Switch from FasterXML Jackson to Avaje Jsonb (#2503)

## Description

WPILib switched from FasterXML Jackson to Avaje Jsonb for speed reasons
in https://github.com/wpilibsuite/allwpilib/pull/8721. This does the
same for PhotonVision. Some temporary Jackson adapters are present to
allow compatibility with alpha-4 ahead of updating Photon's WPILib
version. A few old backwards compatibility migrations were also dropped
if they were difficult to port to Avaje Jsonb or otherwise complicated
the code.

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_, including events
that led to this PR
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with all settings going back to the previous seasons's last release
(seasons end after champs ends)
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added
- [ ] If this PR adds a dependency, the license has been checked for
compatibility and steps taken to follow it

---------

Co-authored-by: samfreund <samf.236@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>

.github/workflows/build.yml

@@ -98,7 +98,7 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
       - name: Setup Node.js
@@ -239,7 +239,7 @@ jobs:
         include:
 #          - os: windows-2022
 #            artifact-name: Win64
-          - os: macos-26
+          - os: macos-15  # TODO: Restore to macos-26 with WPILib alpha-6
             artifact-name: macOS
           - os: ubuntu-24.04
             artifact-name: Linux

.wpiformat

@@ -2,7 +2,7 @@ cppHeaderFileInclude {
   \.h$
 }
 
-modifiableFileExclude {
+generatedFileExclude {
   photon-lib/py/photonlibpy/generated/
   photon-targeting/src/generated/
   photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/

README.md

@@ -67,7 +67,7 @@ PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vis
 * [EJML](https://github.com/lessthanoptimal/ejml)
 * [Javalin](https://javalin.io/)
 * [JSON](https://json.org)
-* [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
+* [Avaje](https://avaje.io) - Specifically [jsonb](https://avaje.io/jsonb/)
 * [MessagePack for Java](https://github.com/msgpack/msgpack-java)
 * [OSHI](https://github.com/oshi/oshi)
 * [QuickBuffers](https://github.com/HebiRobotics/QuickBuffers)

build.gradle

@@ -4,7 +4,7 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
     id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
-    id 'org.wpilib.NativeUtils' version '2027.4.1' apply false
+    id 'org.wpilib.NativeUtils' version '2027.5.1' apply false
     id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
     id 'org.photonvision.tools.WpilibTools' version '3.0.0-photon'
     id 'com.google.protobuf' version '0.9.5' apply false
@@ -40,6 +40,8 @@ ext {
     openCVversion = "4.10.0-3"
     ejmlVersion = "0.43.1";
     jacksonVersion = "2.15.2";
+    avajeJsonbVersion = "3.14-RC4";
+    msgpackVersion = "0.9.0";
     quickbufVersion = "1.3.3";
     jacocoVersion = "0.8.14";
 
@@ -69,7 +71,7 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', '**/src/generated/**'
+            exclude '**/build/**', '**/build-*/**', '**/src/generated/**', "**/bin/generated-sources/**"
         }
         toggleOffOn()
         googleJavaFormat()

photon-client/src/components/common/pv-camera-info-card.vue

@@ -1,57 +1,51 @@
 <script setup lang="ts">
-import { PVCameraInfo } from "@/types/SettingTypes";
+import type { PVCameraInfo } from "@/types/SettingTypes";
-import { cameraInfoFor } from "@/lib/PhotonUtils";
 
-const { camera } = defineProps({
+const { camera } = defineProps<{ camera: PVCameraInfo }>();
-  camera: {
-    type: PVCameraInfo,
-    required: true
-  }
-});
 </script>
 
 <template>
   <div>
     <v-table density="compact" :style="{ backgroundColor: 'var(--v-primary-base)' }">
       <tbody>
-        <tr v-if="cameraInfoFor(camera).dev !== undefined && cameraInfoFor(camera).dev !== null">
+        <tr v-if="'dev' in camera && camera.dev !== null">
           <td>Device Number:</td>
-          <td>{{ cameraInfoFor(camera).dev }}</td>
+          <td>{{ camera.dev }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).name !== undefined && cameraInfoFor(camera).name !== null">
+        <tr v-if="'name' in camera && camera.name !== null">
           <td>Name:</td>
-          <td>{{ cameraInfoFor(camera).name }}</td>
+          <td>{{ camera.name }}</td>
         </tr>
         <tr>
           <td>Type:</td>
-          <td v-if="camera.PVUsbCameraInfo" class="mb-3">USB Camera</td>
+          <td v-if="camera.type === 'PVUsbCameraInfo'" class="mb-3">USB Camera</td>
-          <td v-else-if="camera.PVCSICameraInfo" class="mb-3">CSI Camera</td>
+          <td v-else-if="camera.type === 'PVCSICameraInfo'" class="mb-3">CSI Camera</td>
-          <td v-else-if="camera.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="camera.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).baseName !== undefined && cameraInfoFor(camera).baseName !== null">
+        <tr v-if="'baseName' in camera && camera.baseName !== null">
           <td>Base Name:</td>
-          <td>{{ cameraInfoFor(camera).baseName }}</td>
+          <td>{{ camera.baseName }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).vendorId !== undefined && cameraInfoFor(camera).vendorId !== null">
+        <tr v-if="'vendorId' in camera && camera.vendorId !== null">
           <td>Vendor ID:</td>
-          <td>{{ cameraInfoFor(camera).vendorId }}</td>
+          <td>{{ camera.vendorId }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).productId !== undefined && cameraInfoFor(camera).productId !== null">
+        <tr v-if="'productId' in camera && camera.productId !== null">
           <td>Product ID:</td>
-          <td>{{ cameraInfoFor(camera).productId }}</td>
+          <td>{{ camera.productId }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).path !== undefined && cameraInfoFor(camera).path !== null">
+        <tr v-if="'path' in camera && camera.path !== null">
           <td>Path:</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(camera).path }}</td>
+          <td style="word-break: break-all">{{ camera.path }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).uniquePath !== undefined && cameraInfoFor(camera).uniquePath !== null">
+        <tr v-if="'uniquePath' in camera && camera.uniquePath !== null">
           <td>Unique Path:</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(camera).uniquePath }}</td>
+          <td style="word-break: break-all">{{ camera.uniquePath }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).otherPaths !== undefined && cameraInfoFor(camera).otherPaths !== null">
+        <tr v-if="'otherPaths' in camera && camera.otherPaths !== null">
           <td>Other Paths:</td>
-          <td>{{ cameraInfoFor(camera).otherPaths }}</td>
+          <td>{{ camera.otherPaths }}</td>
         </tr>
       </tbody>
     </v-table>

photon-client/src/components/common/pv-camera-match-card.vue

@@ -1,6 +1,5 @@
 <script setup lang="ts">
-import { PVCameraInfo } from "@/types/SettingTypes";
+import type { PVCameraInfo } from "@/types/SettingTypes";
-import { cameraInfoFor } from "@/lib/PhotonUtils";
 
 function isEqual<T>(a: T, b: T): boolean {
   if (a === b) {
@@ -16,16 +15,7 @@ function isEqual<T>(a: T, b: T): boolean {
   );
 }
 
-const { saved, current } = defineProps({
+const { saved, current } = defineProps<{ saved: PVCameraInfo; current: PVCameraInfo }>();
-  saved: {
-    type: PVCameraInfo,
-    required: true
-  },
-  current: {
-    type: PVCameraInfo,
-    required: true
-  }
-});
 </script>
 
