@@ -304,12 +291,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
color="buttonPassive"
style="width: 100%"
:variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
- @click="
- setCameraView(
- module.matchedCameraInfo,
- cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
- )
- "
+ @click="setCameraView(module.matchedCameraInfo, cameraConnected(module.matchedCameraInfo.uniquePath))"
>
Details
@@ -354,15 +336,15 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
- USB Camera:
- CSI Camera:
- File Camera:
+ USB Camera:
+ CSI Camera:
+ File Camera:Unknown Camera:
- {{ cameraInfoFor(camera)?.name ?? cameraInfoFor(camera)?.baseName }}
+ {{ camera.name }}Status: Unassigned
- {{ cameraInfoFor(camera)?.path }}
+ {{ camera?.path }}
@@ -413,7 +395,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
- {{ cameraInfoFor(viewingCamera[0])?.name ?? cameraInfoFor(viewingCamera[0])?.baseName }}
+ {{ viewingCamera[0].name }}mdi-close
@@ -423,9 +405,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
pipelineSettings = new ArrayList<>();
+ public List pipelineSettings = new ArrayList<>();
- @JsonIgnore
public DriverModePipelineSettings driveModeSettings = new DriverModePipelineSettings();
public CameraConfiguration(PVCameraInfo cameraInfo, String uniqueName, String nickname) {
@@ -78,24 +74,22 @@ public class CameraConfiguration {
logger.debug("Creating USB camera configuration for " + this.toShortString());
}
- // Shiny new constructor
- @JsonCreator
+ // JSON Constructor (can't be marked with @Json.Creator due to public fields that aren't part of
+ // the parameters)
public CameraConfiguration(
- @JsonProperty("uniqueName") String uniqueName,
- @JsonProperty("matchedCameraInfo") PVCameraInfo matchedCameraInfo,
- @JsonProperty("nickname") String nickname,
- @JsonProperty("deactivated") boolean deactivated,
- @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
- @JsonProperty("FOV") double FOV,
- @JsonProperty("calibrations") List calibrations,
- @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
+ String uniqueName,
+ PVCameraInfo matchedCameraInfo,
+ String nickname,
+ boolean deactivated,
+ QuirkyCamera cameraQuirks,
+ double FOV,
+ int currentPipelineIndex) {
this.uniqueName = uniqueName;
this.matchedCameraInfo = matchedCameraInfo;
this.nickname = nickname;
this.deactivated = deactivated;
this.cameraQuirks = cameraQuirks;
this.FOV = FOV;
- this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
this.currentPipelineIndex = currentPipelineIndex;
}
@@ -120,14 +114,14 @@ public class CameraConfiguration {
PVCameraInfo matchedCameraInfo;
/** Legacy constructor for compat with 2024.3.1 */
- @JsonCreator
+ @Json.Creator
public LegacyCameraConfigStruct(
- @JsonProperty("baseName") String baseName,
- @JsonProperty("path") String path,
- @JsonProperty("otherPaths") String[] otherPaths,
- @JsonProperty("cameraType") CameraType cameraType,
- @JsonProperty("usbVID") int usbVID,
- @JsonProperty("usbPID") int usbPID) {
+ String baseName,
+ String path,
+ String[] otherPaths,
+ CameraType cameraType,
+ int usbVID,
+ int usbPID) {
if (cameraType == CameraType.UsbCamera) {
this.matchedCameraInfo =
PVCameraInfo.fromUsbCameraInfo(
@@ -171,16 +165,16 @@ public class CameraConfiguration {
}
/**
- * Replace a calibration in our list with the same unrotatedImageSize with a new one, or add it if
- * none exists yet. If we are replacing an existing calibration, the old one will be "released"
- * and the underlying data matrices will become invalid.
+ * Replace a calibration in our list with the same resolution with a new one, or add it if none
+ * exists yet. If we are replacing an existing calibration, the old one will be "released" and the
+ * underlying data matrices will become invalid.
*
* @param calibration The calibration to add.
*/
public void addCalibration(CameraCalibrationCoefficients calibration) {
- logger.info("adding calibration " + calibration.unrotatedImageSize);
+ logger.info("adding calibration " + calibration.resolution);
calibrations.stream()
- .filter(it -> it.unrotatedImageSize.equals(calibration.unrotatedImageSize))
+ .filter(it -> it.resolution.equals(calibration.resolution))
.findAny()
.ifPresent(
(it) -> {
@@ -194,12 +188,12 @@ public class CameraConfiguration {
* Remove a calibration from our list. If found, the calibration will be "released". If not found,
* no-op.
*
- * @param unrotatedImageSize The resolution to remove.
+ * @param resolution The resolution to remove.
*/
- public void removeCalibration(Size unrotatedImageSize) {
- logger.info("deleting calibration " + unrotatedImageSize);
+ public void removeCalibration(Size resolution) {
+ logger.info("deleting calibration " + resolution);
calibrations.stream()
- .filter(it -> it.unrotatedImageSize.equals(unrotatedImageSize))
+ .filter(it -> it.resolution.equals(resolution))
.findAny()
.ifPresent(
(it) -> {
@@ -215,7 +209,6 @@ public class CameraConfiguration {
*
*
This represents our best guess at an immutable path to detect a camera at.
*/
- @JsonIgnore
public String getDevicePath() {
return matchedCameraInfo.uniquePath();
}
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
index d8fe57622..86a994315 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -17,7 +17,10 @@
package org.photonvision.common.configuration;
+import io.avaje.json.JsonException;
+import io.avaje.jsonb.Jsonb;
import java.io.File;
+import java.io.FileWriter;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
@@ -34,7 +37,6 @@ import org.opencv.core.Size;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.file.FileUtils;
-import org.photonvision.common.util.file.JacksonUtils;
import org.photonvision.vision.processes.VisionSource;
import org.zeroturnaround.zip.ZipUtil;
@@ -233,14 +235,15 @@ public class ConfigManager {
Path.of(getModelsDirectory().toString(), "photonvision-object-detection-models.json")
.toFile();
try {
- JacksonUtils.serialize(
- tempProperties.toPath(), this.getConfig().neuralNetworkPropertyManager());
+ Jsonb.instance()
+ .type(NeuralNetworkModelsSettings.class)
+ .toJson(this.getConfig().getNeuralNetworkProperties(), new FileWriter(tempProperties));
ZipUtil.pack(getModelsDirectory(), out);
// Now delete the tempProperties
if (tempProperties.exists()) {
Files.delete(tempProperties.toPath());
}
- } catch (Exception e) {
+ } catch (IOException | IllegalStateException | JsonException e) {
e.printStackTrace();
}
return out;
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
index 23d875bfa..feded462c 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
@@ -17,47 +17,49 @@
package org.photonvision.common.configuration;
-import com.fasterxml.jackson.annotation.JsonAlias;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import io.avaje.jsonb.Json;
import java.util.ArrayList;
+import java.util.List;
import org.photonvision.common.hardware.statusLED.StatusLEDType;
-@JsonIgnoreProperties(ignoreUnknown = true)
+@Json
public class HardwareConfig {
- public final String deviceName;
+ public String deviceName;
// LED control
- public final ArrayList ledPins;
- public final boolean ledsCanDim;
- public final ArrayList ledBrightnessRange;
- public final int ledPWMFrequency;
- public final StatusLEDType statusLEDType;
+ public List ledPins;
+ public boolean ledsCanDim;
+ public List ledBrightnessRange;
+ public int ledPWMFrequency;
+ public StatusLEDType statusLEDType;
- @JsonAlias("statusRGBPins")
- public final ArrayList statusLEDPins;
+ // MIGRATION: 2026
+ @Json.Alias("statusRGBPins")
+ public List statusLEDPins;
- @JsonAlias("statusRGBActiveHigh")
- public final boolean statusLEDActiveHigh;
+ // MIGRATION: 2026
+ @Json.Alias("statusRGBActiveHigh")
+ public boolean statusLEDActiveHigh;
// Custom GPIO
- public final String getGPIOCommand;
- public final String setGPIOCommand;
- public final String setPWMCommand;
- public final String setPWMFrequencyCommand;
- public final String releaseGPIOCommand;
+ public String getGPIOCommand;
+ public String setGPIOCommand;
+ public String setPWMCommand;
+ public String setPWMFrequencyCommand;
+ public String releaseGPIOCommand;
// Device stuff
- public final String restartHardwareCommand;
- public final double vendorFOV; // -1 for unmanaged
+ public String restartHardwareCommand;
+ public double vendorFOV; // -1 for unmanaged
public HardwareConfig(
String deviceName,
- ArrayList ledPins,
+ List ledPins,
boolean ledsCanDim,
- ArrayList ledBrightnessRange,
+ List ledBrightnessRange,
int ledPwmFrequency,
StatusLEDType statusLEDType,
- ArrayList statusLEDPins,
+ List statusLEDPins,
boolean statusLEDActiveHigh,
String getGPIOCommand,
String setGPIOCommand,
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
index 5b5197256..9b93ff832 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
@@ -17,8 +17,11 @@
package org.photonvision.common.configuration;
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.json.JsonException;
+import io.avaje.jsonb.Jsonb;
import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
import java.io.IOException;
import java.io.UncheckedIOException;
import java.nio.file.Files;
@@ -34,9 +37,6 @@ import java.util.stream.Stream;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.file.FileUtils;
-import org.photonvision.common.util.file.JacksonUtils;
-import org.photonvision.vision.pipeline.CVPipelineSettings;
-import org.photonvision.vision.pipeline.DriverModePipelineSettings;
import org.photonvision.vision.processes.VisionSource;
import org.wpilib.vision.apriltag.AprilTagFieldLayout;
import org.wpilib.vision.apriltag.AprilTagFields;
@@ -126,14 +126,13 @@ class LegacyConfigProvider extends ConfigProvider {
AprilTagFieldLayout atfl = null;
if (hardwareConfigFile.exists()) {
- try {
- hardwareConfig =
- JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class);
+ try (var stream = new FileInputStream(hardwareConfigFile)) {
+ hardwareConfig = Jsonb.instance().type(HardwareConfig.class).fromJson(stream);
if (hardwareConfig == null) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
}
- } catch (IOException e) {
+ } catch (IOException | IllegalStateException | JsonException e) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
}
@@ -143,14 +142,13 @@ class LegacyConfigProvider extends ConfigProvider {
}
if (hardwareSettingsFile.exists()) {
- try {
- hardwareSettings =
- JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
+ try (var stream = new FileInputStream(hardwareSettingsFile)) {
+ hardwareSettings = Jsonb.instance().type(HardwareSettings.class).fromJson(stream);
if (hardwareSettings == null) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
}
- } catch (IOException e) {
+ } catch (IOException | IllegalStateException | JsonException e) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
}
@@ -160,13 +158,13 @@ class LegacyConfigProvider extends ConfigProvider {
}
if (networkConfigFile.exists()) {
- try {
- networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
+ try (var stream = new FileInputStream(networkConfigFile)) {
+ networkConfig = Jsonb.instance().type(NetworkConfig.class).fromJson(stream);
if (networkConfig == null) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
}
- } catch (IOException e) {
+ } catch (IOException | IllegalStateException | JsonException e) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
}
@@ -184,13 +182,12 @@ class LegacyConfigProvider extends ConfigProvider {
}
if (apriltagFieldLayoutFile.exists()) {
- try {
- atfl =
- JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class);
+ try (var stream = new FileInputStream(apriltagFieldLayoutFile)) {
+ atfl = Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(stream);
if (atfl == null) {
logger.error("Could not deserialize apriltag field layout! (still null)");
}
- } catch (IOException e) {
+ } catch (IOException | IllegalStateException | JsonException e) {
logger.error("Could not deserialize apriltag field layout!", e);
atfl = null; // not required, nice to be explicit
}
@@ -227,14 +224,14 @@ class LegacyConfigProvider extends ConfigProvider {
// Delete old configs
FileUtils.deleteDirectory(camerasFolder.toPath());
- try {
- JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
- } catch (IOException e) {
+ try (var stream = new FileOutputStream(networkConfigFile)) {
+ Jsonb.instance().type(NetworkConfig.class).toJson(config.getNetworkConfig(), stream);
+ } catch (IOException | IllegalStateException | JsonException e) {
logger.error("Could not save network config!", e);
}
- try {
- JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
- } catch (IOException e) {
+ try (var stream = new FileOutputStream(hardwareSettingsFile)) {
+ Jsonb.instance().type(HardwareSettings.class).toJson(config.getHardwareSettings(), stream);
+ } catch (IOException | IllegalStateException | JsonException e) {
logger.error("Could not save hardware config!", e);
}
@@ -249,33 +246,11 @@ class LegacyConfigProvider extends ConfigProvider {
subdir.toFile().mkdirs();
}
- try {
- JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
- } catch (IOException e) {
+ try (var stream = new FileOutputStream(Path.of(subdir.toString(), "config.json").toFile())) {
+ Jsonb.instance().type(CameraConfiguration.class).toJson(camConfig, stream);
+ } catch (IOException | IllegalStateException | JsonException e) {
logger.error("Could not save config.json for " + subdir, e);
}
-
- try {
- JacksonUtils.serialize(
- Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings);
- } catch (IOException e) {
- logger.error("Could not save drivermode.json for " + subdir, e);
- }
-
- for (var pipe : camConfig.pipelineSettings) {
- var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json");
-
- if (!pipePath.getParent().toFile().exists()) {
- // TODO: check for error
- pipePath.getParent().toFile().mkdirs();
- }
-
- try {
- JacksonUtils.serialize(pipePath, pipe);
- } catch (IOException e) {
- logger.error("Could not save " + pipe.pipelineNickname + ".json!", e);
- }
- }
}
logger.info("Settings saved!");
return false; // TODO, deal with this. Do I need to?
