            Blink(LedPanTilt);
+        } else if (pcf8574!=null && pcf8574.isOpened()){
+            Blink(1);
+        }
+    }
+
+    public static void Blink_LedWeb(){
+        if (LedWeb!=null){
+            Blink(LedWeb);
+        } else if (pcf8574!=null && pcf8574.isOpened()){
+            Blink(3);
+        }
+    }
+
+    public static void Blink_LedIpCamera(){
+        if (LedIpCamera!=null){
+            Blink(LedIpCamera);
+        } else if (pcf8574!=null && pcf8574.isOpened()){
+            Blink(2);
+        }
    }

    private static void AmplifierControl(boolean isON){
        if (AmplifierPower!=null){
+            Logger.info("GPIO Amplifier Power : ",isON);
            GPIO.SetValue(AmplifierPower, isON);
+        } else if (pcf8574!=null && pcf8574.isOpened()){
+            if (isON){
+                Logger.info("PCF8574 Amplifier Power ON");
+                pcf8574.SetPin(6);
+                pcf8574.SetPin(5);
+                pcf8574.SetPin(4);
+            } else {
+                Logger.info("PCF8574 Amplifier Power OFF");
+                pcf8574.ClearPin(6);
+                pcf8574.ClearPin(5);
+                pcf8574.ClearPin(4);
+            }
        }
    }

-    private static void Blink(RaspberryPi5BPins pin){
+    private static void Blink(int pin){
+        if (pcf8574!=null && pcf8574.isOpened()){
+            if  (gpioExecutor!=null){
+                gpioExecutor.submit(()->{
+                    pcf8574.SetPin(pin);
+                    Sleep(20);
+                    pcf8574.ClearPin(pin);
+                });
+            }
+
+        }
+    }
+
+
+
+    private static void Blink(JetsonOrinPins pin){
        if (pin!=null){
            if (gpioExecutor!=null){
                gpioExecutor.submit(()->{
                    GPIO.SetValue(pin, true);
-                    try {
-                        Thread.sleep(20);
-                    } catch (InterruptedException ignored) {
-                    }
+                    Sleep(20);
                    GPIO.SetValue(pin, false);
                });
            }
@@ -227,10 +419,16 @@ public class Main {

    private static void init_Vapix(){
        Properties config = SomeCodes.LoadProperties("config.properties");
+        Logger.info("Saved Configuration for Camera");
        String ip = config.getProperty("Camera_ip");
        String port = config.getProperty("Camera_port");
        String username = config.getProperty("Camera_user");
        String password = config.getProperty("Camera_password");
+        Logger.info("Camera IP : "+ip);
+        Logger.info("Camera Port : "+port);
+        Logger.info("Camera Username : "+username);
+        Logger.info("Camera Password : "+password);
+
        if (ValidString(ip)){
            if (ValidPortNumber(port)){
                if (ValidString(username)){
@@ -246,7 +444,7 @@ public class Main {
                                } else Logger.error("PTZ Disabled");
                                Logger.info("Max Zoom: "+vapixProtocol.GetPTZMaxZoom());
                                Logger.info("Min Zoom: "+vapixProtocol.GetPTZMinZoom());
-                                Blink(LedIpCamera);
+                                Blink_LedIpCamera();
                            } else Logger.error("Failed to query camera");
                        } else Logger.error("Camera IP is not reachable");
                    } else Logger.error("Camera Password is not valid string");
@@ -255,15 +453,23 @@ public class Main {
        } else Logger.error( "Camera IP is not valid string");
    }