 <template>
@@ -38,79 +28,70 @@ const { saved, current } = defineProps({
           <th>Current</th>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).dev !== undefined && cameraInfoFor(saved).dev !== null"
+          v-if="'dev' in saved && 'dev' in current && saved.dev !== null"
-          :class="cameraInfoFor(saved).dev !== cameraInfoFor(current).dev ? 'mismatch' : ''"
+          :class="saved.dev !== current.dev ? 'mismatch' : ''"
         >
           <td>Device Number:</td>
-          <td>{{ cameraInfoFor(saved).dev }}</td>
+          <td>{{ saved.dev }}</td>
-          <td>{{ cameraInfoFor(current).dev }}</td>
+          <td>{{ current.dev }}</td>
         </tr>
-        <tr
+        <tr v-if="saved.name !== null" :class="saved.name !== current.name ? 'mismatch' : ''">
-          v-if="cameraInfoFor(saved).name !== undefined && cameraInfoFor(saved).name !== null"
-          :class="cameraInfoFor(saved).name !== cameraInfoFor(current).name ? 'mismatch' : ''"
-        >
           <td>Name:</td>
-          <td>{{ cameraInfoFor(saved).name }}</td>
+          <td>{{ saved.name }}</td>
-          <td>{{ cameraInfoFor(current).name }}</td>
+          <td>{{ current.name }}</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).baseName !== undefined && cameraInfoFor(saved).baseName !== null"
+          v-if="'baseName' in saved && 'baseName' in current && saved.baseName !== null"
-          :class="cameraInfoFor(saved).baseName !== cameraInfoFor(current).baseName ? 'mismatch' : ''"
+          :class="saved.baseName !== current.baseName ? 'mismatch' : ''"
         >
           <td>Base Name:</td>
-          <td>{{ cameraInfoFor(saved).baseName }}</td>
+          <td>{{ saved.baseName }}</td>
-          <td>{{ cameraInfoFor(current).baseName }}</td>
+          <td>{{ current.baseName }}</td>
         </tr>
         <tr>
           <td>Type:</td>
-          <td v-if="saved.PVUsbCameraInfo" class="mb-3">USB Camera</td>
+          <td v-if="saved.type === 'PVUsbCameraInfo'" class="mb-3">USB Camera</td>
-          <td v-else-if="saved.PVCSICameraInfo" class="mb-3">CSI Camera</td>
+          <td v-else-if="saved.type === 'PVCSICameraInfo'" class="mb-3">CSI Camera</td>
-          <td v-else-if="saved.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="saved.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
-          <td v-if="current.PVUsbCameraInfo" class="mb-3">USB Camera</td>
+          <td v-if="current.type === 'PVUsbCameraInfo'" class="mb-3">USB Camera</td>
-          <td v-else-if="current.PVCSICameraInfo" class="mb-3">CSI Camera</td>
+          <td v-else-if="current.type === 'PVCSICameraInfo'" class="mb-3">CSI Camera</td>
-          <td v-else-if="current.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="current.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).vendorId !== undefined && cameraInfoFor(saved).vendorId !== null"
+          v-if="'vendorId' in saved && 'vendorId' in current && saved.vendorId !== null"
-          :class="cameraInfoFor(saved).vendorId !== cameraInfoFor(current).vendorId ? 'mismatch' : ''"
+          :class="saved.vendorId !== current.vendorId ? 'mismatch' : ''"
         >
           <td>Vendor ID:</td>
-          <td>{{ cameraInfoFor(saved).vendorId }}</td>
+          <td>{{ saved.vendorId }}</td>
-          <td>{{ cameraInfoFor(current).vendorId }}</td>
+          <td>{{ current.vendorId }}</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).productId !== undefined && cameraInfoFor(saved).productId !== null"
+          v-if="'productId' in saved && 'productId' in current && saved.productId !== null"
-          :class="cameraInfoFor(saved).productId !== cameraInfoFor(current).productId ? 'mismatch' : ''"
+          :class="saved.productId !== current.productId ? 'mismatch' : ''"
         >
           <td>Product ID:</td>
-          <td>{{ cameraInfoFor(saved).productId }}</td>
+          <td>{{ saved.productId }}</td>
-          <td>{{ cameraInfoFor(current).productId }}</td>
+          <td>{{ current.productId }}</td>
         </tr>
-        <tr
+        <tr v-if="saved.path !== null" :class="saved.path !== current.path ? 'mismatch' : ''">
-          v-if="cameraInfoFor(saved).path !== undefined && cameraInfoFor(saved).path !== null"
-          :class="cameraInfoFor(saved).path !== cameraInfoFor(current).path ? 'mismatch' : ''"
-        >
           <td>Path:</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(saved).path }}</td>
+          <td style="word-break: break-all">{{ saved.path }}</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(current).path }}</td>
+          <td style="word-break: break-all">{{ current.path }}</td>
         </tr>
-        <tr
+        <tr v-if="saved.uniquePath !== null" :class="saved.uniquePath !== current.uniquePath ? 'mismatch' : ''">
-          v-if="cameraInfoFor(saved).uniquePath !== undefined && cameraInfoFor(saved).uniquePath !== null"
-          :class="cameraInfoFor(saved).uniquePath !== cameraInfoFor(current).uniquePath ? 'mismatch' : ''"
-        >
           <td>Unique Path:</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(saved).uniquePath }}</td>
+          <td style="word-break: break-all">{{ saved.uniquePath }}</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(current).uniquePath }}</td>
+          <td style="word-break: break-all">{{ current.uniquePath }}</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).otherPaths !== undefined && cameraInfoFor(saved).otherPaths !== null"
+          v-if="'otherPaths' in saved && 'otherPaths' in current && saved.otherPaths !== null"
-          :class="isEqual(cameraInfoFor(saved).otherPaths, cameraInfoFor(current).otherPaths) ? '' : 'mismatch'"
+          :class="isEqual(saved.otherPaths, current.otherPaths) ? '' : 'mismatch'"
         >
           <td>Other Paths:</td>
-          <td>{{ cameraInfoFor(saved).otherPaths }}</td>
+          <td>{{ saved.otherPaths }}</td>
-          <td>{{ cameraInfoFor(current).otherPaths }}</td>
+          <td>{{ current.otherPaths }}</td>
         </tr>
       </tbody>
     </v-table>

photon-client/src/components/dashboard/tabs/InputTab.vue

@@ -163,7 +163,7 @@ const interactiveCols = computed(() =>
     />
     <pv-switch
       v-model="useCameraSettingsStore().currentPipelineSettings.blockForFrames"
-      :disabled="!useCameraSettingsStore().currentCameraSettings.matchedCameraInfo.PVUsbCameraInfo"
+      :disabled="useCameraSettingsStore().currentCameraSettings.matchedCameraInfo.type !== 'PVUsbCameraInfo'"
       label="Low Latency Mode"
       :switch-cols="interactiveCols"
       tooltip="When enabled, USB cameras wait for the next camera frame for lowest latency. When disabled, uses the most recent available frame for higher FPS."

photon-client/src/lib/PhotonUtils.ts

@@ -1,5 +1,5 @@
 import { useStateStore } from "@/stores/StateStore";
-import type { PVCameraInfo, Resolution } from "@/types/SettingTypes";
+import type { Resolution } from "@/types/SettingTypes";
 import axios, { type AxiosRequestConfig } from "axios";
 
 export const resolutionsAreEqual = (a: Resolution, b: Resolution) => {
@@ -109,23 +109,3 @@ export const axiosPost = async (
     return false;
   }
 };
-
-type CameraInfoDetails = Partial<
-  NonNullable<PVCameraInfo["PVUsbCameraInfo"]> &
-    NonNullable<PVCameraInfo["PVCSICameraInfo"]> &
-    NonNullable<PVCameraInfo["PVFileCameraInfo"]>
->;
-
-export const cameraInfoFor = (camera: PVCameraInfo | null): CameraInfoDetails => {
-  if (!camera) return {};
-  if (camera.PVUsbCameraInfo) {
-    return camera.PVUsbCameraInfo;
-  }
-  if (camera.PVCSICameraInfo) {
-    return camera.PVCSICameraInfo;
-  }
-  if (camera.PVFileCameraInfo) {
-    return camera.PVFileCameraInfo;
-  }
-  return {};
-};

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -116,23 +116,20 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
             inputPort: d.inputStreamPort,
             outputPort: d.outputStreamPort
           },
-          validVideoFormats: Object.entries(d.videoFormatList)
+          validVideoFormats: d.videoFormatList.map((v, i) => ({
-            .sort(([firstKey], [secondKey]) => parseInt(firstKey) - parseInt(secondKey))
+            resolution: {
-            // eslint-disable-next-line @typescript-eslint/no-unused-vars
+              width: v.width,
-            .map<VideoFormat>(([k, v], i) => ({
+              height: v.height
-              resolution: {
+            },
-                width: v.width,
+            fps: v.fps,
-                height: v.height
+            pixelFormat: v.pixelFormat,
-              },
+            index: v.index || i,
-              fps: v.fps,
+            diagonalFOV: v.diagonalFOV,
-              pixelFormat: v.pixelFormat,
+            horizontalFOV: v.horizontalFOV,
-              index: v.index || i,
+            verticalFOV: v.verticalFOV,
-              diagonalFOV: v.diagonalFOV,
+            standardDeviation: v.standardDeviation,
-              horizontalFOV: v.horizontalFOV,
+            mean: v.mean
-              verticalFOV: v.verticalFOV,
+          })),
-              standardDeviation: v.standardDeviation,
-              mean: v.mean
-            })),
           completeCalibrations: d.calibrations,
           isCSICamera: d.isCSICamera,
           minExposureRaw: d.minExposureRaw,

photon-client/src/types/SettingTypes.ts

@@ -75,46 +75,29 @@ export type ConfigurableNetworkSettings = Omit<
   "canManage" | "networkInterfaceNames" | "networkingDisabled"
 >;
 
-export interface PVCameraInfoBase {
+interface PVCameraInfoBase {
-  /*
+  type: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo";
-  Huge hack. In Jackson, this is set based on the underlying type -- this
+  path: string;
-  then maps to one of the 3 subclasses here below. Not sure how to best deal with this.
+  name: string;
-  */
+  uniquePath: string;
-  cameraTypename: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo";
 }
 
-export interface PVUsbCameraInfo {
+export interface PVUsbCameraInfo extends PVCameraInfoBase {
+  type: "PVUsbCameraInfo";
   dev: number;
-  name: string;
   otherPaths: string[];
-  path: string;
   vendorId: number;
   productId: number;
-
-  // In Java, PVCameraInfo provides a uniquePath property so we can have one Source of Truth here
-  uniquePath: string;
 }
-export interface PVCSICameraInfo {
+export interface PVCSICameraInfo extends PVCameraInfoBase {
+  type: "PVCSICameraInfo";
   baseName: string;
-  path: string;
-
-  // In Java, PVCameraInfo provides a uniquePath property so we can have one Source of Truth here
-  uniquePath: string;
 }
-export interface PVFileCameraInfo {
+export interface PVFileCameraInfo extends PVCameraInfoBase {
-  path: string;
+  type: "PVFileCameraInfo";
-  name: string;
-
-  // In Java, PVCameraInfo provides a uniquePath property so we can have one Source of Truth here
-  uniquePath: string;
 }
 