@@ -289,11 +264,9 @@ class LegacyConfigProvider extends ConfigProvider {
for (var subdir : subdirectories) {
var cameraConfigPath = Path.of(subdir.toString(), "config.json");
CameraConfiguration loadedConfig = null;
- try {
- loadedConfig =
- JacksonUtils.deserialize(
- cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
- } catch (JsonProcessingException e) {
+ try (var stream = new FileInputStream(cameraConfigPath.toFile())) {
+ loadedConfig = Jsonb.instance().type(CameraConfiguration.class).fromJson(stream);
+ } catch (IllegalStateException | JsonException e) {
logger.error("Camera config deserialization failed!", e);
e.printStackTrace();
}
@@ -302,63 +275,6 @@ class LegacyConfigProvider extends ConfigProvider {
continue; // TODO how do we later try to load this camera if it gets reconnected?
}
- // At this point we have only loaded the base stuff
- // We still need to deserialize pipelines, as well as
- // driver mode settings
- var driverModeFile = Path.of(subdir.toString(), "drivermode.json");
- DriverModePipelineSettings driverMode;
- try {
- driverMode =
- JacksonUtils.deserialize(
- driverModeFile.toAbsolutePath(), DriverModePipelineSettings.class);
- } catch (JsonProcessingException e) {
- logger.error("Could not deserialize drivermode.json! Loading defaults");
- logger.debug(Arrays.toString(e.getStackTrace()));
- driverMode = new DriverModePipelineSettings();
- }
- if (driverMode == null) {
- logger.warn(
- "Could not load camera " + subdir + "'s drivermode.json! Loading" + " default");
- driverMode = new DriverModePipelineSettings();
- }
-
- // Load pipelines by mapping the files within the pipelines subdir
- // to their deserialized equivalents
- var pipelineSubdirectory = Path.of(subdir.toString(), "pipelines");
- List settings = Collections.emptyList();
- if (pipelineSubdirectory.toFile().exists()) {
- try (Stream subdirectoryFiles = Files.list(pipelineSubdirectory)) {
- settings =
- subdirectoryFiles
- .filter(p -> p.toFile().isFile())
- .map(
- p -> {
- var relativizedFilePath =
- configDirectoryFile
- .toPath()
- .toAbsolutePath()
- .relativize(p)
- .toString();
- try {
- return JacksonUtils.deserialize(p, CVPipelineSettings.class);
- } catch (JsonProcessingException e) {
- logger.error("Exception while deserializing " + relativizedFilePath, e);
- } catch (IOException e) {
- logger.warn(
- "Could not load pipeline at "
- + relativizedFilePath
- + "! Skipping...");
- }
- return null;
- })
- .filter(Objects::nonNull)
- .toList();
- }
- }
-
- loadedConfig.driveModeSettings = driverMode;
- loadedConfig.addPipelineSettings(settings);
-
loadedConfigurations.put(subdir.toFile().getName(), loadedConfig);
}
} catch (IOException e) {
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
index bb0c6cd05..cd23ae65e 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -17,16 +17,17 @@
package org.photonvision.common.configuration;
-import com.fasterxml.jackson.annotation.JsonAlias;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.networking.NetworkMode;
+@Json
public class NetworkConfig {
// Can be an integer team number, or an IP address
+ // MIGRATION: 2023
+ @Json.Alias("teamNumber")
public String ntServerAddress = "0";
+
public NetworkMode connectionType = NetworkMode.DHCP;
public String staticIp = "";
public String hostname = "photonvision";
@@ -34,8 +35,8 @@ public class NetworkConfig {
public boolean shouldManage;
public boolean shouldPublishProto = false;
- @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
- @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
+ public static final String NM_IFACE_STRING = "${interface}";
+ public static final String NM_IP_STRING = "${ipaddr}";
public String networkManagerIface = "";
// TODO: remove these strings if no longer needed
@@ -50,19 +51,17 @@ public class NetworkConfig {
setShouldManage(deviceCanManageNetwork());
}
- @JsonCreator
public NetworkConfig(
- @JsonProperty("ntServerAddress") @JsonAlias({"ntServerAddress", "teamNumber"})
- String ntServerAddress,
- @JsonProperty("connectionType") NetworkMode connectionType,
- @JsonProperty("staticIp") String staticIp,
- @JsonProperty("hostname") String hostname,
- @JsonProperty("runNTServer") boolean runNTServer,
- @JsonProperty("shouldManage") boolean shouldManage,
- @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
- @JsonProperty("networkManagerIface") String networkManagerIface,
- @JsonProperty("setStaticCommand") String setStaticCommand,
- @JsonProperty("setDHCPcommand") String setDHCPcommand) {
+ String ntServerAddress,
+ NetworkMode connectionType,
+ String staticIp,
+ String hostname,
+ boolean runNTServer,
+ boolean shouldManage,
+ boolean shouldPublishProto,
+ String networkManagerIface,
+ String setStaticCommand,
+ String setDHCPcommand) {
this.ntServerAddress = ntServerAddress;
this.connectionType = connectionType;
this.staticIp = staticIp;
@@ -89,12 +88,10 @@ public class NetworkConfig {
config.setDHCPcommand);
}
- @JsonIgnore
public String getPhysicalInterfaceName() {
return this.networkManagerIface;
}
- @JsonIgnore
public String getEscapedInterfaceName() {
return "\"" + networkManagerIface + "\"";
}
@@ -103,7 +100,6 @@ public class NetworkConfig {
this.shouldManage = shouldManage && this.deviceCanManageNetwork();
}
- @JsonIgnore
protected boolean deviceCanManageNetwork() {
return Platform.isLinux();
}
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
index b1df50fa4..9700b5539 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
@@ -318,7 +318,7 @@ public class NeuralNetworkModelManager {
}
ModelProperties properties =
- ConfigManager.getInstance().getConfig().neuralNetworkPropertyManager().getModel(path);
+ ConfigManager.getInstance().getConfig().getNeuralNetworkProperties().getModel(path);
if (properties == null) {
logger.warn(
@@ -332,7 +332,7 @@ public class NeuralNetworkModelManager {
// NeuralNetworkModelsSettings
ConfigManager.getInstance()
.getConfig()
- .neuralNetworkPropertyManager()
+ .getNeuralNetworkProperties()
.addModelProperties(properties);
} catch (IllegalArgumentException | IOException e) {
logger.error("Failed to translate legacy model filename to properties: " + path, e);
@@ -486,7 +486,7 @@ public class NeuralNetworkModelManager {
.getConfig()
.setNeuralNetworkProperties(
supportedProperties.sum(
- ConfigManager.getInstance().getConfig().neuralNetworkPropertyManager()));
+ ConfigManager.getInstance().getConfig().getNeuralNetworkProperties()));
}
public boolean clearModels() {
@@ -511,7 +511,7 @@ public class NeuralNetworkModelManager {
}
// Delete model info
- return ConfigManager.getInstance().getConfig().neuralNetworkPropertyManager().clear();
+ return ConfigManager.getInstance().getConfig().getNeuralNetworkProperties().clear();
}
public File exportSingleModel(String modelPath) {
@@ -525,7 +525,7 @@ public class NeuralNetworkModelManager {
ModelProperties properties =
ConfigManager.getInstance()
.getConfig()
- .neuralNetworkPropertyManager()
+ .getNeuralNetworkProperties()
.getModel(Path.of(modelPath));
String fileName = "";
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelsSettings.java b/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelsSettings.java
index 56e230280..96b69698f 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelsSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelsSettings.java
@@ -17,9 +17,10 @@
package org.photonvision.common.configuration;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
+import io.avaje.jsonb.Types;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
@@ -27,27 +28,29 @@ import java.nio.file.Paths;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
+import java.util.Map;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
import org.photonvision.common.configuration.NeuralNetworkModelManager.Version;
+@Json
public class NeuralNetworkModelsSettings {
/*
* The properties of the model. This is used to determine which model to load.
* The only families currently supported are RKNN and Rubik (custom .tflite)
*/
+ @Json
public record ModelProperties(
- @JsonProperty("modelPath") Path modelPath,
- @JsonProperty("nickname") String nickname,
- @JsonProperty("labels") List labels,
- @JsonProperty("resolutionWidth") int resolutionWidth,
- @JsonProperty("resolutionHeight") int resolutionHeight,
- @JsonProperty("family") Family family,
- @JsonProperty("version") Version version) {
- @JsonCreator
- public ModelProperties {}
-
+ Path modelPath,
+ String nickname,
+ List labels,
+ int resolutionWidth,
+ int resolutionHeight,
+ Family family,
+ Version version) {
ModelProperties(ModelProperties other) {
this(
other.modelPath,
@@ -59,13 +62,6 @@ public class NeuralNetworkModelsSettings {
other.version);
}
- // In v2025.3.1, this was single string for the model path. but the first argument
- // is now nickname
- public ModelProperties(@JsonProperty("nickname") String filename)
- throws IllegalArgumentException, IOException {
- this(createFromFilename(filename));
- }
-
// ============= Migration code from v2025.3.1 ===========
private static Pattern modelPattern =
@@ -160,25 +156,58 @@ public class NeuralNetworkModelsSettings {
// The path to the model is used as the key in the map because it is unique to
// the model, and should not change
- @JsonProperty("modelPathToProperties")
+ @Json.Ignore
private HashMap modelPathToProperties =
new HashMap();
/**
* Constructor for the NeuralNetworkProperties class.