+
+
    private static void init_pantiltcontroller() {
        Properties config = SomeCodes.LoadProperties("config.properties");
        String portname = config.getProperty("SerialPort");
        String baudrate = config.getProperty("SerialBaudRate");
        String PanTiltID = config.getProperty("PanTiltID");
+        Logger.info("Saved Configuration for Pan Tilt Controller");
+        Logger.info("Serial Port : "+portname);
+        Logger.info("Serial Baud Rate : "+baudrate);
+        Logger.info("Pan Tilt ID : "+PanTiltID);
        if (ValidString(portname)){
            if (ValidInteger(baudrate)){
                if (ValidInteger(PanTiltID)){
                    panTiltController = new PanTiltController(portname, Integer.parseInt(baudrate), Integer.parseInt(PanTiltID));
+                    //if (panTiltController.isOpen()) test_pantiltcontroller();
+                    panTiltController.DisableMovementTest();
                }
            } else Logger.error("Invalid PTZ Baudrate");
        } else Logger.error("Invalid PTZ Port");
@@ -274,19 +480,64 @@ public class Main {
        // check if really activated
        useOpenCL = opencv_core.useOpenCL();
        Logger.info("OpenCL available={}, activated={}", haveOpenCL, useOpenCL);
+        haveCuda = opencv_core.getCudaEnabledDeviceCount()>0;
+        if (haveCuda){
+            Logger.info("CUDA enabled devices found: " + opencv_core.getCudaEnabledDeviceCount());
+            //opencv_core.printCudaDeviceInfo(0);
+            //Logger.info("CUDA enabled : "+opencv_core.useOptimized());
+            opencv_core.setUseOptimized(true);
+            Logger.info("CUDA enabled : "+opencv_core.useOptimized());
+
+        } else {
+            Logger.info("No CUDA enabled devices found");
+        }
+//        BytePointer buildinfo = opencv_core.getBuildInformation();
+//        if (buildinfo!=null){
+//            Logger.info("Opencv build information : {}", buildinfo.getString());
+//        } else{
+//            Logger.error("Failed to get OpenCV build information");
+//        }
+
+
+
+
        Properties config = SomeCodes.LoadProperties("config.properties");
        String targetip = config.getProperty("Camera_ip");
        String rtsppath = config.getProperty("Camera_Rtsp_path");
+        int width = 1920;
+        int height = 1080;
+
+        // test pakai sony camera, nanti hapus
+//        targetip = "172.17.195.51";
+//        rtsppath = "/video1";
+//        width = 1280;
+//        height = 720;
+        Logger.info("Camera IP: {}, Rtsp Path: {}, Width: {}, Height: {}", targetip, rtsppath, width,height);
+
        rtspGrabber = null;
        if (ValidString(targetip)){
            if (ValidString(rtsppath)){
                if (IpIsReachable(targetip)){
-                    Logger.info("Camera IP is reachable");
-                    rtspGrabber = new RtspGrabber(targetip, rtsppath);
-                    rtspGrabber.Start(true, 1920, 1080);
-                } else Logger.error("Camera IP is not reachable");
-            } else Logger.error("Camera Path is not valid string");
-        } else Logger.error("Camera IP is not valid string");
+                    Logger.info("Camera IP : "+targetip+" is reachable");
+                    rtspGrabber = new RtspGrabber_opencv(targetip, rtsppath);
+                    rtspGrabber.Start(true, width, height);
+                } else Logger.warn("Camera IP : "+targetip+" is not reachable");
+            } else Logger.warn("Camera Path : "+rtsppath+" is not valid string");
+        } else Logger.warn("Camera IP : "+targetip+" is not valid string");
+    }
+
+    private static void init_multiusb_audio(){
+        multiUSBAudioPlayer = new MultiUSBAudioPlayer();
+        multiUSBAudioPlayer.DetectOutputDevices();
+        int[] devs = multiUSBAudioPlayer.FindDeviceIDWithName("USB");
+        if (devs!=null && devs.length>0){
+            Logger.info("MultiUSB Audio Device found : {}", IntArrayToString(devs));
+            if (multiUSBAudioPlayer.OpenDevice(devs, 48000)){
+                multiUSBAudioPlayer.setMasterVolume(100);
+                multiUSBAudioPlayer.setPlaybackvolume(100);
+                Logger.info("MultiUSB Audio Device ID={} opened", IntArrayToString(devs));
+            } else Logger.error("Failed to open MultiUSB Audio Device ID={}", IntArrayToString(devs));
+        } else Logger.error("MultiUSB Audio Device not found");
    }

    private static void init_audio() {
@@ -309,16 +560,19 @@ public class Main {
        @Override
        public void onPlaybackStart(AudioFileProperties prop) {
            Logger.info("Playback started for {}", prop.filename);
+            AmplifierControl(true);
        }

        @Override
        public void onPlaybackFinished(AudioFileProperties prop) {
            Logger.info("Playback finished for {}", prop.filename);
+            AmplifierControl(false);
        }

        @Override
        public void onPlaybackFailure(AudioFileProperties prop, String reason) {
            Logger.error("Playback failed for {}: {}", prop.filename, reason);
+            AmplifierControl(false);
        }