-// This camera info will only ever hold one of its members - the others should be undefined.
+export type PVCameraInfo = PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo;
-export class PVCameraInfo {
-  PVUsbCameraInfo: PVUsbCameraInfo | undefined;
-  PVCSICameraInfo: PVCSICameraInfo | undefined;
-  PVFileCameraInfo: PVFileCameraInfo | undefined;
-}
 
 export interface VsmState {
   disabledConfigs: WebsocketCameraSettingsUpdate[];
@@ -439,13 +422,10 @@ export const PlaceholderCameraSettings: UiCameraConfiguration = reactive({
   minWhiteBalanceTemp: 2000,
   maxWhiteBalanceTemp: 10000,
   matchedCameraInfo: {
-    PVFileCameraInfo: {
+    type: "PVFileCameraInfo",
-      name: "Foobar",
+    name: "Foobar",
-      path: "/dev/foobar",
+    path: "/dev/foobar",
-      uniquePath: "/dev/foobar2"
+    uniquePath: "/dev/foobar2"
-    },
-    PVCSICameraInfo: undefined,
-    PVUsbCameraInfo: undefined
   },
   fpsLimit: -1,
   isEnabled: true,

photon-client/src/types/WebsocketDataTypes.ts

@@ -30,21 +30,18 @@ export interface WebsocketNumberPair {
   second: number;
 }
 
-export type WebsocketVideoFormat = Record<
+export type WebsocketVideoFormat = {
-  number,
+  fps: number;
-  {
+  height: number;
-    fps: number;
+  width: number;
-    height: number;
+  pixelFormat: string;
-    width: number;
+  index?: number;
-    pixelFormat: string;
+  diagonalFOV?: number;
-    index?: number;
+  horizontalFOV?: number;
-    diagonalFOV?: number;
+  verticalFOV?: number;
-    horizontalFOV?: number;
+  standardDeviation?: number;
-    verticalFOV?: number;
+  mean?: number;
-    standardDeviation?: number;
+}[];
-    mean?: number;
-  }
->;
 
 // Companion to UICameraConfiguration in Java
 export interface WebsocketCameraSettingsUpdate {

photon-client/src/views/CameraMatchingView.vue

@@ -2,8 +2,8 @@
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { computed, inject, ref } from "vue";
 import { useStateStore } from "@/stores/StateStore";
-import { PlaceholderCameraSettings, PVCameraInfo } from "@/types/SettingTypes";
+import { PlaceholderCameraSettings, type PVCameraInfo } from "@/types/SettingTypes";
-import { axiosPost, getResolutionString, cameraInfoFor } from "@/lib/PhotonUtils";
+import { axiosPost, getResolutionString } from "@/lib/PhotonUtils";
 import PhotonCameraStream from "@/components/app/photon-camera-stream.vue";
 import PvDeleteModal from "@/components/common/pv-delete-modal.vue";
 import PvCameraInfoCard from "@/components/common/pv-camera-info-card.vue";
@@ -59,22 +59,15 @@ const deleteThisCamera = async (cameraUniqueName: string) => {
 
 const cameraConnected = (uniquePath: string | undefined): boolean => {
   if (!uniquePath) return false;
-  return (
+  return useStateStore().vsmState.allConnectedCameras.find((it) => it.uniquePath === uniquePath) !== undefined;
-    useStateStore().vsmState.allConnectedCameras.find((it) => cameraInfoFor(it).uniquePath === uniquePath) !== undefined
-  );
 };
 
 const unmatchedCameras = computed(() => {
-  const activeVmPaths = Object.values(useCameraSettingsStore().cameras).map(
+  const activeVmPaths = Object.values(useCameraSettingsStore().cameras).map((it) => it.matchedCameraInfo.uniquePath);
-    (it) => cameraInfoFor(it.matchedCameraInfo).uniquePath
+  const disabledVmPaths = useStateStore().vsmState.disabledConfigs.map((it) => it.matchedCameraInfo.uniquePath);
-  );
-  const disabledVmPaths = useStateStore().vsmState.disabledConfigs.map(
-    (it) => cameraInfoFor(it.matchedCameraInfo).uniquePath
-  );
 
   return useStateStore().vsmState.allConnectedCameras.filter(
-    (it) =>
+    (it) => !activeVmPaths.includes(it.uniquePath) && !disabledVmPaths.includes(it.uniquePath)
-      !activeVmPaths.includes(cameraInfoFor(it).uniquePath) && !disabledVmPaths.includes(cameraInfoFor(it).uniquePath)
   );
 });
 
@@ -85,8 +78,8 @@ const activeVisionModules = computed(() =>
     // Display connected cameras first
     .sort(
       (first, second) =>
-        (cameraConnected(cameraInfoFor(second.matchedCameraInfo).uniquePath) ? 1 : 0) -
+        (cameraConnected(second.matchedCameraInfo.uniquePath) ? 1 : 0) -
-        (cameraConnected(cameraInfoFor(first.matchedCameraInfo).uniquePath) ? 1 : 0)
+        (cameraConnected(first.matchedCameraInfo.uniquePath) ? 1 : 0)
     )
 );
 
@@ -105,18 +98,18 @@ const setCameraView = (camera: PVCameraInfo | null, isConnected: boolean | null)
 const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
   if (!info) {
     return {
-      PVFileCameraInfo: undefined,
+      type: "PVFileCameraInfo",
-      PVCSICameraInfo: undefined,
+      path: "",
-      PVUsbCameraInfo: undefined
+      name: "",
+      uniquePath: ""
     };
   }
   return (
-    useStateStore().vsmState.allConnectedCameras.find(
+    useStateStore().vsmState.allConnectedCameras.find((it) => it.uniquePath === info.uniquePath) || {
-      (it) => cameraInfoFor(it).uniquePath === cameraInfoFor(info).uniquePath
+      type: "PVFileCameraInfo",
-    ) || {
+      path: "",
-      PVFileCameraInfo: undefined,
+      name: "",
-      PVCSICameraInfo: undefined,
+      uniquePath: ""
-      PVUsbCameraInfo: undefined
     }
   );
 };
@@ -135,12 +128,11 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
         class="pr-0"
       >
         <v-card color="surface" class="rounded-12">
-          <v-card-title>{{ cameraInfoFor(module.matchedCameraInfo).name }}</v-card-title>
+          <v-card-title>{{ module.matchedCameraInfo.name }}</v-card-title>
-          <v-card-subtitle v-if="!cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
+          <v-card-subtitle v-if="!cameraConnected(module.matchedCameraInfo.uniquePath)"
             >Status: <span class="inactive-status">Disconnected</span></v-card-subtitle
           >
-          <v-card-subtitle
+          <v-card-subtitle v-else-if="cameraConnected(module.matchedCameraInfo.uniquePath) && !module.mismatch"
-            v-else-if="cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) && !module.mismatch"
             >Status: <span class="active-status">Active</span></v-card-subtitle
           >
           <v-card-subtitle v-else>Status: <span class="mismatch-status">Mismatch</span></v-card-subtitle>
@@ -149,7 +141,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
               <tbody>
                 <tr
                   v-if="
-                    cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) &&
+                    cameraConnected(module.matchedCameraInfo.uniquePath) &&
                     useStateStore().backendResults[module.uniqueName]
                   "
                 >
@@ -191,7 +183,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
               </tbody>
             </v-table>
             <div
-              v-if="cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
+              v-if="cameraConnected(module.matchedCameraInfo.uniquePath)"
               :id="`stream-container-${index}`"
               class="d-flex flex-column justify-center align-center mt-3"
               style="height: 250px"
@@ -210,12 +202,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   color="buttonPassive"
                   style="width: 100%"
                   :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
-                  @click="
+                  @click="setCameraView(module.matchedCameraInfo, cameraConnected(module.matchedCameraInfo.uniquePath))"
-                    setCameraView(
-                      module.matchedCameraInfo,
-                      cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
-                    )
-                  "
                 >
                   <span>Details</span>
                 </v-btn>
@@ -292,7 +279,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                 </tr>
                 <tr>
                   <td>Connected</td>
-                  <td>{{ cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) }}</td>
+                  <td>{{ cameraConnected(module.matchedCameraInfo.uniquePath) }}</td>
                 </tr>
               </tbody>
             </v-table>
@@ -304,12 +291,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   color="buttonPassive"
                   style="width: 100%"
                   :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
-                  @click="
+                  @click="setCameraView(module.matchedCameraInfo, cameraConnected(module.matchedCameraInfo.uniquePath))"
-                    setCameraView(
-                      module.matchedCameraInfo,
-                      cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
-                    )
-                  "
                 >
                   <span>Details</span>
                 </v-btn>
@@ -354,15 +336,15 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
       <v-col v-for="(camera, index) in unmatchedCameras" :key="index" cols="12" sm="6" lg="4" class="pr-0">
         <v-card class="pr-0 rounded-12" color="surface">
           <v-card-title>
-            <span v-if="camera.PVUsbCameraInfo">USB Camera:</span>
+            <span v-if="camera.type === 'PVUsbCameraInfo'">USB Camera:</span>
-            <span v-else-if="camera.PVCSICameraInfo">CSI Camera:</span>
+            <span v-else-if="camera.type === 'PVCSICameraInfo'">CSI Camera:</span>
-            <span v-else-if="camera.PVFileCameraInfo">File Camera:</span>
+            <span v-else-if="camera.type === 'PVFileCameraInfo'">File Camera:</span>
             <span v-else>Unknown Camera:</span>
-            &nbsp;<span>{{ cameraInfoFor(camera)?.name ?? cameraInfoFor(camera)?.baseName }}</span>
+            &nbsp;<span>{{ camera.name }}</span>
           </v-card-title>
           <v-card-subtitle>Status: Unassigned</v-card-subtitle>
           <v-card-text class="pt-3">
-            <span style="word-break: break-all">{{ cameraInfoFor(camera)?.path }}</span>
+            <span style="word-break: break-all">{{ camera?.path }}</span>
           </v-card-text>
           <v-card-text class="pt-0">
             <v-row>
@@ -413,7 +395,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
     <v-dialog v-model="viewingDetails" max-width="800">
       <v-card v-if="viewingCamera[0] !== null" flat color="surface">
         <v-card-title class="d-flex justify-space-between">
-          <span>{{ cameraInfoFor(viewingCamera[0])?.name ?? cameraInfoFor(viewingCamera[0])?.baseName }}</span>
+          <span>{{ viewingCamera[0].name }}</span>
           <v-btn variant="text" @click="setCameraView(null, null)">
             <v-icon size="x-large">mdi-close</v-icon>
           </v-btn>
@@ -423,9 +405,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
         </v-card-text>
         <v-card-text
           v-else-if="
-            activeVisionModules.find(
+            activeVisionModules.find((it) => it.matchedCameraInfo.uniquePath === viewingCamera[0]?.uniquePath)?.mismatch
-              (it) => cameraInfoFor(it.matchedCameraInfo).uniquePath === cameraInfoFor(viewingCamera[0]).uniquePath
-            )?.mismatch
           "
         >
           <v-alert