*
- *
This object holds a LinkedList of {@link ModelProperties} objects
+ *
This object holds a HashMap of {@link ModelProperties} objects
*/
public NeuralNetworkModelsSettings() {}
/**
* Constructor for the NeuralNetworkProperties class.
*
- *
This object holds a LinkedList of {@link ModelProperties} objects.
+ *
This object holds a HashMap of {@link ModelProperties} objects.
+ *
+ * @param modelPropertiesMap When the class is constructed, it will hold the provided map
+ */
+ public NeuralNetworkModelsSettings(HashMap modelPropertiesMap) {
+ modelPathToProperties = modelPropertiesMap;
+ }
+
+ /**
+ * Constructor for the NeuralNetworkProperties class.
+ *
+ *
This object holds a HashMap of {@link ModelProperties} objects.
*
* @param modelPropertiesList When the class is constructed, it will hold the provided list
*/
- public NeuralNetworkModelsSettings(HashMap modelPropertiesList) {}
+ @Json.Creator
+ public NeuralNetworkModelsSettings(
+ ModelProperties[] models, @Json.Unmapped Map unmapped) {
+ JsonType> modelPropsMapJsonb =
+ Jsonb.instance().type(Types.mapOf(ModelProperties.class));
+ Stream modelPropsStream;
+ if (models != null) {
+ modelPropsStream = Arrays.stream(models);
+ } else if (unmapped.containsKey("modelPathToProperties")) {
+ // MIGRATION: 2026
+ modelPropsStream =
+ modelPropsMapJsonb.fromObject(unmapped.get("modelPathToProperties")).values().stream();
+ } else {
+ modelPropsStream = Stream.empty();
+ }
+ this(
+ modelPropsStream.collect(
+ Collectors.toMap(
+ (model) -> model.modelPath(),
+ (model) -> model,
+ (prev, next) -> next,
+ HashMap::new)));
+ }
@Override
public String toString() {
@@ -239,7 +268,7 @@ public class NeuralNetworkModelsSettings {
*
* @return A list of all models
*/
- @JsonIgnore
+ @Json.Property("models")
public ModelProperties[] getModels() {
return modelPathToProperties.values().toArray(new ModelProperties[0]);
}
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index 83ece829c..bf9c8f28f 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -17,19 +17,25 @@
package org.photonvision.common.configuration;
+import io.avaje.jsonb.Json;
import java.util.Collection;
import java.util.HashMap;
import java.util.List;
+import java.util.Map;
import org.photonvision.vision.processes.VisionSource;
import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+@Json
public class PhotonConfiguration {
private final HardwareConfig hardwareConfig;
private final HardwareSettings hardwareSettings;
private NetworkConfig networkConfig;
- private AprilTagFieldLayout atfl;
+
+ @Json.Property("atfl")
+ private AprilTagFieldLayout aprilTagFieldLayout;
+
private NeuralNetworkModelsSettings neuralNetworkProperties;
- private HashMap cameraConfigurations;
+ private Map cameraConfigurations;
public PhotonConfiguration(
HardwareConfig hardwareConfig,
@@ -46,19 +52,20 @@ public class PhotonConfiguration {
new HashMap<>());
}
+ @Json.Creator
public PhotonConfiguration(
HardwareConfig hardwareConfig,
HardwareSettings hardwareSettings,
NetworkConfig networkConfig,
AprilTagFieldLayout atfl,
NeuralNetworkModelsSettings neuralNetworkProperties,
- HashMap cameraConfigurations) {
+ Map cameraConfigurations) {
this.hardwareConfig = hardwareConfig;
this.hardwareSettings = hardwareSettings;
this.networkConfig = networkConfig;
this.neuralNetworkProperties = neuralNetworkProperties;
this.cameraConfigurations = cameraConfigurations;
- this.atfl = atfl;
+ this.aprilTagFieldLayout = atfl;
}
public PhotonConfiguration() {
@@ -83,15 +90,15 @@ public class PhotonConfiguration {
}
public AprilTagFieldLayout getApriltagFieldLayout() {
- return atfl;
+ return aprilTagFieldLayout;
}
- public NeuralNetworkModelsSettings neuralNetworkPropertyManager() {
+ public NeuralNetworkModelsSettings getNeuralNetworkProperties() {
return neuralNetworkProperties;
}
public void setApriltagFieldLayout(AprilTagFieldLayout atfl) {
- this.atfl = atfl;
+ this.aprilTagFieldLayout = atfl;
}
public void setNetworkConfig(NetworkConfig networkConfig) {
@@ -102,7 +109,7 @@ public class PhotonConfiguration {
this.neuralNetworkProperties = neuralNetworkProperties;
}
- public HashMap getCameraConfigurations() {
+ public Map getCameraConfigurations() {
return cameraConfigurations;
}
@@ -148,8 +155,8 @@ public class PhotonConfiguration {
+ hardwareSettings
+ "\n networkConfig="
+ networkConfig
- + "\n atfl="
- + atfl
+ + "\n aprilTagFieldLayout="
+ + aprilTagFieldLayout
+ "\n neuralNetworkProperties="
+ neuralNetworkProperties
+ "\n cameraConfigurations={"
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
index c00e98e33..170fec244 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
@@ -17,24 +17,27 @@
package org.photonvision.common.configuration;
+import io.avaje.json.JsonException;
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
+import io.avaje.jsonb.Types;
import java.io.File;
import java.io.IOException;
import java.io.UncheckedIOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.sql.*;
-import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
-import java.util.Objects;
import java.util.function.Supplier;
+import java.util.regex.Pattern;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.CameraConfiguration.LegacyCameraConfigStruct;
import org.photonvision.common.configuration.DatabaseSchema.Columns;
import org.photonvision.common.configuration.DatabaseSchema.Tables;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.file.JacksonUtils;
+import org.photonvision.vision.camera.PVCameraInfo;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.DriverModePipelineSettings;
import org.wpilib.vision.apriltag.AprilTagFieldLayout;
@@ -260,16 +263,16 @@ public class SqlConfigProvider extends ConfigProvider {
T configObj;
if (!configString.isBlank()) {
try {
- configObj = JacksonUtils.deserialize(configString, ref);
+ configObj = Jsonb.instance().type(ref).fromJson(configString);
logger.info("Loaded " + ref.getSimpleName() + " from database");
return configObj;
- } catch (IOException e) {
+ } catch (IllegalStateException | JsonException e) {
logger.error("Could not deserialize " + ref.getSimpleName() + " from database!", e);
}
} else {
logger.debug("No " + ref.getSimpleName() + " in database");
}
- // either the config entry is empty or Jackson threw an exception
+ // either the config entry is empty or Jsonb threw an exception
try {
configObj = factory.get();
logger.info("Loaded default " + ref.getSimpleName());
@@ -390,30 +393,16 @@ public class SqlConfigProvider extends ConfigProvider {
var config = c.getValue();
statement.setString(1, c.getKey());
- statement.setString(2, JacksonUtils.serializeToString(config));
- statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
+ statement.setString(2, Jsonb.instance().type(CameraConfiguration.class).toJson(config));
- // Serializing a list of abstract classes sucks. Instead, make it into an array
- // of strings, which we can later unpack back into individual settings
- List settings =
- config.pipelineSettings.stream()
- .map(
- it -> {
- try {
- return JacksonUtils.serializeToString(it);
- } catch (IOException e) {
- e.printStackTrace();
- return null;
- }
- })
- .filter(Objects::nonNull)
- .toList();
- statement.setString(4, JacksonUtils.serializeToString(settings));
+ // MIGRATION: 2026
+ // We used to serialize pipelines separately, but don't anymore
+ statement.setString(3, "null");
+ statement.setString(4, "[]");
statement.executeUpdate();
}
-
- } catch (SQLException | IOException e) {
+ } catch (SQLException | IllegalStateException | JsonException e) {
logger.error("Err saving cameras", e);
try {
conn.rollback();
@@ -469,7 +458,7 @@ public class SqlConfigProvider extends ConfigProvider {
addFile(
statement1,
GlobalKeys.HARDWARE_SETTINGS,
- JacksonUtils.serializeToString(config.getHardwareSettings()));
+ Jsonb.instance().type(HardwareSettings.class).toJson(config.getHardwareSettings()));
statement1.executeUpdate();
}
@@ -478,7 +467,7 @@ public class SqlConfigProvider extends ConfigProvider {
addFile(
statement2,
GlobalKeys.NETWORK_CONFIG,
- JacksonUtils.serializeToString(config.getNetworkConfig()));
+ Jsonb.instance().type(NetworkConfig.class).toJson(config.getNetworkConfig()));
statement2.executeUpdate();
statement2.close();
}
@@ -488,7 +477,7 @@ public class SqlConfigProvider extends ConfigProvider {
addFile(
statement3,
GlobalKeys.HARDWARE_CONFIG,
- JacksonUtils.serializeToString(config.getHardwareConfig()));
+ Jsonb.instance().type(HardwareConfig.class).toJson(config.getHardwareConfig()));
statement3.executeUpdate();
statement3.close();
}
@@ -498,12 +487,14 @@ public class SqlConfigProvider extends ConfigProvider {
addFile(
statement3,
GlobalKeys.NEURAL_NETWORK_PROPERTIES,
- JacksonUtils.serializeToString(config.neuralNetworkPropertyManager()));
+ Jsonb.instance()
+ .type(NeuralNetworkModelsSettings.class)
+ .toJson(config.getNeuralNetworkProperties()));
statement3.executeUpdate();
statement3.close();
}
- } catch (SQLException | IOException e) {
+ } catch (SQLException | IllegalStateException | JsonException e) {
logger.error("Err saving global", e);
try {
conn.rollback();
@@ -594,6 +585,12 @@ public class SqlConfigProvider extends ConfigProvider {
private HashMap loadCameraConfigs(Connection conn) {
HashMap loadedConfigurations = new HashMap<>();
+ // MIGRATION: 2026
+ // This is designed to always match for efficiency reasons, so that the whole camera config
+ // isn't scanned. The second capture group determines if the camera info is in the old or new
+ // format
+ final var cameraInfoPattern = Pattern.compile("\"(PV[\\w.]*CameraInfo)\"\\s*(:?)");
+
// Query every single row of the cameras db
PreparedStatement query = null;
try {
@@ -614,57 +611,82 @@ public class SqlConfigProvider extends ConfigProvider {
while (result.next()) {
String uniqueName = "";
try {
- List dummyList = new ArrayList<>();
+ JsonType> strListJsonb = Jsonb.instance().type(Types.listOf(String.class));
uniqueName = result.getString(Columns.CAM_UNIQUE_NAME);
// A horrifying hack to keep backward compat with otherpaths
// We -really- need to delete this -stupid- otherpaths column. I hate it.