        @Override
@@ -335,36 +589,63 @@ public class Main {

        @Override
        public WebsocketReply onWebsocketCommand(WebsocketCommand command) {
-            Blink(LedWeb);
+            Blink_LedWeb();
            byte speed;
            String cmd = command.command.toUpperCase().trim();
            switch (cmd){
                // Pan Tilt Movement Commands
                case "PAN LEFT" :
+                    Logger.info("PAN LEFT");
                    speed = GetPanTiltSpeed(command.data, (byte)0x20);
-                    if (panTiltController!=null) panTiltController.PanLeft(speed);
+                    if (panTiltController!=null) {
+                        panTiltController.PanLeft(speed);
+                    }
                    return new WebsocketReply("PAN LEFT", String.valueOf(speed));
                case "PAN RIGHT" :
+                    Logger.info("PAN RIGHT");
                    speed = GetPanTiltSpeed(command.data, (byte)0x20);
-                    if (panTiltController!=null) panTiltController.PanRight(speed);
+                    if (panTiltController!=null) {
+                        panTiltController.PanRight(speed);
+                    }
                    return new WebsocketReply("PAN RIGHT", String.valueOf(speed));
                case "TILT UP" :
+                    Logger.info("TILT UP");
                    speed = GetPanTiltSpeed(command.data, (byte)0x20);
-                    if (panTiltController!=null) panTiltController.TiltUp(speed);
+                    // kebalik
+                    //if (panTiltController!=null) panTiltController.TiltUp(speed);
+                    if (panTiltController!=null) {
+                        panTiltController.TiltDown(speed);
+                    }
                    return new WebsocketReply("TILT UP", String.valueOf(speed));
                case "TILT DOWN" :
+                    Logger.info("TILT DOWN");
                    speed = GetPanTiltSpeed(command.data, (byte)0x20);
-                    if (panTiltController!=null) panTiltController.TiltDown(speed);
+                    // kebalik
+                    //if (panTiltController!=null) panTiltController.TiltDown(speed);
+                    if (panTiltController!=null) {
+                        panTiltController.TiltUp(speed);
+                    }
                    return new WebsocketReply("TILT DOWN", String.valueOf(speed));
                case "STOP MOVEMENT" :
-                    if (panTiltController!=null) panTiltController.StopMovement();
+                    Logger.info("STOP MOVEMENT");
+                    if (panTiltController!=null) {
+                        panTiltController.StopMovement();
+                    }
                    return new WebsocketReply("STOP MOVEMENT", "");
                // Audio Related Commands
                case "MUTE":
-                    audioPlayer.Mute();
+                    if (use_multiusb_audio){
+                        if (multiUSBAudioPlayer!=null) multiUSBAudioPlayer.Mute();
+                    } else {
+                        if (audioPlayer!=null) audioPlayer.Mute();
+                    }
                    return new WebsocketReply("MUTE", "");
                case "UNMUTE":
-                    audioPlayer.Unmute();
+                    if (use_multiusb_audio){
+                        if (multiUSBAudioPlayer!=null) multiUSBAudioPlayer.Unmute();
+                    } else {
+                        if (audioPlayer!=null) audioPlayer.Unmute();
+                    }
                    return new WebsocketReply("UNMUTE", "");
                case "SET VOLUME" :
                    int volume=-1;
@@ -374,11 +655,20 @@ public class Main {
                        if (volume>100) volume = 100;
                    }
                    if (volume>=0){
-                        audioPlayer.setPlaybackvolume(volume);
-                        return new WebsocketReply("SET VOLUME", String.valueOf(volume));
+                        if (use_multiusb_audio){
+                            if (multiUSBAudioPlayer!=null) multiUSBAudioPlayer.setPlaybackvolume(volume);
+                        } else{
+                            if (audioPlayer!=null) audioPlayer.setPlaybackvolume(volume);
+                        }
+                            return new WebsocketReply("SET VOLUME", String.valueOf(volume));
                    } else return new WebsocketReply("SET VOLUME", "Invalid Volume Value");
                case "GET VOLUME" :
-                    int vol = audioPlayer.getPlaybackvolume();
+                    int vol = 0;
+                    if (use_multiusb_audio){
+                        if (multiUSBAudioPlayer!=null) vol = multiUSBAudioPlayer.getPlaybackvolume();
+                    } else {
+                        if (audioPlayer!=null) vol = audioPlayer.getPlaybackvolume();
+                    }
                    return new WebsocketReply("GET VOLUME", String.valueOf(vol));
                case "PLAY AUDIO" :
                    if (ValidInteger(command.data)){
@@ -387,57 +677,99 @@ public class Main {
                        if (ValidString(filename)){
                            File filetoplay = new File(Path.of(currentDirectory, "audiofiles", filename).toString());
                            if (filetoplay.isFile()){
-                                AudioFileProperties afp = audioPlayer.OpenAudioFile(filetoplay);
-                                if (afp!=null){
-                                    audioFileProperties = afp;
-                                    audioPlayer.PlayAudioFile(afp, true, pe);
-                                    AmplifierControl(true);
-                                    return new WebsocketReply("PLAY AUDIO", afp.filename);
+                                if (use_multiusb_audio){
+                                    MultiUSBAudioPlayer.PlaybackHandlewithId[] phs = multiUSBAudioPlayer.OpenAudioFile(filetoplay);
+                                    if (phs!=null && phs.length>0){
+                                        playbackHandles = phs;
+                                        multiUSBAudioPlayer.PlayAudioFile(phs, true, pe);
+                                        return new WebsocketReply("PLAY AUDIO", filename);
+                                    }
+                                    return new WebsocketReply("PLAY AUDIO", "Failed to open audio file "+filename);
+                                } else {
+                                    AudioFileProperties afp = audioPlayer.OpenAudioFile(filetoplay);
+                                    if (afp!=null){
+                                        audioFileProperties = afp;
+                                        audioPlayer.PlayAudioFile(afp, true, pe);
+                                        //AmplifierControl(true);
+                                        return new WebsocketReply("PLAY AUDIO", afp.filename);
+                                    } else return new WebsocketReply("PLAY AUDIO", "Failed to open audio file "+filename);
+                                }