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -17,9 +17,7 @@
 
 package org.photonvision.common.configuration;
 
-import com.fasterxml.jackson.annotation.JsonCreator;
+import io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.UUID;
@@ -36,6 +34,7 @@ import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.PipelineManager;
 import org.wpilib.vision.camera.UsbCameraInfo;
 
+@Json
 public class CameraConfiguration {
     private static final Logger logger = new Logger(CameraConfiguration.class, LogGroup.Camera);
 
@@ -62,11 +61,8 @@ public class CameraConfiguration {
 
     public int streamIndex = 0; // 0 index means ports [1181, 1182], 1 means [1183, 1184], etc...
 
-    // Ignore the pipes, as we serialize them to their own column to hack around
+    public List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
-    // polymorphic lists
-    @JsonIgnore public List<CVPipelineSettings> 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
+    // JSON Constructor (can't be marked with @Json.Creator due to public fields that aren't part of
-    @JsonCreator
+    // the parameters)
     public CameraConfiguration(
-            @JsonProperty("uniqueName") String uniqueName,
+            String uniqueName,
-            @JsonProperty("matchedCameraInfo") PVCameraInfo matchedCameraInfo,
+            PVCameraInfo matchedCameraInfo,
-            @JsonProperty("nickname") String nickname,
+            String nickname,
-            @JsonProperty("deactivated") boolean deactivated,
+            boolean deactivated,
-            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
+            QuirkyCamera cameraQuirks,
-            @JsonProperty("FOV") double FOV,
+            double FOV,
-            @JsonProperty("calibrations") List<CameraCalibrationCoefficients> calibrations,
+            int currentPipelineIndex) {
-            @JsonProperty("currentPipelineIndex") 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,
+                String baseName,
-                @JsonProperty("path") String path,
+                String path,
-                @JsonProperty("otherPaths") String[] otherPaths,
+                String[] otherPaths,
-                @JsonProperty("cameraType") CameraType cameraType,
+                CameraType cameraType,
-                @JsonProperty("usbVID") int usbVID,
+                int usbVID,
-                @JsonProperty("usbPID") int usbPID) {
+                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
+     * Replace a calibration in our list with the same resolution with a new one, or add it if none
-     * none exists yet. If we are replacing an existing calibration, the old one will be "released"
+     * exists yet. If we are replacing an existing calibration, the old one will be "released" and the
-     * and the underlying data matrices will become invalid.
+     * 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) {
+    public void removeCalibration(Size resolution) {
-        logger.info("deleting calibration " + unrotatedImageSize);
+        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 {
      *
      * <p>This represents our best guess at an immutable path to detect a camera at.
      */
-    @JsonIgnore
     public String getDevicePath() {
         return matchedCameraInfo.uniquePath();
     }

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(
+            Jsonb.instance()
-                    tempProperties.toPath(), this.getConfig().neuralNetworkPropertyManager());
+                    .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;

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 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<Integer> ledPins;
+    public List<Integer> ledPins;
-    public final boolean ledsCanDim;
+    public boolean ledsCanDim;
-    public final ArrayList<Integer> ledBrightnessRange;
+    public List<Integer> ledBrightnessRange;
-    public final int ledPWMFrequency;
+    public int ledPWMFrequency;
-    public final StatusLEDType statusLEDType;
+    public StatusLEDType statusLEDType;
 
-    @JsonAlias("statusRGBPins")
+    // MIGRATION: 2026
-    public final ArrayList<Integer> statusLEDPins;
+    @Json.Alias("statusRGBPins")
+    public List<Integer> statusLEDPins;
 
-    @JsonAlias("statusRGBActiveHigh")
+    // MIGRATION: 2026
-    public final boolean statusLEDActiveHigh;
+    @Json.Alias("statusRGBActiveHigh")
+    public boolean statusLEDActiveHigh;
 
     // Custom GPIO
-    public final String getGPIOCommand;
+    public String getGPIOCommand;
-    public final String setGPIOCommand;
+    public String setGPIOCommand;
-    public final String setPWMCommand;
+    public String setPWMCommand;
-    public final String setPWMFrequencyCommand;
+    public String setPWMFrequencyCommand;
-    public final String releaseGPIOCommand;
+    public String releaseGPIOCommand;
 
     // Device stuff
-    public final String restartHardwareCommand;
+    public String restartHardwareCommand;
-    public final double vendorFOV; // -1 for unmanaged
+    public double vendorFOV; // -1 for unmanaged
 
     public HardwareConfig(
             String deviceName,
-            ArrayList<Integer> ledPins,
+            List<Integer> ledPins,
             boolean ledsCanDim,
-            ArrayList<Integer> ledBrightnessRange,
+            List<Integer> ledBrightnessRange,
             int ledPwmFrequency,
             StatusLEDType statusLEDType,
-            ArrayList<Integer> statusLEDPins,
+            List<Integer> statusLEDPins,
             boolean statusLEDActiveHigh,
             String getGPIOCommand,
             String setGPIOCommand,

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 {
+            try (var stream = new FileInputStream(hardwareConfigFile)) {
-                hardwareConfig =
+                hardwareConfig = Jsonb.instance().type(HardwareConfig.class).fromJson(stream);
-                        JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class);
                 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 {
+            try (var stream = new FileInputStream(hardwareSettingsFile)) {
-                hardwareSettings =
+                hardwareSettings = Jsonb.instance().type(HardwareSettings.class).fromJson(stream);
-                        JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
                 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 {
+            try (var stream = new FileInputStream(networkConfigFile)) {
-                networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
+                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 {
+            try (var stream = new FileInputStream(apriltagFieldLayoutFile)) {
-                atfl =
+                atfl = Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(stream);
-                        JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class);
                 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 {
+        try (var stream = new FileOutputStream(networkConfigFile)) {
-            JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
+            Jsonb.instance().type(NetworkConfig.class).toJson(config.getNetworkConfig(), stream);
-        } catch (IOException e) {
+        } catch (IOException | IllegalStateException | JsonException e) {
             logger.error("Could not save network config!", e);
         }
-        try {
+        try (var stream = new FileOutputStream(hardwareSettingsFile)) {
-            JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
+            Jsonb.instance().type(HardwareSettings.class).toJson(config.getHardwareSettings(), stream);
-        } catch (IOException e) {
+        } 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 {
+            try (var stream = new FileOutputStream(Path.of(subdir.toString(), "config.json").toFile())) {
-                JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
+                Jsonb.instance().type(CameraConfiguration.class).toJson(camConfig, stream);
-            } catch (IOException e) {
+            } 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 {
+                try (var stream = new FileInputStream(cameraConfigPath.toFile())) {
-                    loadedConfig =
+                    loadedConfig = Jsonb.instance().type(CameraConfiguration.class).fromJson(stream);
-                            JacksonUtils.deserialize(
+                } catch (IllegalStateException | JsonException e) {
-                                    cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
-                } catch (JsonProcessingException 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<CVPipelineSettings> settings = Collections.emptyList();
-                if (pipelineSubdirectory.toFile().exists()) {
-                    try (Stream<Path> 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) {

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonProperty;
 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 = "${interface}";
+    public static final String NM_IFACE_STRING = "${interface}";
-    @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
+    public static final String NM_IP_STRING = "${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,
-                    String ntServerAddress,
+            NetworkMode connectionType,
-            @JsonProperty("connectionType") NetworkMode connectionType,
+            String staticIp,
-            @JsonProperty("staticIp") String staticIp,
+            String hostname,
-            @JsonProperty("hostname") String hostname,
+            boolean runNTServer,
-            @JsonProperty("runNTServer") boolean runNTServer,
+            boolean shouldManage,
-            @JsonProperty("shouldManage") boolean shouldManage,
+            boolean shouldPublishProto,
-            @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
+            String networkManagerIface,
-            @JsonProperty("networkManagerIface") String networkManagerIface,
+            String setStaticCommand,
-            @JsonProperty("setStaticCommand") String setStaticCommand,
+            String setDHCPcommand) {
-            @JsonProperty("setDHCPcommand") 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();
     }