- var configStr = result.getString(Columns.CAM_CONFIG_JSON);
- CameraConfiguration config =
- JacksonUtils.deserialize(configStr, CameraConfiguration.class);
+ // MIGRATION: 2024
+ var configJson = result.getString(Columns.CAM_CONFIG_JSON);
+ // MIGRATION: 2026
+ var cameraInfoMatcher = cameraInfoPattern.matcher(configJson);
+ if (cameraInfoMatcher.find() && cameraInfoMatcher.group(2).equals(":")) {
+ logger.info("Legacy type-wrapper PVCameraInfo being migrated");
+ configJson = PVCameraInfo.remapConfigJson(configJson, cameraInfoMatcher.group(1));
+ }
+
+ CameraConfiguration config =
+ Jsonb.instance().type(CameraConfiguration.class).fromJson(configJson);
+
+ // MIGRATION: 2024
if (config.matchedCameraInfo == null) {
logger.info("Legacy CameraConfiguration detected - upgrading");
// manually create the matchedCameraInfo ourselves. Need to upgrade:
// baseName, path, otherPaths, cameraType, usbvid/pid -> matchedCameraInfo
config.matchedCameraInfo =
- JacksonUtils.deserialize(configStr, LegacyCameraConfigStruct.class)
+ Jsonb.instance()
+ .type(LegacyCameraConfigStruct.class)
+ .fromJson(configJson)
.matchedCameraInfo;
// Except that otherPaths used to be its own column. so hack that in here as well
var otherPaths =
- JacksonUtils.deserialize(
- result.getString(Columns.CAM_OTHERPATHS_JSON), String[].class);
+ Jsonb.instance()
+ .type(String[].class)
+ .fromJson(result.getString(Columns.CAM_OTHERPATHS_JSON));
if (config.matchedCameraInfo instanceof UsbCameraInfo usbInfo) {
usbInfo.otherPaths = otherPaths;
}
}
- var driverMode =
- JacksonUtils.deserialize(
- result.getString(Columns.CAM_DRIVERMODE_JSON), DriverModePipelineSettings.class);
- List pipelineSettings =
- JacksonUtils.deserialize(
- result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
+ // MIGRATION: 2026
+ List legacyPipelineSettings =
+ strListJsonb.fromJson(result.getString(Columns.CAM_PIPELINE_JSONS));
- List loadedSettings = new ArrayList<>();
- for (var setting : pipelineSettings) {
- if (setting instanceof String str) {
- try {
- loadedSettings.add(JacksonUtils.deserialize(str, CVPipelineSettings.class));
- } catch (IOException e) {
- logger.error(
- "Could not deserialize pipeline setting for camera " + config.nickname, e);
- }
+ for (var pipelineJson : legacyPipelineSettings) {
+ logger.info("Importing pipeline JSON into camera settings");
+ if (pipelineJson.startsWith("[")) {
+ logger.info("Legacy type-wrapper CVPipelineSettings being migrated");
+ pipelineJson = CVPipelineSettings.remapSettingsJson(pipelineJson);
+ }
+
+ try {
+ config.pipelineSettings.add(
+ Jsonb.instance().type(CVPipelineSettings.class).fromJson(pipelineJson));
+ } catch (IllegalStateException | JsonException e) {
+ logger.error(
+ "Could not deserialize pipeline setting for camera " + config.nickname, e);
}
}
- config.pipelineSettings = loadedSettings;
- config.driveModeSettings = driverMode;
+ // MIGRATION: 2026
+ if (config.driveModeSettings == null) {
+ logger.info("Importing driver mode JSON into camera settings");
+ var driverModeJson = result.getString(Columns.CAM_DRIVERMODE_JSON);
+ if (driverModeJson.startsWith("[")) {
+ logger.info("Legacy type-wrapper CVPipelineSettings being migrated");
+ driverModeJson = CVPipelineSettings.remapSettingsJson(driverModeJson);
+ }
+
+ config.driveModeSettings =
+ Jsonb.instance().type(DriverModePipelineSettings.class).fromJson(driverModeJson);
+ }
+
loadedConfigurations.put(uniqueName, config);
- } catch (IOException e) {
+ } catch (IllegalStateException | JsonException e) {
logger.error(
"Could not deserialize camera configuration " + uniqueName + " from database!", e);
}
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
index 92a06fdb6..413a1e27b 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
@@ -46,7 +46,7 @@ public abstract class DataChangeSubscriber {
this(DataChangeSource.AllSources, wantedDestinations);
}
- public abstract void onDataChangeEvent(DataChangeEvent event);
+ public abstract void onDataChangeEvent(DataChangeEvent event);
@Override
public int hashCode() {
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
index 5f0e37ba7..0e30e5996 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -17,10 +17,12 @@
package org.photonvision.common.dataflow.networktables;
-import java.io.IOException;
+import io.avaje.json.JsonException;
+import io.avaje.jsonb.Jsonb;
import java.util.Arrays;
import java.util.EnumSet;
import java.util.HashMap;
+import java.util.Map;
import org.photonvision.PhotonVersion;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
@@ -34,7 +36,6 @@ import org.photonvision.common.logging.LogLevel;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.networking.NetworkUtils;
import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.common.util.file.JacksonUtils;
import org.wpilib.driverstation.Alert;
import org.wpilib.driverstation.Alert.Level;
import org.wpilib.networktables.LogMessage;
@@ -199,7 +200,7 @@ public class NetworkTablesManager {
var atfl_json = event.valueData.value.getString();
try {
System.out.println("Got new field layout!");
- var atfl = JacksonUtils.deserialize(atfl_json, AprilTagFieldLayout.class);
+ var atfl = Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(atfl_json);
ConfigManager.getInstance().getConfig().setApriltagFieldLayout(atfl);
ConfigManager.getInstance().requestSave();
DataChangeService.getInstance()
@@ -207,7 +208,7 @@ public class NetworkTablesManager {
new OutgoingUIEvent<>(
"fullsettings",
UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
- } catch (IOException e) {
+ } catch (IllegalStateException | JsonException e) {
logger.error("Error deserializing atfl!");
logger.error(atfl_json);
}
@@ -270,7 +271,7 @@ public class NetworkTablesManager {
return;
}
- HashMap cameraConfigs =
+ Map cameraConfigs =
ConfigManager.getInstance().getConfig().getCameraConfigurations();
String[] cameraNames =
cameraConfigs.entrySet().stream()
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java
index 528889884..194992379 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java
@@ -17,13 +17,15 @@
package org.photonvision.common.dataflow.websocket;
-import java.util.HashMap;
+import io.avaje.jsonb.Json;
import java.util.List;
+import java.util.Map;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.vision.calibration.UICameraCalibrationCoefficients;
import org.photonvision.vision.camera.PVCameraInfo;
import org.photonvision.vision.camera.QuirkyCamera;
+@Json
public class UICameraConfiguration {
// Path to the camera device. On Linux, this is a special file in /dev/v4l/by-id
// or /dev/videoN.
@@ -37,10 +39,10 @@ public class UICameraConfiguration {
public String uniqueName;
public double fov;
- public HashMap currentPipelineSettings;
+ public Map currentPipelineSettings;
public int currentPipelineIndex;
public List pipelineNicknames;
- public HashMap> videoFormatList;
+ public List> videoFormatList;
public int outputStreamPort;
public int inputStreamPort;
public List calibrations;
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIGeneralSettings.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIGeneralSettings.java
index 087ec2f74..4646ab49a 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIGeneralSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIGeneralSettings.java
@@ -17,9 +17,11 @@
package org.photonvision.common.dataflow.websocket;
+import io.avaje.jsonb.Json;
import java.util.List;
import org.photonvision.common.configuration.NeuralNetworkModelsSettings;
+@Json
public class UIGeneralSettings {
public UIGeneralSettings(
String version,
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UILightingConfig.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UILightingConfig.java
index 57d5579f5..bf2d2e2a1 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UILightingConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UILightingConfig.java
@@ -17,6 +17,9 @@
package org.photonvision.common.dataflow.websocket;
+import io.avaje.jsonb.Json;
+
+@Json
public class UILightingConfig {
public UILightingConfig(int brightness, boolean supported) {
this.brightness = brightness;
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UINetConfig.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UINetConfig.java
index dd146b7df..c41575474 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UINetConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UINetConfig.java
@@ -17,11 +17,18 @@
package org.photonvision.common.dataflow.websocket;
+import io.avaje.jsonb.Json;
import java.util.List;
import org.photonvision.common.configuration.NetworkConfig;
import org.photonvision.common.networking.NetworkUtils.NMDeviceInfo;
+@Json
public class UINetConfig extends NetworkConfig {
+ // Constructor for JSON to allow all properties to be set directly
+ public UINetConfig() {
+ this.canManage = this.deviceCanManageNetwork();
+ }
+
public UINetConfig(
NetworkConfig config, List networkInterfaceNames, boolean networkingDisabled) {
super(config);
@@ -32,5 +39,7 @@ public class UINetConfig extends NetworkConfig {
public List networkInterfaceNames;
public boolean networkingDisabled;
+
+ @Json.Ignore(serialize = true)
public boolean canManage;
}
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
index 6e5a14eb0..666ee57c2 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
@@ -17,6 +17,7 @@
package org.photonvision.common.dataflow.websocket;
+import io.avaje.jsonb.Json;
import java.util.List;
import org.photonvision.PhotonVersion;
import org.photonvision.common.LoadJNI;
@@ -31,6 +32,7 @@ import org.photonvision.common.networking.NetworkUtils;
import org.photonvision.vision.processes.VisionModule;
import org.photonvision.vision.processes.VisionSourceManager;
+@Json
public class UIPhotonConfiguration {
public List cameraSettings;
public UIProgramSettings settings;
@@ -59,7 +61,7 @@ public class UIPhotonConfiguration {
// TODO add support for other types of GPU accel
LoadJNI.hasLoaded(JNITypes.LIBCAMERA) ? "Zerocopy Libcamera Working" : "",
LoadJNI.hasLoaded(JNITypes.MRCAL),
- c.neuralNetworkPropertyManager().getModels(),
+ c.getNeuralNetworkProperties().getModels(),
NeuralNetworkModelManager.getInstance().getSupportedBackends(),
c.getHardwareConfig().deviceName.isEmpty()
? Platform.getHardwareModel()
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
index 7b55ab0a0..c824c5861 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
@@ -17,8 +17,10 @@
package org.photonvision.common.dataflow.websocket;
+import io.avaje.jsonb.Json;
import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+@Json
public class UIProgramSettings {
public UIProgramSettings(
UINetConfig networkSettings,
diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/OsImageData.java b/photon-core/src/main/java/org/photonvision/common/hardware/OsImageData.java
index 9b2845ef6..d183431d5 100644
--- a/photon-core/src/main/java/org/photonvision/common/hardware/OsImageData.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/OsImageData.java
@@ -17,10 +17,12 @@
package org.photonvision.common.hardware;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import com.fasterxml.jackson.databind.PropertyNamingStrategies;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
+import java.io.File;
+import java.io.FileInputStream;
import java.io.IOException;
-import java.nio.file.Files;