-                                } else return new WebsocketReply("PLAY AUDIO", "Failed to open audio file "+filename);
                            } else return new WebsocketReply("PLAY AUDIO", "Audio file not found : "+filename);
                        } else return new WebsocketReply("PLAY AUDIO", String.format("AudioFile with ID %02d not found", id));
                    } else return new WebsocketReply("PLAY AUDIO", "Invalid Audio ID");
                case "STOP AUDIO" :
-                    if (audioFileProperties!=null){
-                        audioPlayer.CloseAudioFile(audioFileProperties);    // close previous audio file
-                        String filename = audioFileProperties.filename;
-                        audioFileProperties = null;
-                        AmplifierControl(false);
-                        return   new WebsocketReply("STOP AUDIO", filename);
-                    } else return new WebsocketReply("STOP AUDIO", "No audioFileProperties");
+                    if (use_multiusb_audio){
+                        if (playbackHandles!=null && playbackHandles.length>0){
+                            multiUSBAudioPlayer.CloseAudioFile(playbackHandles);
+                            String filename = playbackHandles[0].handle.filename;
+                            playbackHandles = null;
+                            return new WebsocketReply("STOP AUDIO", filename);
+                        } else return new WebsocketReply("STOP AUDIO", "No playbackHandles");
+                    } else {
+                        if (audioFileProperties!=null){
+                            audioPlayer.CloseAudioFile(audioFileProperties);    // close previous audio file
+                            String filename = audioFileProperties.filename;
+                            audioFileProperties = null;
+                            //AmplifierControl(false);
+                            return   new WebsocketReply("STOP AUDIO", filename);
+                        } else return new WebsocketReply("STOP AUDIO", "No audioFileProperties");
+                    }
+
                    // ZOOM Related Commands
                case "GET MAX ZOOM":
                    if (vapixProtocol!=null){
+                        Blink_LedIpCamera();
                        return new WebsocketReply("GET MAX ZOOM", String.valueOf(vapixProtocol.GetPTZMaxZoom()));
                    } else return new WebsocketReply("GET MAX ZOOM", "VapixProtocol not initialized");
                case "GET ZOOM":
                    if (vapixProtocol!=null){
+                        Blink_LedIpCamera();
                        return new WebsocketReply("GET ZOOM", String.valueOf(vapixProtocol.GetCurrentZoomValue()));
                    } else return new WebsocketReply("GET ZOOM", "VapixProtocol not initialized");
                case "SET ZOOM":
-                    if (vapixProtocol.PTZEnabled()){
-                        if (ValidInteger(command.data)){
-                            int zoom = Integer.parseInt(command.data);
-                            if (zoom<vapixProtocol.GetPTZMinZoom()) zoom = vapixProtocol.GetPTZMinZoom();
-                            if (zoom>vapixProtocol.GetPTZMaxZoom()) zoom = vapixProtocol.GetPTZMaxZoom();
-                            if (vapixProtocol.Zoom(1, zoom)){
-                                Blink(LedIpCamera);
-                                return new WebsocketReply("ZOOM", String.valueOf(zoom));
-                            } else return new WebsocketReply("ZOOM", "Failed to zoom");
-                        } else return new WebsocketReply("ZOOM", "Invalid Zoom Value");
-                    } else return new WebsocketReply("ZOOM", "Zoom not supported");
+                    if (vapixProtocol!=null){
+                        if (vapixProtocol.PTZEnabled()){
+                            if (ValidInteger(command.data)){
+                                int zoom = Integer.parseInt(command.data);
+                                if (zoom<vapixProtocol.GetPTZMinZoom()) zoom = vapixProtocol.GetPTZMinZoom();