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 = "";

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonIgnore;
+import io.avaje.jsonb.JsonType;
-import com.fasterxml.jackson.annotation.JsonProperty;
+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,
+            Path modelPath,
-            @JsonProperty("nickname") String nickname,
+            String nickname,
-            @JsonProperty("labels") List<String> labels,
+            List<String> labels,
-            @JsonProperty("resolutionWidth") int resolutionWidth,
+            int resolutionWidth,
-            @JsonProperty("resolutionHeight") int resolutionHeight,
+            int resolutionHeight,
-            @JsonProperty("family") Family family,
+            Family family,
-            @JsonProperty("version") Version version) {
+            Version version) {
-        @JsonCreator
-        public ModelProperties {}
-
         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<Path, ModelProperties> modelPathToProperties =
             new HashMap<Path, ModelProperties>();
 
     /**
      * Constructor for the NeuralNetworkProperties class.
      *
-     * <p>This object holds a LinkedList of {@link ModelProperties} objects
+     * <p>This object holds a HashMap of {@link ModelProperties} objects
      */
     public NeuralNetworkModelsSettings() {}
 
     /**
      * Constructor for the NeuralNetworkProperties class.
      *
-     * <p>This object holds a LinkedList of {@link ModelProperties} objects.
+     * <p>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<Path, ModelProperties> modelPropertiesMap) {
+        modelPathToProperties = modelPropertiesMap;
+    }
+
+    /**
+     * Constructor for the NeuralNetworkProperties class.
+     *
+     * <p>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<Path, ModelProperties> modelPropertiesList) {}
+    @Json.Creator
+    public NeuralNetworkModelsSettings(
+            ModelProperties[] models, @Json.Unmapped Map<String, Object> unmapped) {
+        JsonType<Map<String, ModelProperties>> modelPropsMapJsonb =
+                Jsonb.instance().type(Types.mapOf(ModelProperties.class));
+        Stream<ModelProperties> 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]);
     }

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<String, CameraConfiguration> cameraConfigurations;
+    private Map<String, CameraConfiguration> 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<String, CameraConfiguration> cameraConfigurations) {
+            Map<String, CameraConfiguration> 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<String, CameraConfiguration> getCameraConfigurations() {
+    public Map<String, CameraConfiguration> getCameraConfigurations() {
         return cameraConfigurations;
     }
 
@@ -148,8 +155,8 @@ public class PhotonConfiguration {
                 + hardwareSettings
                 + "\n  networkConfig="
                 + networkConfig
-                + "\n  atfl="
+                + "\n  aprilTagFieldLayout="
-                + atfl
+                + aprilTagFieldLayout
                 + "\n  neuralNetworkProperties="
                 + neuralNetworkProperties
                 + "\n  cameraConfigurations={"

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(2, Jsonb.instance().type(CameraConfiguration.class).toJson(config));
-                statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
 
-                // Serializing a list of abstract classes sucks. Instead, make it into an array
+                // MIGRATION: 2026
-                // of strings, which we can later unpack back into individual settings
+                // We used to serialize pipelines separately, but don't anymore
-                List<String> settings =
+                statement.setString(3, "null");
-                        config.pipelineSettings.stream()
+                statement.setString(4, "[]");
-                                .map(
-                                        it -> {
-                                            try {
-                                                return JacksonUtils.serializeToString(it);
-                                            } catch (IOException e) {
-                                                e.printStackTrace();
-                                                return null;
-                                            }
-                                        })
-                                .filter(Objects::nonNull)
-                                .toList();
-                statement.setString(4, JacksonUtils.serializeToString(settings));
 
                 statement.executeUpdate();
             }
-
+        } catch (SQLException | IllegalStateException | JsonException e) {
-        } catch (SQLException | IOException 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<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
         HashMap<String, CameraConfiguration> 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<String> dummyList = new ArrayList<>();
+                    JsonType<List<String>> 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);
+                    // MIGRATION: 2024
-                    CameraConfiguration config =
+                    var configJson = result.getString(Columns.CAM_CONFIG_JSON);
-                            JacksonUtils.deserialize(configStr, CameraConfiguration.class);
 
+                    // 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(
+                                Jsonb.instance()
-                                        result.getString(Columns.CAM_OTHERPATHS_JSON), String[].class);
+                                        .type(String[].class)
+                                        .fromJson(result.getString(Columns.CAM_OTHERPATHS_JSON));
                         if (config.matchedCameraInfo instanceof UsbCameraInfo usbInfo) {
                             usbInfo.otherPaths = otherPaths;
                         }
                     }
 
-                    var driverMode =
+                    // MIGRATION: 2026
-                            JacksonUtils.deserialize(
+                    List<String> legacyPipelineSettings =
-                                    result.getString(Columns.CAM_DRIVERMODE_JSON), DriverModePipelineSettings.class);
+                            strListJsonb.fromJson(result.getString(Columns.CAM_PIPELINE_JSONS));
-                    List<?> pipelineSettings =
-                            JacksonUtils.deserialize(
-                                    result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
 
-                    List<CVPipelineSettings> loadedSettings = new ArrayList<>();
+                    for (var pipelineJson : legacyPipelineSettings) {
-                    for (var setting : pipelineSettings) {
+                        logger.info("Importing pipeline JSON into camera settings");
-                        if (setting instanceof String str) {
+                        if (pipelineJson.startsWith("[")) {
-                            try {
+                            logger.info("Legacy type-wrapper CVPipelineSettings being migrated");
-                                loadedSettings.add(JacksonUtils.deserialize(str, CVPipelineSettings.class));
+                            pipelineJson = CVPipelineSettings.remapSettingsJson(pipelineJson);
-                            } catch (IOException e) {
+                        }
-                                logger.error(
+
-                                        "Could not deserialize pipeline setting for camera " + config.nickname, e);
+                        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;
+                    // MIGRATION: 2026
-                    config.driveModeSettings = driverMode;
+                    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);
                 }

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 <T> void onDataChangeEvent(DataChangeEvent<T> event);
 
     @Override
     public int hashCode() {

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<String, CameraConfiguration> cameraConfigs =
+        Map<String, CameraConfiguration> cameraConfigs =
                 ConfigManager.getInstance().getConfig().getCameraConfigurations();
         String[] cameraNames =
                 cameraConfigs.entrySet().stream()

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<String, Object> currentPipelineSettings;
+    public Map<String, Object> currentPipelineSettings;
     public int currentPipelineIndex;
     public List<String> pipelineNicknames;
-    public HashMap<Integer, HashMap<String, Object>> videoFormatList;
+    public List<Map<String, Object>> videoFormatList;
     public int outputStreamPort;
     public int inputStreamPort;
     public List<UICameraCalibrationCoefficients> calibrations;

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,

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;

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<NMDeviceInfo> networkInterfaceNames, boolean networkingDisabled) {
         super(config);
@@ -32,5 +39,7 @@ public class UINetConfig extends NetworkConfig {
 
     public List<NMDeviceInfo> networkInterfaceNames;
     public boolean networkingDisabled;
+
+    @Json.Ignore(serialize = true)
     public boolean canManage;
 }

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<UICameraConfiguration> 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()

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,

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.databind.PropertyNamingStrategies;
+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<ImageMetadata> 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<ImageMetadata> getImageMetadata() {
-        if (!imageMetadataFile.toFile().exists()) {
+        if (!imageMetadataFile.exists()) {
             logger.warn("Photon cannot locate OS image metadata at " + imageMetadataFile.toString());
             return Optional.empty();
         }
 
-        try {
+        try (InputStream stream = new FileInputStream(imageMetadataFile)) {
-            String content = Files.readString(imageMetadataFile).strip();
+            ImageMetadata md = Jsonb.instance().type(ImageMetadata.class).fromJson(stream);
-
-            ObjectMapper mapper =
-                    new ObjectMapper().setPropertyNamingStrategy(PropertyNamingStrategies.SNAKE_CASE);
-
-            ImageMetadata md = mapper.readValue(content, ImageMetadata.class);
 
             if (md.buildDate() == null
                     && md.commitSha() == null

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,

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();
     }

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) {
+        public NMDeviceInfo(String connName, String devName, String nmType) {
-            this(c, d, NMType.typeForString(type));
+            this(connName, devName, NMType.typeForString(nmType));
         }
     }
 

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 {
+        try (var stream =
-            return new ObjectMapper()
+                new FileInputStream(Path.of(getCalibrationPath(testMode).toString(), filename).toFile())) {
-                    .readValue(
+            return Jsonb.instance().type(CameraCalibrationCoefficients.class).fromJson(stream);
-                            (Path.of(getCalibrationPath(testMode).toString(), filename).toFile()),
+        } catch (IOException | IllegalStateException | JsonException e) {
-                            CameraCalibrationCoefficients.class);
-        } catch (IOException e) {
             e.printStackTrace();
             return null;
         }