+import java.io.InputStream;
import java.nio.file.Path;
import java.util.Optional;
import org.photonvision.common.logging.LogGroup;
@@ -35,26 +37,22 @@ import org.photonvision.common.logging.Logger;
public class OsImageData {
private static final Logger logger = new Logger(OsImageData.class, LogGroup.General);
- private static Path imageMetadataFile = Path.of("/opt/photonvision/image-version.json");
+ private static File imageMetadataFile = Path.of("/opt/photonvision/image-version.json").toFile();
public static final Optional IMAGE_METADATA = getImageMetadata();
+ @Json(naming = Json.Naming.LowerUnderscore)
public static record ImageMetadata(
String buildDate, String commitSha, String commitTag, String imageName, String imageSource) {}
private static Optional getImageMetadata() {
- if (!imageMetadataFile.toFile().exists()) {
+ if (!imageMetadataFile.exists()) {
logger.warn("Photon cannot locate OS image metadata at " + imageMetadataFile.toString());
return Optional.empty();
}
- try {
- String content = Files.readString(imageMetadataFile).strip();
-
- ObjectMapper mapper =
- new ObjectMapper().setPropertyNamingStrategy(PropertyNamingStrategies.SNAKE_CASE);
-
- ImageMetadata md = mapper.readValue(content, ImageMetadata.class);
+ try (InputStream stream = new FileInputStream(imageMetadataFile)) {
+ ImageMetadata md = Jsonb.instance().type(ImageMetadata.class).fromJson(stream);
if (md.buildDate() == null
&& md.commitSha() == null
diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DeviceMetrics.java b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DeviceMetrics.java
index 095936077..e8789154c 100644
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DeviceMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DeviceMetrics.java
@@ -17,8 +17,10 @@
package org.photonvision.common.hardware.metrics;
+import io.avaje.jsonb.Json;
import org.photonvision.common.hardware.metrics.proto.DeviceMetricsProto;
+@Json
public record DeviceMetrics(
double cpuTemp,
double cpuUtil,
diff --git a/photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.java b/photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.java
index c491e8662..aa1ff1b7f 100644
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.java
@@ -17,13 +17,14 @@
package org.photonvision.common.networking;
-import com.fasterxml.jackson.annotation.JsonValue;
+import io.avaje.jsonb.Json;
+@Json
public enum NetworkMode {
DHCP,
STATIC;
- @JsonValue
+ @Json.Value
public int toValue() {
return ordinal();
}
diff --git a/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java b/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
index df2525ef0..fde85a883 100644
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
@@ -17,6 +17,7 @@
package org.photonvision.common.networking;
+import io.avaje.jsonb.Json;
import java.io.IOException;
import java.net.InetAddress;
import java.net.NetworkInterface;
@@ -62,9 +63,10 @@ public class NetworkUtils {
* @param devName The underlying device name, used by dhclient
* @param nmType The NetworkManager device type
*/
+ @Json
public static record NMDeviceInfo(String connName, String devName, NMType nmType) {
- public NMDeviceInfo(String c, String d, String type) {
- this(c, d, NMType.typeForString(type));
+ public NMDeviceInfo(String connName, String devName, String nmType) {
+ this(connName, devName, NMType.typeForString(nmType));
}
}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
index 430082a63..ffbe9d903 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -17,9 +17,11 @@
package org.photonvision.common.util;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.json.JsonException;
+import io.avaje.jsonb.Jsonb;
import java.awt.HeadlessException;
import java.io.File;
+import java.io.FileInputStream;
import java.io.IOException;
import java.nio.file.Path;
import org.opencv.core.Mat;
@@ -342,12 +344,10 @@ public class TestUtils {
public static final String LIMELIGHT_480P_CAL_FILE = "limelight_1280_720.json";
public static CameraCalibrationCoefficients getCoeffs(String filename, boolean testMode) {
- try {
- return new ObjectMapper()
- .readValue(
- (Path.of(getCalibrationPath(testMode).toString(), filename).toFile()),
- CameraCalibrationCoefficients.class);
- } catch (IOException e) {
+ try (var stream =
+ new FileInputStream(Path.of(getCalibrationPath(testMode).toString(), filename).toFile())) {
+ return Jsonb.instance().type(CameraCalibrationCoefficients.class).fromJson(stream);
+ } catch (IOException | IllegalStateException | JsonException e) {
e.printStackTrace();
return null;
}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/AprilTagFieldLayoutJsonAdapter.java b/photon-core/src/main/java/org/photonvision/common/util/file/AprilTagFieldLayoutJsonAdapter.java
new file mode 100644
index 000000000..67291a2a8
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/AprilTagFieldLayoutJsonAdapter.java
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ */
+
+package org.photonvision.common.util.file;
+
+import io.avaje.json.JsonAdapter;
+import io.avaje.json.JsonReader;
+import io.avaje.json.JsonWriter;
+import io.avaje.json.PropertyNames;
+import io.avaje.jsonb.CustomAdapter;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
+import io.avaje.jsonb.Types;
+import java.util.List;
+import org.wpilib.vision.apriltag.AprilTag;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+
+@Json.Import(AprilTag.class)
+@CustomAdapter
+public class AprilTagFieldLayoutJsonAdapter implements JsonAdapter {
+ @Json
+ record FieldDimensions(double length, double width) {}
+
+ JsonAdapter> aprilTagListJsonAdapter;
+ JsonAdapter fieldDimensionsJsonAdapter;
+ PropertyNames names;
+
+ public AprilTagFieldLayoutJsonAdapter(Jsonb jsonb) {
+ aprilTagListJsonAdapter = jsonb.adapter(Types.listOf(AprilTag.class));
+ fieldDimensionsJsonAdapter = jsonb.adapter(FieldDimensions.class);
+ names = jsonb.properties("tags", "field");
+ }
+
+ @Override
+ public void toJson(JsonWriter writer, AprilTagFieldLayout value) {
+ writer.beginObject(names);
+ writer.name(0);
+ aprilTagListJsonAdapter.toJson(writer, value.getTags());
+ writer.name(1);
+ fieldDimensionsJsonAdapter.toJson(
+ writer, new FieldDimensions(value.getFieldLength(), value.getFieldWidth()));
+ writer.endObject();
+ }
+
+ @Override
+ public AprilTagFieldLayout fromJson(JsonReader reader) {
+ List tags = null;
+ FieldDimensions field = null;
+
+ reader.beginObject();
+ while (reader.hasNextField()) {
+ final String fieldName = reader.nextField();
+ switch (fieldName) {
+ case "tags":
+ tags = aprilTagListJsonAdapter.fromJson(reader);
+ break;
+ case "field":
+ field = fieldDimensionsJsonAdapter.fromJson(reader);
+ break;
+ default:
+ reader.unmappedField(fieldName);
+ reader.skipValue();
+ }
+ }
+ reader.endObject();
+
+ return new AprilTagFieldLayout(tags, field.length, field.width);
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java b/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
deleted file mode 100644
index d2edab277..000000000
--- a/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see .
- */
-
-package org.photonvision.common.util.file;
-
-import com.fasterxml.jackson.core.JsonGenerator;
-import com.fasterxml.jackson.core.StreamReadFeature;
-import com.fasterxml.jackson.core.json.JsonReadFeature;
-import com.fasterxml.jackson.databind.DeserializationContext;
-import com.fasterxml.jackson.databind.DeserializationFeature;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import com.fasterxml.jackson.databind.SerializerProvider;
-import com.fasterxml.jackson.databind.ext.NioPathDeserializer;
-import com.fasterxml.jackson.databind.ext.NioPathSerializer;
-import com.fasterxml.jackson.databind.json.JsonMapper;
-import com.fasterxml.jackson.databind.jsontype.BasicPolymorphicTypeValidator;
-import com.fasterxml.jackson.databind.jsontype.PolymorphicTypeValidator;
-import com.fasterxml.jackson.databind.module.SimpleModule;
-import java.io.File;
-import java.io.FileDescriptor;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.net.URI;
-import java.nio.file.Path;
-import java.nio.file.Paths;
-import java.util.HashMap;
-import java.util.Map;
-import org.eclipse.jetty.io.EofException;
-
-public class JacksonUtils {
- public static class UIMap extends HashMap {}
-
- // Custom Path key deserializer for Maps with Path keys
- public static class PathKeySerializer
- extends com.fasterxml.jackson.databind.JsonSerializer {
- @Override
- public void serialize(Path value, JsonGenerator gen, SerializerProvider serializers)
- throws IOException {
- if (value == null) {
- gen.writeNull();
- } else {
- gen.writeFieldName(value.toUri().toString());
- }
- }
- }
-
- // Custom Path key deserializer for Maps with Path keys
- public static class PathKeyDeserializer extends com.fasterxml.jackson.databind.KeyDeserializer {
- @Override
- public Object deserializeKey(String key, DeserializationContext ctxt) throws IOException {
- if (key == null || key.isEmpty()) {
- return null;
- }
- return Paths.get(URI.create(key));
- }
- }
-
- // Helper method to create ObjectMapper with Path serialization support
- private static ObjectMapper createObjectMapperWithPathSupport(Class baseType) {
- PolymorphicTypeValidator ptv =
- BasicPolymorphicTypeValidator.builder().allowIfBaseType(baseType).build();
-
- SimpleModule pathModule = new SimpleModule();
- pathModule.addSerializer(Path.class, new NioPathSerializer());
- pathModule.addKeySerializer(Path.class, new PathKeySerializer());
- pathModule.addDeserializer(Path.class, new NioPathDeserializer());
- pathModule.addKeyDeserializer(Path.class, new PathKeyDeserializer());
-
- return JsonMapper.builder()
- .enable(StreamReadFeature.INCLUDE_SOURCE_IN_LOCATION)
- .configure(JsonReadFeature.ALLOW_JAVA_COMMENTS, true)
- .configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false)
- .activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
- .addModule(pathModule)
- .build();
- }
-
- public static void serialize(Path path, T object) throws IOException {
- serialize(path, object, true);
- }
-
- public static String serializeToString(T object) throws IOException {
- ObjectMapper objectMapper = createObjectMapperWithPathSupport(object.getClass());
- return objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(object);
- }
-
- public static void serialize(Path path, T object, boolean forceSync) throws IOException {
- ObjectMapper objectMapper = createObjectMapperWithPathSupport(object.getClass());
- String json = objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(object);
- saveJsonString(json, path, forceSync);
- }
-
- public static T deserialize(Map s, Class ref) throws IOException {
- ObjectMapper objectMapper = createObjectMapperWithPathSupport(ref);
- return objectMapper.convertValue(s, ref);
- }
-
- public static T deserialize(String s, Class ref) throws IOException {
- if (s.length() == 0) {
- throw new EofException("Provided empty string for class " + ref.getName());
- }
-
- ObjectMapper objectMapper = createObjectMapperWithPathSupport(ref);
- objectMapper.enable(DeserializationFeature.READ_UNKNOWN_ENUM_VALUES_AS_NULL);
-
- return objectMapper.readValue(s, ref);
- }
-
- public static T deserialize(Path path, Class ref) throws IOException {
- ObjectMapper objectMapper = createObjectMapperWithPathSupport(ref);