+                                if (zoom>vapixProtocol.GetPTZMaxZoom()) zoom = vapixProtocol.GetPTZMaxZoom();
+                                Blink_LedIpCamera();
+                                if (vapixProtocol.Zoom(1, zoom)){
+                                    return new WebsocketReply("ZOOM", String.valueOf(zoom));
+                                } else return new WebsocketReply("ZOOM", "Failed to zoom");
+                            } else return new WebsocketReply("ZOOM", "Invalid Zoom Value");
+                        } else return new WebsocketReply("ZOOM", "Zoom not supported");
+                    }
+
                    // Live Streaming Related Commands
                case  "GET BASE64":
                    if (rtspGrabber!=null){
-                        if (Objects.equals(command.data,"HQ"))
-                            return new WebsocketReply("GET BASE64", "data:image/jpeg;base64,"+ rtspGrabber.getLastHQBase64(), rtspGrabber.HQStreamingStatus());
-                        else
-                            return new WebsocketReply("GET BASE64", "data:image/jpeg;base64,"+ rtspGrabber.getLastLQBase64(), rtspGrabber.LQStreamingStatus());
+                        if (use_Yolo){
+                            return switch (command.data) {
+                                case "HQ" ->
+                                        new WebsocketReply("GET BASE64", "data:image/jpeg;base64," + rtspGrabber.getLastHQBase64(), rtspGrabber.HQStreamingStatus());
+                                case "YOLO" ->
+                                        new WebsocketReply("GET BASE64", "data:image/jpeg;base64," + rtspGrabber.getLastLQBase64(), rtspGrabber.LQStreamingStatus());
+                                case "LQ" ->
+                                        new WebsocketReply("GET BASE64", "data:image/jpeg;base64," + rtspGrabber.getLastYoloBase64(), rtspGrabber.LQStreamingStatus());
+                                default -> new WebsocketReply("GET BASE64", "RTSP Grabber not initialized");
+                            };
+                        } else {
+                            return switch (command.data) {
+                                case "HQ" ->
+                                        new WebsocketReply("GET BASE64", "data:image/jpeg;base64," + rtspGrabber.getLastHQBase64(), rtspGrabber.HQStreamingStatus());
+                                case "LQ" ->
+                                        new WebsocketReply("GET BASE64", "data:image/jpeg;base64," + rtspGrabber.getLastLQBase64(), rtspGrabber.LQStreamingStatus());
+                                default -> new WebsocketReply("GET BASE64", "RTSP Grabber not initialized");
+                            };
+                        }
+
                    } else return new WebsocketReply("GET BASE64", "RTSP Grabber not initialized");
                case "GET RESOLUTION":
                    if (vapixProtocol!=null){
                        int[] res = vapixProtocol.GetCurrentResolution(1);
+                        Blink_LedIpCamera();
                        return new WebsocketReply("GET RESOLUTION", String.format("%dx%d", res[0], res[1]));
                    } else return new WebsocketReply("GET RESOLUTION", "VapixProtocol not initialized");
                case "GET AUDIOFILES":
Author	SHA1	Message	Date
rdkartono	a1b6ec54ab	Patch 17/03/2025	2025-03-17 13:35:05 +07:00
rdkartono	123a89eec9	Patch 04/03/2025	2025-03-04 12:25:02 +07:00
rdkartono	e1d129fa07	Kirim ke Bandara 27/02/2025	2025-02-27 15:11:56 +07:00
rdkartono	5f8d1946c0	YOLODetector is working (25/02/2025)	2025-02-25 13:56:57 +07:00
rdkartono	ce5c8d5946	Change SBC to Jetson Orin	2025-02-25 07:35:38 +07:00
rdkartono	21e8ab1e82	Change SBC to Jetson Orin	2024-12-03 15:59:18 +07:00
rdkartono	ea891d2744	GPIO checked for Raspberry Pi 5B	2024-12-03 15:22:44 +07:00
rdkartono	f2d560049f	Changes by Monika DV	2024-11-28 15:00:37 +07:00
rdkartono	f515f829cf	GPIO control. Bug fix.	2024-11-15 11:22:16 +07:00