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 <https://www.gnu.org/licenses/>.
+ */
+
+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<AprilTagFieldLayout> {
+    @Json
+    record FieldDimensions(double length, double width) {}
+
+    JsonAdapter<List<AprilTag>> aprilTagListJsonAdapter;
+    JsonAdapter<FieldDimensions> 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<AprilTag> 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);
+    }
+}

photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java

@@ -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 <https://www.gnu.org/licenses/>.
- */
-
-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<String, Object> {}
-
-    // Custom Path key deserializer for Maps with Path keys
-    public static class PathKeySerializer
-            extends com.fasterxml.jackson.databind.JsonSerializer<Path> {
-        @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 <T> void serialize(Path path, T object) throws IOException {
-        serialize(path, object, true);
-    }
-
-    public static <T> String serializeToString(T object) throws IOException {
-        ObjectMapper objectMapper = createObjectMapperWithPathSupport(object.getClass());
-        return objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(object);
-    }
-
-    public static <T> 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> T deserialize(Map<?, ?> s, Class<T> ref) throws IOException {
-        ObjectMapper objectMapper = createObjectMapperWithPathSupport(ref);
-        return objectMapper.convertValue(s, ref);
-    }
-
-    public static <T> T deserialize(String s, Class<T> 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> T deserialize(Path path, Class<T> 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();
-    }
-}

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 <https://www.gnu.org/licenses/>.
+ */
+
+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<Path> {
+    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());
+    }
+}

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 <https://www.gnu.org/licenses/>.
+ */
+
+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<Pose3d>, ViewBuilderAware {
+    private final JsonAdapter<Translation3d> translation3dJsonAdapter;
+    private final JsonAdapter<Rotation3d> 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();
+    }
+}

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 <https://www.gnu.org/licenses/>.
+ */
+
+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);
+    }
+}

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 <https://www.gnu.org/licenses/>.
+ */
+
+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);
+    }
+}

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 <https://www.gnu.org/licenses/>.
+ */
+
+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);
+    }
+}

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<Double> {
     public DoubleCouple() {
         super(0.0, 0.0);

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<Integer> {
     public IntegerCouple() {
         super(0, 0);

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<T extends Number> {
     protected T first;
     protected T second;
@@ -56,7 +54,6 @@ public abstract class NumberCouple<T extends Number> {
                 && couple.second.equals(second);
     }
 
-    @JsonIgnore
     public boolean isEmpty() {
         return first.intValue() == 0 && second.intValue() == 0;
     }

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
 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<Point3> locationInObjectSpace;
 
     // Observed location in pixel space
-    @JsonProperty("locationInImageSpace")
     public List<Point> locationInImageSpace;
 
     // (measured location in pixels) - (expected from FK)
-    @JsonProperty("reprojectionErrors")
     public List<Point> 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<Point3> locationInObjectSpace,
+            List<Point3> locationInObjectSpace,
-            @JsonProperty("locationInImageSpace") List<Point> locationInImageSpace,
+            List<Point> locationInImageSpace,
-            @JsonProperty("reprojectionErrors") List<Point> reprojectionErrors,
+            List<Point> reprojectionErrors,
-            @JsonProperty("optimisedCameraToObject") Pose3d optimisedCameraToObject,
+            Pose3d optimisedCameraToObject,
-            @JsonProperty("cornersUsed") boolean[] cornersUsed,
+            boolean[] cornersUsed,
-            @JsonProperty("snapshotName") String snapshotName,
+            String snapshotName,
-            @JsonProperty("snapshotDataLocation") Path snapshotDataLocation) {
+            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)])

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 io.avaje.jsonb.Json;
-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 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")
+    /** The unrotated resolution of the calibration */
-    public final Size unrotatedImageSize;
+    public final Size resolution;
 
-    @JsonProperty("cameraIntrinsics")
     public final JsonMatOfDouble cameraIntrinsics;
 
-    @JsonProperty("distCoeffs")
-    @JsonAlias({"distCoeffs", "distCoeffs"})
     public final JsonMatOfDouble distCoeffs;
 
-    @JsonProperty("observations")
     public final List<BoardObservation> 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,
+            Size resolution,
-            @JsonProperty("cameraIntrinsics") JsonMatOfDouble cameraIntrinsics,
+            JsonMatOfDouble cameraIntrinsics,
-            @JsonProperty("distCoeffs") JsonMatOfDouble distCoeffs,
+            JsonMatOfDouble distCoeffs,
-            @JsonProperty("calobjectWarp") double[] calobjectWarp,
+            double[] calobjectWarp,
-            @JsonProperty("observations") List<BoardObservation> observations,
+            List<BoardObservation> observations,
-            @JsonProperty("calobjectSize") Size calobjectSize,
+            Size calobjectSize,
-            @JsonProperty("calobjectSpacing") double calobjectSpacing,
+            double calobjectSpacing,
-            @JsonProperty("lensmodel") CameraLensModel lensmodel) {
+            CameraLensModel lensmodel) {
-        this.unrotatedImageSize = resolution;
+        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
+                // are swapped
-                rotatedImageSize = new Size(unrotatedImageSize.height, unrotatedImageSize.width);
+                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
+                // are swapped
-                rotatedImageSize = new Size(unrotatedImageSize.height, unrotatedImageSize.width);
+                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<BoardObservation> 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,

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonProperty;
 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;
+    @Json.Ignore private Mat wrappedMat = null;
-    @JsonIgnore private Matrix wpilibMat = null;
+    @Json.Ignore private Matrix wpilibMat = null;
 
-    @JsonIgnore private MatOfDouble wrappedMatOfDouble;
+    @Json.Ignore private MatOfDouble wrappedMatOfDouble;
-    private boolean released = false;
+    @Json.Ignore private boolean released = false;
 
     public JsonMatOfDouble(int rows, int cols, double[] data) {
         this(rows, cols, CvType.CV_64FC1, data);
     }
 
-    public JsonMatOfDouble(
+    public JsonMatOfDouble(int rows, int cols, int type, double[] data) {
-            @JsonProperty("rows") int rows,
-            @JsonProperty("cols") int cols,
-            @JsonProperty("type") int type,
-            @JsonProperty("data") 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 <R extends Num, C extends Num> Matrix<R, C> getAsWpilibMat() {
         if (wpilibMat == null) {
             wpilibMat = new Matrix<R, C>(new SimpleMatrix(rows, cols, true, data));

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;
 

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<Integer, VideoMode> videoModes = new HashMap<>();
+        private final ArrayList<VideoMode> 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<Integer, VideoMode> getAllVideoModes() {
+        public List<VideoMode> getAllVideoModes() {
             return videoModes;
         }
 

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonGetter;
+import io.avaje.jsonb.JsonType;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import io.avaje.jsonb.Jsonb;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Types;
-import com.fasterxml.jackson.annotation.JsonSubTypes;
-import com.fasterxml.jackson.annotation.JsonTypeInfo;
-import com.fasterxml.jackson.annotation.JsonTypeName;
 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)
+@Json(typeProperty = "type")
-@JsonIgnoreProperties(ignoreUnknown = true)
+@Json.SubType(type = PVCameraInfo.PVUsbCameraInfo.class)
-@JsonSubTypes({
+@Json.SubType(type = PVCameraInfo.PVCSICameraInfo.class)
-    @JsonSubTypes.Type(value = PVCameraInfo.PVUsbCameraInfo.class),
+@Json.SubType(type = PVCameraInfo.PVFileCameraInfo.class)
-    @JsonSubTypes.Type(value = PVCameraInfo.PVCSICameraInfo.class),
-    @JsonSubTypes.Type(value = 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,
+                int dev, String path, String name, String[] otherPaths, int vendorId, int productId) {
-                @JsonProperty("path") String path,
-                @JsonProperty("name") String name,
-                @JsonProperty("otherPaths") String[] otherPaths,
-                @JsonProperty("vendorId") int vendorId,
-                @JsonProperty("productId") 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(String path, String baseName) {
-        public PVCSICameraInfo(
-                @JsonProperty("path") String path, @JsonProperty("baseName") 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(String path, String name) {
-        public PVFileCameraInfo(@JsonProperty("path") String path, @JsonProperty("name") 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<Map<String, Object>> objMapJsonb =
+                Jsonb.instance().type(Types.mapOf(Object.class));
+
+        Map<String, Object> cameraMigration = objMapJsonb.fromJson(configJson);
+
+        @SuppressWarnings("unchecked")
+        var cameraMigrationIn = (Map<String, Object>) cameraMigration.get("matchedCameraInfo");
+
+        @SuppressWarnings("unchecked")
+        var cameraData = (Map<String, Object>) cameraMigrationIn.get(cameraType);
+
+        Map<String, Object> cameraMigrationOut = new HashMap<>();
+        cameraMigrationOut.putAll(cameraData);
+        cameraMigrationOut.put("type", "PVCameraInfo." + cameraType);
+
+        cameraMigration.put("matchedCameraInfo", cameraMigrationOut);
+        return objMapJsonb.toJson(cameraMigration);
+    }
 }

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.EnumMap;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
 
+@Json
 public class QuirkyCamera {
     private static final List<QuirkyCamera> 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<CameraQuirk, Boolean> quirks;
 
     /**
@@ -165,13 +160,12 @@ public class QuirkyCamera {
         }
     }
 
-    @JsonCreator
     public QuirkyCamera(
-            @JsonProperty("baseName") String baseName,
+            String baseName,
-            @JsonProperty("usbVid") int usbVid,
+            int usbVid,
-            @JsonProperty("usbPid") int usbPid,
+            int usbPid,
-            @JsonProperty("displayName") String displayName,
+            String displayName,
-            @JsonProperty("quirks") Map<CameraQuirk, Boolean> quirks) {
+            Map<CameraQuirk, Boolean> quirks) {
         this.baseName = baseName;
         this.usbPid = usbPid;
         this.usbVid = usbVid;