- File jsonFile = new File(path.toString());
- if (jsonFile.exists() && jsonFile.length() > 0) {
- return objectMapper.readValue(jsonFile, ref);
- }
- return null;
- }
-
- private static void saveJsonString(String json, Path path, boolean forceSync) throws IOException {
- var file = path.toFile();
- if (file.getParentFile() != null && !file.getParentFile().exists()) {
- file.getParentFile().mkdirs();
- }
- if (!file.exists()) {
- if (!file.canWrite()) {
- file.setWritable(true);
- }
- file.createNewFile();
- }
- FileOutputStream fileOutputStream = new FileOutputStream(file);
- fileOutputStream.write(json.getBytes());
- fileOutputStream.flush();
- if (forceSync) {
- FileDescriptor fileDescriptor = fileOutputStream.getFD();
- fileDescriptor.sync();
- }
- fileOutputStream.close();
- }
-}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/PathAdapter.java b/photon-core/src/main/java/org/photonvision/common/util/file/PathAdapter.java
new file mode 100644
index 000000000..899c7c639
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/PathAdapter.java
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ */
+
+package org.photonvision.common.util.file;
+
+import io.avaje.json.JsonAdapter;
+import io.avaje.json.JsonReader;
+import io.avaje.json.JsonWriter;
+import io.avaje.jsonb.CustomAdapter;
+import io.avaje.jsonb.Jsonb;
+import java.net.URI;
+import java.nio.file.Path;
+
+@CustomAdapter
+public class PathAdapter implements JsonAdapter {
+ public PathAdapter(Jsonb jsonb) {}
+
+ @Override
+ public Path fromJson(JsonReader reader) {
+ return Path.of(URI.create(reader.readString()));
+ }
+
+ @Override
+ public void toJson(JsonWriter writer, Path value) {
+ writer.value(value.toUri().toString());
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/Pose3dJsonAdapter.java b/photon-core/src/main/java/org/photonvision/common/util/file/Pose3dJsonAdapter.java
new file mode 100644
index 000000000..60f1146db
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/Pose3dJsonAdapter.java
@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ */
+
+package org.photonvision.common.util.file;
+
+import io.avaje.json.JsonAdapter;
+import io.avaje.json.JsonReader;
+import io.avaje.json.JsonWriter;
+import io.avaje.json.PropertyNames;
+import io.avaje.json.view.ViewBuilder;
+import io.avaje.json.view.ViewBuilderAware;
+import io.avaje.jsonb.CustomAdapter;
+import io.avaje.jsonb.Jsonb;
+import java.lang.invoke.MethodHandle;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Translation3d;
+
+@CustomAdapter
+public class Pose3dJsonAdapter implements JsonAdapter, ViewBuilderAware {
+ private final JsonAdapter translation3dJsonAdapter;
+ private final JsonAdapter rotation3dJsonAdapter;
+ private final PropertyNames names;
+
+ public Pose3dJsonAdapter(Jsonb jsonb) {
+ this.translation3dJsonAdapter = jsonb.adapter(Translation3d.class);
+ this.rotation3dJsonAdapter = jsonb.adapter(Rotation3d.class);
+ this.names = jsonb.properties("translation", "rotation");
+ }
+
+ @Override
+ public void toJson(JsonWriter writer, Pose3d value) {
+ writer.beginObject(names);
+ writer.name(0);
+ translation3dJsonAdapter.toJson(writer, value.getTranslation());
+ writer.name(1);
+ rotation3dJsonAdapter.toJson(writer, value.getRotation());
+ writer.endObject();
+ }
+
+ @Override
+ public Pose3d fromJson(JsonReader reader) {
+ Translation3d translation = null;
+ Rotation3d rotation = null;
+
+ reader.beginObject(names);
+ while (reader.hasNextField()) {
+ final String fieldName = reader.nextField();
+ switch (fieldName) {
+ case "translation":
+ translation = translation3dJsonAdapter.fromJson(reader);
+ break;
+ case "rotation":
+ rotation = rotation3dJsonAdapter.fromJson(reader);
+ break;
+ default:
+ reader.unmappedField(fieldName);
+ reader.skipValue();
+ }
+ }
+ reader.endObject();
+
+ return new Pose3d(translation, rotation);
+ }
+
+ @Override
+ public boolean isViewBuilderAware() {
+ return true;
+ }
+
+ @Override
+ public ViewBuilderAware viewBuild() {
+ return this;
+ }
+
+ @Override
+ public void build(ViewBuilder builder, String name, MethodHandle handle) {
+ builder.beginObject(name, handle);
+ builder.add(
+ "translation",
+ translation3dJsonAdapter,
+ builder.method(Pose3d.class, "getTranslation", Translation3d.class));
+ builder.add(
+ "rotation",
+ rotation3dJsonAdapter,
+ builder.method(Pose3d.class, "getRotation", Rotation3d.class));
+ builder.endObject();
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/QuaternionMixIn.java b/photon-core/src/main/java/org/photonvision/common/util/file/QuaternionMixIn.java
new file mode 100644
index 000000000..965df9452
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/QuaternionMixIn.java
@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ */
+
+package org.photonvision.common.util.file;
+
+import io.avaje.jsonb.Json;
+import org.wpilib.math.geometry.Quaternion;
+
+@Json.MixIn(Quaternion.class)
+public class QuaternionMixIn {
+ @Json.Ignore(deserialize = true)
+ @Json.Property("W")
+ double m_w;
+
+ @Json.Ignore(deserialize = true)
+ @Json.Property("X")
+ double m_x;
+
+ @Json.Ignore(deserialize = true)
+ @Json.Property("Y")
+ double m_y;
+
+ @Json.Ignore(deserialize = true)
+ @Json.Property("Z")
+ double m_z;
+
+ @Json.Creator
+ public static Quaternion construct(double m_w, double m_x, double m_y, double m_z) {
+ return new Quaternion(m_w, m_x, m_y, m_z);
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/Rotation3dMixIn.java b/photon-core/src/main/java/org/photonvision/common/util/file/Rotation3dMixIn.java
new file mode 100644
index 000000000..f89b594f3
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/Rotation3dMixIn.java
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ */
+
+package org.photonvision.common.util.file;
+
+import io.avaje.jsonb.Json;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Rotation3d;
+
+@Json.MixIn(Rotation3d.class)
+public class Rotation3dMixIn {
+ @Json.Ignore(deserialize = true)
+ @Json.Property("quaternion")
+ Quaternion m_q;
+
+ @Json.Creator
+ public static Rotation3d construct(Quaternion m_q) {
+ return new Rotation3d(m_q);
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/Translation3dMixIn.java b/photon-core/src/main/java/org/photonvision/common/util/file/Translation3dMixIn.java
new file mode 100644
index 000000000..80e3e77bf
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/Translation3dMixIn.java
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ */
+
+package org.photonvision.common.util.file;
+
+import io.avaje.jsonb.Json;
+import org.wpilib.math.geometry.Translation3d;
+
+@Json.MixIn(Translation3d.class)
+public class Translation3dMixIn {
+ @Json.Ignore(deserialize = true)
+ @Json.Property("x")
+ double m_x;
+
+ @Json.Ignore(deserialize = true)
+ @Json.Property("y")
+ double m_y;
+
+ @Json.Ignore(deserialize = true)
+ @Json.Property("z")
+ double m_z;
+
+ @Json.Creator
+ public static Translation3d construct(double m_x, double m_y, double m_z) {
+ return new Translation3d(m_x, m_y, m_z);
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java b/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
index d8503503e..e1a40a05c 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
@@ -17,8 +17,10 @@
package org.photonvision.common.util.numbers;
+import io.avaje.jsonb.Json;
import org.opencv.core.Point;
+@Json
public class DoubleCouple extends NumberCouple {
public DoubleCouple() {
super(0.0, 0.0);
diff --git a/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java b/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
index 0cd834cc2..a7010bbaf 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
@@ -17,6 +17,9 @@
package org.photonvision.common.util.numbers;
+import io.avaje.jsonb.Json;
+
+@Json
public class IntegerCouple extends NumberCouple {
public IntegerCouple() {
super(0, 0);
diff --git a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
index b6b43323a..ebb4306d7 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
@@ -17,8 +17,6 @@
package org.photonvision.common.util.numbers;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-
public abstract class NumberCouple {
protected T first;
protected T second;
@@ -56,7 +54,6 @@ public abstract class NumberCouple {
&& couple.second.equals(second);
}
- @JsonIgnore
public boolean isEmpty() {
return first.intValue() == 0 && second.intValue() == 0;
}
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java b/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
index 6ce582a00..6e4d91f40 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
@@ -17,10 +17,7 @@
package org.photonvision.vision.calibration;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
import java.awt.Color;
import java.nio.file.Path;
import java.util.Arrays;
@@ -36,45 +33,36 @@ import org.opencv.imgproc.Imgproc;
import org.photonvision.common.util.ColorHelper;
import org.wpilib.math.geometry.Pose3d;
+@Json
// Ignore the previous calibration data that was stored in the json file.
-@JsonIgnoreProperties(ignoreUnknown = true)
public final class BoardObservation implements Cloneable {
// Expected feature 3d location in the camera frame
- @JsonProperty("locationInObjectSpace")
public List locationInObjectSpace;
// Observed location in pixel space
- @JsonProperty("locationInImageSpace")
public List locationInImageSpace;
// (measured location in pixels) - (expected from FK)
- @JsonProperty("reprojectionErrors")
public List reprojectionErrors;
// Solver optimized board poses
- @JsonProperty("optimisedCameraToObject")
public Pose3d optimisedCameraToObject;
// If we should use this observation when re-calculating camera calibration
- @JsonProperty("cornersUsed")
public boolean[] cornersUsed;
- @JsonProperty("snapshotName")
public String snapshotName;
- @JsonProperty("snapshotDataLocation")
- @Nullable
- public Path snapshotDataLocation;
+ @Nullable public Path snapshotDataLocation;
- @JsonCreator
public BoardObservation(
- @JsonProperty("locationInObjectSpace") List locationInObjectSpace,
- @JsonProperty("locationInImageSpace") List locationInImageSpace,
- @JsonProperty("reprojectionErrors") List reprojectionErrors,
- @JsonProperty("optimisedCameraToObject") Pose3d optimisedCameraToObject,
- @JsonProperty("cornersUsed") boolean[] cornersUsed,
- @JsonProperty("snapshotName") String snapshotName,
- @JsonProperty("snapshotDataLocation") Path snapshotDataLocation) {
+ List locationInObjectSpace,
+ List locationInImageSpace,
+ List reprojectionErrors,
+ Pose3d optimisedCameraToObject,
+ boolean[] cornersUsed,
+ String snapshotName,
+ Path snapshotDataLocation) {
this.locationInObjectSpace = locationInObjectSpace;
this.locationInImageSpace = locationInImageSpace;
this.reprojectionErrors = reprojectionErrors;
@@ -119,7 +107,6 @@ public final class BoardObservation implements Cloneable {
}
}
- @JsonIgnore
/**
* Load the captured board image from disk. Allocates a new Mat, which the caller is responsible
* for releasing.
@@ -141,7 +128,6 @@ public final class BoardObservation implements Cloneable {
* @return Annotated image, or null if the image could not be loaded. Caller is responsible for
* releasing the Mat.
*/
- @JsonIgnore
public Mat annotateImage() {
var image = loadImage();
@@ -179,7 +165,6 @@ public final class BoardObservation implements Cloneable {
*
* @return Mean reprojection error in pixels.