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<VideoMode> 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);
-
+        videoModes = sortedList;
-        for (int i = 0; i < sortedList.size(); i++) {
-            videoModes.put(i, sortedList.get(i));
-        }
 
         // 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<Integer, VideoMode> getAllVideoModes() {
+    public List<VideoMode> 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;

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.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
-            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
-            videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+            videoModes.add(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, 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.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
-            videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
+            videoModes.add(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, 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.add(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, 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.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
-            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
+            videoModes.add(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, 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.add(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.add(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, 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<Integer, VideoMode> getAllVideoModes() {
+    public List<VideoMode> getAllVideoModes() {
         return videoModes;
     }
 

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
+    @Json.Property("outputShowMultipleTargets")
-    public void handleUnknownProperty(String name, Object value) {
+    public void importShowMultipleTargets(boolean showMultipleTargets) {
-        // Handle the old showMultipleTargets property for backward compatibility
+        if (!showMultipleTargets) {
-        if ("outputShowMultipleTargets".equals(name) && value instanceof Boolean showMultipleTargets) {
+            outputMaximumTargets = 1;
-            if (!showMultipleTargets) {
-                // If showMultipleTargets is false, limit to 1 target
-                outputMaximumTargets = 1;
-            }
         }
     }
 

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;

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;
 

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 io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonTypeInfo;
+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(
+@Json(typeProperty = "type")
-        use = JsonTypeInfo.Id.NAME,
+@Json.SubTypes({
-        include = JsonTypeInfo.As.WRAPPER_ARRAY,
+    @Json.SubType(type = ColoredShapePipelineSettings.class),
-        property = "type")
+    @Json.SubType(type = ReflectivePipelineSettings.class),
-@JsonSubTypes({
+    @Json.SubType(type = DriverModePipelineSettings.class),
-    @JsonSubTypes.Type(value = ColoredShapePipelineSettings.class),
+    @Json.SubType(type = AprilTagPipelineSettings.class),
-    @JsonSubTypes.Type(value = ReflectivePipelineSettings.class),
+    @Json.SubType(type = ArucoPipelineSettings.class),
-    @JsonSubTypes.Type(value = DriverModePipelineSettings.class),
+    @Json.SubType(type = ObjectDetectionPipelineSettings.class)
-    @JsonSubTypes.Type(value = AprilTagPipelineSettings.class),
-    @JsonSubTypes.Type(value = ArucoPipelineSettings.class),
-    @JsonSubTypes.Type(value = 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<List<Object>> objListJsonb = Jsonb.instance().type(Types.listOf(Object.class));
+        final JsonType<Map<String, Object>> objMapJsonb =
+                Jsonb.instance().type(Types.mapOf(Object.class));
+
+        List<Object> pipelineMigrationIn = objListJsonb.fromJson(pipelineJson);
+
+        @SuppressWarnings("unchecked")
+        var pipelineData = (Map<String, Object>) pipelineMigrationIn.get(1);
+
+        Map<String, Object> pipelineMigrationOut = new HashMap<>();
+        pipelineMigrationOut.putAll(pipelineData);
+        pipelineMigrationOut.put("type", pipelineMigrationIn.get(0));
+
+        return objMapJsonb.toJson(pipelineMigrationOut);
+    }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java

@@ -17,14 +17,12 @@
 
 package org.photonvision.vision.pipeline;
 
-import com.fasterxml.jackson.annotation.JsonTypeName;
 import java.util.Objects;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.opencv.ContourShape;
 
-@JsonTypeName("ColoredShapePipelineSettings")
 public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
     public ContourShape contourShape = ContourShape.Triangle;
     public DoubleCouple contourPerimeter = new DoubleCouple(0, Double.MAX_VALUE);

photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipelineSettings.java

@@ -17,11 +17,11 @@
 
 package org.photonvision.vision.pipeline;
 
-import com.fasterxml.jackson.annotation.JsonTypeName;
+import io.avaje.jsonb.Json;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.processes.PipelineManager;
 
-@JsonTypeName("DriverModePipelineSettings")
+@Json
 public class DriverModePipelineSettings extends CVPipelineSettings {
     public DoubleCouple offsetPoint = new DoubleCouple();
     public boolean crosshair = true;

photon-core/src/main/java/org/photonvision/vision/pipeline/FocusPipelineSettings.java

@@ -17,10 +17,8 @@
 
 package org.photonvision.vision.pipeline;
 
-import com.fasterxml.jackson.annotation.JsonTypeName;
 import org.photonvision.vision.processes.PipelineManager;
 
-@JsonTypeName("FocusPipelineSettings")
 public class FocusPipelineSettings extends CVPipelineSettings {
     public FocusPipelineSettings() {
         super();

photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java

@@ -17,9 +17,6 @@
 
 package org.photonvision.vision.pipeline;
 
-import com.fasterxml.jackson.annotation.JsonTypeName;
-
-@JsonTypeName("ReflectivePipelineSettings")
 public class ReflectivePipelineSettings extends AdvancedPipelineSettings {
     public double contourFilterRangeX = 2;
     public double contourFilterRangeY = 2;

photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java

@@ -17,8 +17,10 @@
 
 package org.photonvision.vision.pipeline;
 
+import io.avaje.jsonb.Json;
 import org.opencv.objdetect.Objdetect;
 
+@Json
 public class UICalibrationData {
     public int videoModeIndex;
     public int count;
@@ -53,11 +55,18 @@ public class UICalibrationData {
         this.tagFamily = tagFamily;
     }
 
+    @Json
     public enum BoardType {
         CHESSBOARD,
-        CHARUCOBOARD,
+        CHARUCOBOARD;
+
+        @Json.Value
+        int toValue() {
+            return ordinal();
+        }
     }
 
+    @Json
     public enum TagFamily {
         Dict_4X4_1000(Objdetect.DICT_4X4_1000),
         Dict_5X5_1000(Objdetect.DICT_5X5_1000),
@@ -75,6 +84,11 @@ public class UICalibrationData {
         private TagFamily(int value) {
             this.value = value;
         }
+
+        @Json.Value
+        int toValue() {
+            return ordinal();
+        }
     }
 
     @Override

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -22,6 +22,7 @@ import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.List;
+import java.util.Map;
 import java.util.function.BiConsumer;
 import org.opencv.core.Size;
 import org.photonvision.common.configuration.CameraConfiguration;
@@ -591,23 +592,23 @@ public class VisionModule {
         ret.fpsLimit = this.fpsLimit;
 
         // TODO refactor into helper method
-        var temp = new HashMap<Integer, HashMap<String, Object>>();
+        var temp = new ArrayList<Map<String, Object>>();
         var videoModes = visionSource.getSettables().getAllVideoModes();
 
-        for (var k : videoModes.entrySet()) {
+        for (var videoMode : videoModes) {
             var internalMap = new HashMap<String, Object>();
 
-            internalMap.put("width", k.getValue().width);
+            internalMap.put("width", videoMode.width);
-            internalMap.put("height", k.getValue().height);
+            internalMap.put("height", videoMode.height);
-            internalMap.put("fps", k.getValue().fps);
+            internalMap.put("fps", videoMode.fps);
             internalMap.put(
                     "pixelFormat",
-                    ((k.getValue() instanceof LibcameraGpuSource.FPSRatedVideoMode)
+                    ((videoMode instanceof LibcameraGpuSource.FPSRatedVideoMode)
                                     ? "kPicam"
-                                    : k.getValue().pixelFormat.toString())
+                                    : videoMode.pixelFormat.toString())
                             .substring(1)); // Remove the k prefix
 
-            temp.put(k.getKey(), internalMap);
+            temp.add(internalMap);
         }
 
         if (videoModes.size() == 0) {
@@ -728,7 +729,7 @@ public class VisionModule {
 
     public void addCalibrationToConfig(CameraCalibrationCoefficients newCalibration) {
         if (newCalibration != null) {
-            logger.info("Got new calibration for " + newCalibration.unrotatedImageSize);
+            logger.info("Got new calibration for " + newCalibration.resolution);
             visionSource.getSettables().addCalibration(newCalibration);
         } else {
             logger.error("Got null calibration?");
@@ -737,9 +738,9 @@ public class VisionModule {
         saveAndBroadcastAll();
     }
 
-    public void removeCalibrationFromConfig(Size unrotatedImageSize) {
+    public void removeCalibrationFromConfig(Size resolution) {
-        if (unrotatedImageSize != null) {
+        if (resolution != null) {
-            visionSource.getSettables().removeCalibration(unrotatedImageSize);
+            visionSource.getSettables().removeCalibration(resolution);
         } else {
             logger.error("Got null size?");
         }

photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java

@@ -17,7 +17,7 @@
 
 package org.photonvision.vision.processes;
 
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Jsonb;
 import java.util.ArrayList;
 import java.util.LinkedHashMap;
 import java.util.List;
@@ -30,7 +30,6 @@ import org.photonvision.common.dataflow.events.DataChangeEvent;
 import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
@@ -57,10 +56,10 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
     }
 