*/
- @JsonIgnore
double meanReprojectionError() {
return reprojectionErrors.stream()
.filter(pt -> cornersUsed[reprojectionErrors.indexOf(pt)])
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
index ad0f9db98..3999437ba 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -17,11 +17,7 @@
package org.photonvision.vision.calibration;
-import com.fasterxml.jackson.annotation.JsonAlias;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
import java.util.Arrays;
import java.util.List;
import org.opencv.core.Mat;
@@ -30,31 +26,23 @@ import org.opencv.core.Size;
import org.photonvision.vision.opencv.ImageRotationMode;
import org.photonvision.vision.opencv.Releasable;
-@JsonIgnoreProperties(ignoreUnknown = true)
+@Json
public class CameraCalibrationCoefficients implements Releasable {
- @JsonProperty("resolution")
- public final Size unrotatedImageSize;
+ /** The unrotated resolution of the calibration */
+ public final Size resolution;
- @JsonProperty("cameraIntrinsics")
public final JsonMatOfDouble cameraIntrinsics;
- @JsonProperty("distCoeffs")
- @JsonAlias({"distCoeffs", "distCoeffs"})
public final JsonMatOfDouble distCoeffs;
- @JsonProperty("observations")
public final List observations;
- @JsonProperty("calobjectWarp")
public final double[] calobjectWarp;
- @JsonProperty("calobjectSize")
public final Size calobjectSize;
- @JsonProperty("calobjectSpacing")
public final double calobjectSpacing;
- @JsonProperty("lensmodel")
public final CameraLensModel lensmodel;
/**
@@ -75,17 +63,16 @@ public class CameraCalibrationCoefficients implements Releasable {
* width/height
* @param calobjectSpacing Spacing between adjacent squares, in meters
*/
- @JsonCreator
public CameraCalibrationCoefficients(
- @JsonProperty("resolution") Size resolution,
- @JsonProperty("cameraIntrinsics") JsonMatOfDouble cameraIntrinsics,
- @JsonProperty("distCoeffs") JsonMatOfDouble distCoeffs,
- @JsonProperty("calobjectWarp") double[] calobjectWarp,
- @JsonProperty("observations") List observations,
- @JsonProperty("calobjectSize") Size calobjectSize,
- @JsonProperty("calobjectSpacing") double calobjectSpacing,
- @JsonProperty("lensmodel") CameraLensModel lensmodel) {
- this.unrotatedImageSize = resolution;
+ Size resolution,
+ JsonMatOfDouble cameraIntrinsics,
+ JsonMatOfDouble distCoeffs,
+ double[] calobjectWarp,
+ List observations,
+ Size calobjectSize,
+ double calobjectSpacing,
+ CameraLensModel lensmodel) {
+ this.resolution = resolution;
this.cameraIntrinsics = cameraIntrinsics;
this.distCoeffs = distCoeffs;
this.calobjectWarp = calobjectWarp;
@@ -129,7 +116,7 @@ public class CameraCalibrationCoefficients implements Releasable {
rotatedIntrinsics.put(1, 1, fx);
// CX
- rotatedIntrinsics.put(0, 2, unrotatedImageSize.height - cy);
+ rotatedIntrinsics.put(0, 2, resolution.height - cy);
// CY
rotatedIntrinsics.put(1, 2, cx);
@@ -139,14 +126,14 @@ public class CameraCalibrationCoefficients implements Releasable {
rotatedDistCoeffs.put(0, 3, -p1);
// The rotated image size is the same as the unrotated image size, but the width and height
- // are flipped
- rotatedImageSize = new Size(unrotatedImageSize.height, unrotatedImageSize.width);
+ // are swapped
+ rotatedImageSize = new Size(resolution.height, resolution.width);
break;
case DEG_180_CCW:
// CX
- rotatedIntrinsics.put(0, 2, unrotatedImageSize.width - cx);
+ rotatedIntrinsics.put(0, 2, resolution.width - cx);
// CY
- rotatedIntrinsics.put(1, 2, unrotatedImageSize.height - cy);
+ rotatedIntrinsics.put(1, 2, resolution.height - cy);
// P1
rotatedDistCoeffs.put(0, 2, -p1);
@@ -154,7 +141,7 @@ public class CameraCalibrationCoefficients implements Releasable {
rotatedDistCoeffs.put(0, 3, -p2);
// The rotated image size is the same as the unrotated image size
- rotatedImageSize = unrotatedImageSize;
+ rotatedImageSize = resolution;
break;
case DEG_90_CCW:
// FX
@@ -165,7 +152,7 @@ public class CameraCalibrationCoefficients implements Releasable {
// CX
rotatedIntrinsics.put(0, 2, cy);
// CY
- rotatedIntrinsics.put(1, 2, unrotatedImageSize.width - cx);
+ rotatedIntrinsics.put(1, 2, resolution.width - cx);
// P1
rotatedDistCoeffs.put(0, 2, -p2);
@@ -173,8 +160,8 @@ public class CameraCalibrationCoefficients implements Releasable {
rotatedDistCoeffs.put(0, 3, p1);
// The rotated image size is the same as the unrotated image size, but the width and height
- // are flipped
- rotatedImageSize = new Size(unrotatedImageSize.height, unrotatedImageSize.width);
+ // are swapped
+ rotatedImageSize = new Size(resolution.height, resolution.width);
break;
}
@@ -196,27 +183,22 @@ public class CameraCalibrationCoefficients implements Releasable {
lensmodel);
}
- @JsonIgnore
public Mat getCameraIntrinsicsMat() {
return cameraIntrinsics.getAsMatOfDouble();
}
- @JsonIgnore
public MatOfDouble getDistCoeffsMat() {
return distCoeffs.getAsMatOfDouble();
}
- @JsonIgnore
public double[] getIntrinsicsArr() {
return cameraIntrinsics.data;
}
- @JsonIgnore
public double[] getDistCoeffsArr() {
return distCoeffs.data;
}
- @JsonIgnore
public List getObservations() {
return observations;
}
@@ -230,7 +212,7 @@ public class CameraCalibrationCoefficients implements Releasable {
@Override
public String toString() {
return "CameraCalibrationCoefficients [resolution="
- + unrotatedImageSize
+ + resolution
+ ", cameraIntrinsics="
+ cameraIntrinsics
+ ", distCoeffs="
@@ -244,7 +226,7 @@ public class CameraCalibrationCoefficients implements Releasable {
public UICameraCalibrationCoefficients cloneWithoutObservations() {
return new UICameraCalibrationCoefficients(
- unrotatedImageSize,
+ resolution,
cameraIntrinsics,
distCoeffs,
calobjectWarp,
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMatOfDouble.java b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMatOfDouble.java
index f2f640402..eeb5aa58f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMatOfDouble.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMatOfDouble.java
@@ -17,8 +17,7 @@
package org.photonvision.vision.calibration;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
import java.util.Arrays;
import org.ejml.simple.SimpleMatrix;
import org.opencv.core.CvType;
@@ -28,6 +27,7 @@ import org.photonvision.vision.opencv.Releasable;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Num;
+@Json
/** JSON-serializable image. Data is stored as a raw JSON array. */
public class JsonMatOfDouble implements Releasable {
public final int rows;
@@ -36,28 +36,23 @@ public class JsonMatOfDouble implements Releasable {
public final double[] data;
// Cached matrices to avoid object recreation
- @JsonIgnore private Mat wrappedMat = null;
- @JsonIgnore private Matrix wpilibMat = null;
+ @Json.Ignore private Mat wrappedMat = null;
+ @Json.Ignore private Matrix wpilibMat = null;
- @JsonIgnore private MatOfDouble wrappedMatOfDouble;
- private boolean released = false;
+ @Json.Ignore private MatOfDouble wrappedMatOfDouble;
+ @Json.Ignore private boolean released = false;
public JsonMatOfDouble(int rows, int cols, double[] data) {
this(rows, cols, CvType.CV_64FC1, data);
}
- public JsonMatOfDouble(
- @JsonProperty("rows") int rows,
- @JsonProperty("cols") int cols,
- @JsonProperty("type") int type,
- @JsonProperty("data") double[] data) {
+ public JsonMatOfDouble(int rows, int cols, int type, double[] data) {
this.rows = rows;
this.cols = cols;
this.type = type;
this.data = data;
}
- @JsonIgnore
private static double[] getDataFromMat(Mat mat) {
double[] data = new double[(int) mat.total()];
mat.get(0, 0, data);
@@ -75,7 +70,6 @@ public class JsonMatOfDouble implements Releasable {
return new JsonMatOfDouble(mat.rows(), mat.cols(), getDataFromMat(mat));
}
- @JsonIgnore
private Mat getAsMat() {
if (this.type != CvType.CV_64FC1) return null;
@@ -91,7 +85,6 @@ public class JsonMatOfDouble implements Releasable {
return this.wrappedMat;
}
- @JsonIgnore
public MatOfDouble getAsMatOfDouble() {
if (this.released) {
throw new RuntimeException("This calibration object was already released");
@@ -105,7 +98,6 @@ public class JsonMatOfDouble implements Releasable {
}
@SuppressWarnings("unchecked")
- @JsonIgnore
public Matrix getAsWpilibMat() {
if (wpilibMat == null) {
wpilibMat = new Matrix(new SimpleMatrix(rows, cols, true, data));
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java
index 823f9fec0..96a1eb7d6 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java
@@ -17,10 +17,12 @@
package org.photonvision.vision.calibration;
+import io.avaje.jsonb.Json;
import java.util.List;
import java.util.stream.IntStream;
import org.opencv.core.Size;
+@Json
public class UICameraCalibrationCoefficients extends CameraCalibrationCoefficients {
public int numSnapshots;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index 59e15ca59..8a2937cc7 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -18,7 +18,8 @@
package org.photonvision.vision.camera;
import java.nio.file.Path;
-import java.util.HashMap;
+import java.util.ArrayList;
+import java.util.List;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.vision.frame.FrameProvider;
import org.photonvision.vision.frame.FrameStaticProperties;
@@ -100,7 +101,7 @@ public class FileVisionSource extends VisionSource {
public static class FileSourceSettables extends VisionSourceSettables {
private final VideoMode videoMode;
- private final HashMap videoModes = new HashMap<>();
+ private final ArrayList videoModes = new ArrayList<>();
FileSourceSettables(
CameraConfiguration cameraConfiguration, FrameStaticProperties frameStaticProperties) {
@@ -112,7 +113,7 @@ public class FileVisionSource extends VisionSource {
frameStaticProperties.imageWidth,
frameStaticProperties.imageHeight,
30);
- videoModes.put(0, videoMode);
+ videoModes.add(videoMode);
}
@Override
@@ -137,7 +138,7 @@ public class FileVisionSource extends VisionSource {
}
@Override
- public HashMap getAllVideoModes() {
+ public List getAllVideoModes() {
return videoModes;
}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/PVCameraInfo.java b/photon-core/src/main/java/org/photonvision/vision/camera/PVCameraInfo.java
index e861bab14..dd87db78d 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/PVCameraInfo.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/PVCameraInfo.java
@@ -17,33 +17,31 @@
package org.photonvision.vision.camera;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonGetter;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.annotation.JsonSubTypes;
-import com.fasterxml.jackson.annotation.JsonTypeInfo;
-import com.fasterxml.jackson.annotation.JsonTypeName;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
+import io.avaje.jsonb.Types;
import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
import java.util.Objects;
import org.wpilib.vision.camera.UsbCameraInfo;
-@JsonTypeInfo(use = JsonTypeInfo.Id.NAME, include = JsonTypeInfo.As.WRAPPER_OBJECT)
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonSubTypes({
- @JsonSubTypes.Type(value = PVCameraInfo.PVUsbCameraInfo.class),
- @JsonSubTypes.Type(value = PVCameraInfo.PVCSICameraInfo.class),
- @JsonSubTypes.Type(value = PVCameraInfo.PVFileCameraInfo.class)
-})
+@Json(typeProperty = "type")
+@Json.SubType(type = PVCameraInfo.PVUsbCameraInfo.class)
+@Json.SubType(type = PVCameraInfo.PVCSICameraInfo.class)
+@Json.SubType(type = PVCameraInfo.PVFileCameraInfo.class)
public sealed interface PVCameraInfo {
/**
* @return The path of the camera.
*/
+ @Json.Property("path")
String path();
/**
* @return The base name of the camera aka the name as just ascii.
*/
+ @Json.Property("name")
String name();
/**
@@ -64,7 +62,7 @@ public sealed interface PVCameraInfo {
*
* @return The unique path of the camera
*/
- @JsonGetter(value = "uniquePath")
+ @Json.Property("uniquePath")
String uniquePath();
String[] otherPaths();
@@ -82,16 +80,9 @@ public sealed interface PVCameraInfo {
return this.equals((Object) other);
}
- @JsonTypeName("PVUsbCameraInfo")
public static final class PVUsbCameraInfo extends UsbCameraInfo implements PVCameraInfo {
- @JsonCreator
public PVUsbCameraInfo(
- @JsonProperty("dev") int dev,
- @JsonProperty("path") String path,
- @JsonProperty("name") String name,
- @JsonProperty("otherPaths") String[] otherPaths,
- @JsonProperty("vendorId") int vendorId,
- @JsonProperty("productId") int productId) {
+ int dev, String path, String name, String[] otherPaths, int vendorId, int productId) {
super(dev, path, name, otherPaths, vendorId, productId);
}
@@ -168,14 +159,11 @@ public sealed interface PVCameraInfo {
}
}
- @JsonTypeName("PVCSICameraInfo")
public static final class PVCSICameraInfo implements PVCameraInfo {
public final String path;
public final String baseName;
- @JsonCreator
- public PVCSICameraInfo(
- @JsonProperty("path") String path, @JsonProperty("baseName") String baseName) {
+ public PVCSICameraInfo(String path, String baseName) {
this.path = path;
this.baseName = baseName;
}
@@ -233,13 +221,11 @@ public sealed interface PVCameraInfo {
}
}
- @JsonTypeName("PVFileCameraInfo")
public static final class PVFileCameraInfo implements PVCameraInfo {
public final String path;
public final String name;
- @JsonCreator
- public PVFileCameraInfo(@JsonProperty("path") String path, @JsonProperty("name") String name) {
+ public PVFileCameraInfo(String path, String name) {
this.path = path;
this.name = name;
}
@@ -300,4 +286,25 @@ public sealed interface PVCameraInfo {
public static PVCameraInfo fromFileInfo(String path, String baseName) {
return new PVFileCameraInfo(path, baseName);
}
+
+ // MIGRATION: 2026
+ public static String remapConfigJson(String configJson, String cameraType) {
+ final JsonType> objMapJsonb =
+ Jsonb.instance().type(Types.mapOf(Object.class));
+
+ Map cameraMigration = objMapJsonb.fromJson(configJson);
+
+ @SuppressWarnings("unchecked")
+ var cameraMigrationIn = (Map) cameraMigration.get("matchedCameraInfo");
+
+ @SuppressWarnings("unchecked")
+ var cameraData = (Map) cameraMigrationIn.get(cameraType);
+
+ Map cameraMigrationOut = new HashMap<>();
+ cameraMigrationOut.putAll(cameraData);
+ cameraMigrationOut.put("type", "PVCameraInfo." + cameraType);
+
+ cameraMigration.put("matchedCameraInfo", cameraMigrationOut);
+ return objMapJsonb.toJson(cameraMigration);
+ }
}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index c50059222..c6556e589 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -17,13 +17,13 @@
package org.photonvision.vision.camera;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
import java.util.EnumMap;
import java.util.List;
import java.util.Map;
import java.util.Objects;
+@Json
public class QuirkyCamera {
private static final List quirkyCameras =
List.of(
@@ -98,19 +98,14 @@ public class QuirkyCamera {
CameraQuirk.Gain,
CameraQuirk.AwbRedBlueGain); // PiCam (using libcamera GPU Driver on raspberry pi)
- @JsonProperty("baseName")
public final String baseName;
- @JsonProperty("usbVid")
public final int usbVid;
- @JsonProperty("usbPid")
public final int usbPid;
- @JsonProperty("displayName")
public final String displayName;
- @JsonProperty("quirks")
public final Map quirks;
/**
@@ -165,13 +160,12 @@ public class QuirkyCamera {
}
}
- @JsonCreator
public QuirkyCamera(
- @JsonProperty("baseName") String baseName,
- @JsonProperty("usbVid") int usbVid,
- @JsonProperty("usbPid") int usbPid,
- @JsonProperty("displayName") String displayName,
- @JsonProperty("quirks") Map quirks) {
+ String baseName,
+ int usbVid,
+ int usbPid,
+ String displayName,
+ Map quirks) {
this.baseName = baseName;
this.usbPid = usbPid;
this.usbVid = usbVid;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index 24c97a41d..9992d7641 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -20,7 +20,6 @@ package org.photonvision.vision.camera.USBCameras;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
-import java.util.HashMap;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
@@ -286,7 +285,6 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
}
private void cacheVideoModes() {
- videoModes = new HashMap<>();
List videoModesList = new ArrayList<>();
try {
for (VideoMode videoMode : camera.enumerateVideoModes()) {
@@ -316,10 +314,7 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
// The ordering is usually more logical when done like this. It typically puts higher FPSes
// closer to the bottom.
Collections.reverse(sortedList);
-
- for (int i = 0; i < sortedList.size(); i++) {
- videoModes.put(i, sortedList.get(i));
- }
+ videoModes = sortedList;
// If after all that we still have no video modes, not much we can do besides
// throw up our hands
@@ -329,11 +324,11 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
}
@Override
- public HashMap getAllVideoModes() {
+ public List getAllVideoModes() {
if (!cameraPropertiesCached) {
// Device hasn't connected at least once, best I can do is given up
logger.warn("Device hasn't connected, cannot enumerate video modes");
- return new HashMap<>();
+ return new ArrayList<>();
}
return videoModes;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
index 5994fdbb8..c9d3666a0 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
@@ -17,7 +17,8 @@
package org.photonvision.vision.camera.csi;
-import java.util.HashMap;
+import java.util.ArrayList;
+import java.util.List;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.raspi.LibCameraJNI;
@@ -61,7 +62,7 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
public LibcameraGpuSettables(CameraConfiguration configuration) {
super(configuration);
- videoModes = new HashMap<>();
+ videoModes = new ArrayList<>();
LibCameraJNI.SensorModel tempSensorModel;
try {
@@ -74,18 +75,18 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
// Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
- videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
- videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
- videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
- videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 30, 30, .39));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 30, 30, .39));
// TODO: fix 1280x720 in the native code and re-add it
- videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
- videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
- videoModes.put(6, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
} else if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
// Taken from https://www.ovt.com/wp-content/uploads/2022/01/OV9281-OV9282-PB-v1.3-WEB.pdf
- videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 400, 120, 240, 1));
- videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 800, 120, 120, 1));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 400, 120, 240, 1));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 800, 120, 120, 1));
} else {
if (sensorModel == LibCameraJNI.SensorModel.IMX477) {
@@ -100,13 +101,13 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
}
// Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
- videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
- videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
- videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
// Half the size of the active areas on the OV5647
- videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
- videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
- videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
+ videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
}
// TODO need to add more video modes for new sensors here
@@ -253,7 +254,7 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
}
@Override
- public HashMap getAllVideoModes() {
+ public List getAllVideoModes() {
return videoModes;
}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java
index b42c650ba..0c54fa7ad 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java
@@ -17,7 +17,7 @@
package org.photonvision.vision.pipeline;
-import com.fasterxml.jackson.annotation.JsonAnySetter;
+import io.avaje.jsonb.Json;
import java.util.Objects;
import org.opencv.core.Point;
import org.photonvision.common.util.numbers.DoubleCouple;
@@ -91,19 +91,16 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
public int cornerDetectionSideCount = 4;
public double cornerDetectionAccuracyPercentage = 10;
+ // MIGRATION: 2025
/**
* Handles backward compatibility for the deprecated outputShowMultipleTargets property. When
* outputShowMultipleTargets is encountered during deserialization, it sets outputMaximumTargets
* appropriately. If outputShowMultipleTargets is false, outputMaximumTargets is set to 1.
*/
- @JsonAnySetter
- public void handleUnknownProperty(String name, Object value) {
- // Handle the old showMultipleTargets property for backward compatibility
- if ("outputShowMultipleTargets".equals(name) && value instanceof Boolean showMultipleTargets) {
- if (!showMultipleTargets) {
- // If showMultipleTargets is false, limit to 1 target
- outputMaximumTargets = 1;
- }
+ @Json.Property("outputShowMultipleTargets")
+ public void importShowMultipleTargets(boolean showMultipleTargets) {
+ if (!showMultipleTargets) {
+ outputMaximumTargets = 1;
}
}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
index 0c4b05475..7423e9d74 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
@@ -17,11 +17,9 @@
package org.photonvision.vision.pipeline;
-import com.fasterxml.jackson.annotation.JsonTypeName;
import org.photonvision.vision.apriltag.AprilTagFamily;
import org.photonvision.vision.target.TargetModel;
-@JsonTypeName("AprilTagPipelineSettings")
public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
public AprilTagFamily tagFamily = AprilTagFamily.kTag36h11;
public int decimate = 1;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
index 7d7d6ea88..b78792a1a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
@@ -17,12 +17,10 @@
package org.photonvision.vision.pipeline;
-import com.fasterxml.jackson.annotation.JsonTypeName;
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.vision.apriltag.AprilTagFamily;
import org.photonvision.vision.target.TargetModel;
-@JsonTypeName("ArucoPipelineSettings")
public class ArucoPipelineSettings extends AdvancedPipelineSettings {
public AprilTagFamily tagFamily = AprilTagFamily.kTag36h11;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index 24eea55d9..ce372ed9f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -17,23 +17,25 @@
package org.photonvision.vision.pipeline;
-import com.fasterxml.jackson.annotation.JsonSubTypes;
-import com.fasterxml.jackson.annotation.JsonTypeInfo;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
+import io.avaje.jsonb.Types;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
import java.util.Objects;
import org.photonvision.vision.frame.FrameDivisor;
import org.photonvision.vision.opencv.ImageRotationMode;
-@JsonTypeInfo(
- use = JsonTypeInfo.Id.NAME,
- include = JsonTypeInfo.As.WRAPPER_ARRAY,
- property = "type")
-@JsonSubTypes({
- @JsonSubTypes.Type(value = ColoredShapePipelineSettings.class),
- @JsonSubTypes.Type(value = ReflectivePipelineSettings.class),
- @JsonSubTypes.Type(value = DriverModePipelineSettings.class),
- @JsonSubTypes.Type(value = AprilTagPipelineSettings.class),
- @JsonSubTypes.Type(value = ArucoPipelineSettings.class),
- @JsonSubTypes.Type(value = ObjectDetectionPipelineSettings.class)
+@Json(typeProperty = "type")
+@Json.SubTypes({
+ @Json.SubType(type = ColoredShapePipelineSettings.class),
+ @Json.SubType(type = ReflectivePipelineSettings.class),
+ @Json.SubType(type = DriverModePipelineSettings.class),
+ @Json.SubType(type = AprilTagPipelineSettings.class),
+ @Json.SubType(type = ArucoPipelineSettings.class),
+ @Json.SubType(type = ObjectDetectionPipelineSettings.class)
})
public class CVPipelineSettings implements Cloneable {
public int pipelineIndex = 0;
@@ -153,4 +155,22 @@ public class CVPipelineSettings implements Cloneable {
+ outputShouldShow
+ '}';
}
+
+ // MIGRATION: 2026
+ public static String remapSettingsJson(String pipelineJson) {
+ final JsonType> objListJsonb = Jsonb.instance().type(Types.listOf(Object.class));
+ final JsonType> objMapJsonb =
+ Jsonb.instance().type(Types.mapOf(Object.class));
+
+ List