     @Override
-    public void onDataChangeEvent(DataChangeEvent<?> event) {
+    public <T> void onDataChangeEvent(DataChangeEvent<T> event) {
         // Camera index -1 means a "multicast event" (i.e. the event is received by all
         // cameras)
-        if (event instanceof IncomingWebSocketEvent wsEvent
+        if (event instanceof IncomingWebSocketEvent<T> wsEvent
                 && wsEvent.cameraUniqueName != null
                 && wsEvent.cameraUniqueName.equals(parentModule.uniqueName())) {
             logger.trace("Got PSC event - propName: " + wsEvent.propertyName);
@@ -68,7 +67,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
             try {
                 getSettingChanges()
                         .add(
-                                new VisionModuleChange(
+                                new VisionModuleChange<T>(
                                         wsEvent.propertyName,
                                         wsEvent.data,
                                         parentModule.pipelineManager.getCurrentPipeline().getSettings(),
@@ -92,6 +91,10 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                 var newPropValue = change.getNewPropValue();
                 var currentSettings = change.getCurrentSettings();
                 var originContext = change.getOriginContext();
+                if (newPropValue instanceof Long) {
+                    newPropValue = ((Long) newPropValue).intValue();
+                }
+
                 switch (propName) {
                     case "pipelineName" -> newPipelineNickname((String) newPropValue);
                     case "newPipelineInfo" -> newPipelineInfo((Pair<String, PipelineType>) newPropValue);
@@ -199,7 +202,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
 
     public void startCalibration(Map<String, Object> data) {
         try {
-            var deserialized = JacksonUtils.deserialize(data, UICalibrationData.class);
+            var deserialized = Jsonb.instance().type(UICalibrationData.class).fromObject(data);
             parentModule.startCalibration(deserialized);
             parentModule.saveAndBroadcastAll();
         } catch (Exception e) {
@@ -295,8 +298,8 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
             }
         } else if (propField.getType() == ModelProperties.class
                 && newPropValue instanceof LinkedHashMap) {
-            ObjectMapper mapper = new ObjectMapper();
+            ModelProperties modelProps =
-            ModelProperties modelProps = mapper.convertValue(newPropValue, ModelProperties.class);
+                    Jsonb.instance().type(ModelProperties.class).fromObject(newPropValue);
             propField.set(currentSettings, modelProps);
         } else {
             propField.set(currentSettings, newPropValue);

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -17,6 +17,7 @@
 
 package org.photonvision.vision.processes;
 
+import io.avaje.jsonb.Json;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collection;
@@ -72,7 +73,7 @@ public class VisionSourceManager {
         return SingletonHolder.INSTANCE;
     }
 
-    // Jackson does use these members even if your IDE claims otherwise
+    @Json
     public static class VisionSourceManagerState {
         public List<UICameraConfiguration> disabledConfigs;
         public List<PVCameraInfo> allConnectedCameras;

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -17,7 +17,8 @@
 
 package org.photonvision.vision.processes;
 
-import java.util.HashMap;
+import java.util.ArrayList;
+import java.util.List;
 import org.opencv.core.Size;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
@@ -38,7 +39,7 @@ public abstract class VisionSourceSettables {
     }
 
     protected FrameStaticProperties frameStaticProperties = null;
-    protected HashMap<Integer, VideoMode> videoModes = new HashMap<>();
+    protected List<VideoMode> videoModes = new ArrayList<>();
 
     public CameraConfiguration getConfiguration() {
         return configuration;
@@ -99,12 +100,11 @@ public abstract class VisionSourceSettables {
 
     protected abstract void setVideoModeInternal(VideoMode videoMode);
 
-    @SuppressWarnings("unused")
     public void setVideoModeIndex(int index) {
         setVideoMode(videoModes.get(index));
     }
 
-    public abstract HashMap<Integer, VideoMode> getAllVideoModes();
+    public abstract List<VideoMode> getAllVideoModes();
 
     public double getFOV() {
         return configuration.FOV;
@@ -121,8 +121,8 @@ public abstract class VisionSourceSettables {
         calculateFrameStaticProps();
     }
 
-    public void removeCalibration(Size unrotatedImageSize) {
+    public void removeCalibration(Size resolution) {
-        configuration.removeCalibration(unrotatedImageSize);
+        configuration.removeCalibration(resolution);
         calculateFrameStaticProps();
     }
 
@@ -135,8 +135,8 @@ public abstract class VisionSourceSettables {
                         configuration.calibrations.stream()
                                 .filter(
                                         it ->
-                                                it.unrotatedImageSize.width == videoMode.width
+                                                it.resolution.width == videoMode.width
-                                                        && it.unrotatedImageSize.height == videoMode.height)
+                                                        && it.resolution.height == videoMode.height)
                                 .findFirst()
                                 .orElse(null));
     }

photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java

@@ -17,10 +17,7 @@
 
 package org.photonvision.vision.target;
 
-import com.fasterxml.jackson.annotation.JsonAlias;
+import io.avaje.jsonb.Json;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.List;
 import org.opencv.core.MatOfPoint3f;
@@ -49,6 +46,7 @@ import org.wpilib.math.util.Units;
  *
  * <p>AprilTag models are currently only used for drawing on the output stream.
  */
+@Json
 public enum TargetModel implements Releasable {
     k2016HighGoal(
             List.of(
@@ -129,7 +127,8 @@ public enum TargetModel implements Releasable {
                             -Units.inchesToMeters(16.25) / 2)),
             0),
     // 2023 AprilTag, with 6 inch marker width (inner black square).
-    @JsonAlias({"k6in_16h5"})
+    // MIGRATION: 2023
+    @Json.Alias({"k6in_16h5"})
     kAprilTag6in_16h5(
             // Corners of the tag's inner black square (excluding white border)
             List.of(
@@ -139,7 +138,8 @@ public enum TargetModel implements Releasable {
                     new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
             Units.inchesToMeters(3 * 2)),
     // 2024 AprilTag, with 6.5 inch marker width (inner black square).
-    @JsonAlias({"k6p5in_36h11", "k200mmAprilTag", "kAruco6p5in_36h11"})
+    // MIGRATION: 2023
+    @Json.Alias({"k6p5in_36h11", "k200mmAprilTag", "kAruco6p5in_36h11"})
     kAprilTag6p5in_36h11(
             // Corners of the tag's inner black square (excluding white border)
             List.of(
@@ -149,18 +149,13 @@ public enum TargetModel implements Releasable {
                     new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
             Units.inchesToMeters(6.5));
 
-    @JsonIgnore private MatOfPoint3f realWorldTargetCoordinates;
+    @Json.Ignore private final MatOfPoint3f realWorldTargetCoordinates;
-    @JsonIgnore private final MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();
+    @Json.Ignore private final MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();
-    @JsonIgnore private final MatOfPoint3f visualizationBoxTop = new MatOfPoint3f();
+    @Json.Ignore private final MatOfPoint3f visualizationBoxTop = new MatOfPoint3f();
 
-    @JsonProperty("realWorldCoordinatesArray")
     private List<Point3> realWorldCoordinatesArray;
-
-    @JsonProperty("boxHeight")
     private double boxHeight;
 
-    TargetModel() {}
-
     TargetModel(MatOfPoint3f realWorldTargetCoordinates, double boxHeight) {
         this.realWorldTargetCoordinates = realWorldTargetCoordinates;
         this.realWorldCoordinatesArray = realWorldTargetCoordinates.toList();
@@ -176,11 +171,8 @@ public enum TargetModel implements Releasable {
         this.visualizationBoxTop.fromList(topList);
     }
 
-    @JsonCreator
+    TargetModel(List<Point3> realWorldCoordinatesArray, double boxHeight) {
-    TargetModel(
+        this(listToMat(realWorldCoordinatesArray), boxHeight);
-            @JsonProperty(value = "realWorldCoordinatesArray") List<Point3> points,
-            @JsonProperty(value = "boxHeight") double boxHeight) {
-        this(listToMat(points), boxHeight);
     }
 
     public List<Point3> getRealWorldCoordinatesArray() {
@@ -227,6 +219,12 @@ public enum TargetModel implements Releasable {
     //        return new TargetModel(corners, 0);
     //    }
 
+    @Json.Value
+    @Override
+    public String toString() {
+        return super.toString();
+    }
+
     @Override
     public void release() {
         realWorldTargetCoordinates.release();

photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java

@@ -20,8 +20,8 @@ package org.photonvision.common.configuration;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+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;
@@ -32,7 +32,6 @@ import org.photonvision.common.LoadJNI;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
@@ -135,60 +134,31 @@ public class ConfigTest {
     }
 
     @Test
-    public void testJacksonHandlesOldVersions() throws IOException {
+    public void testJsonbHandlesOldVersions() throws IOException {
-        var str =
+        var json =
                 "{\"baseName\":\"aaaaaa\",\"uniqueName\":\"aaaaaa\",\"nickname\":\"aaaaaa\",\"FOV\":70.0,\"path\":\"dev/vid\",\"cameraType\":\"UsbCamera\",\"currentPipelineIndex\":0,\"camPitch\":{\"radians\":0.0},\"calibrations\":[], \"cameraLEDs\":[]}";
-        File tempFile = File.createTempFile("test", ".json");
-        tempFile.deleteOnExit();
-        var writer = new FileWriter(tempFile);
-        writer.write(str);
-        writer.flush();
-        writer.close();
-        CameraConfiguration result =
-                JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class);
 
-        tempFile.delete();
+        CameraConfiguration result = Jsonb.instance().type(CameraConfiguration.class).fromJson(json);
     }
 
     @Test
-    public void testJacksonAddUSBVIDPID() throws IOException {
+    public void testJsonbAddUSBVIDPID() throws IOException {
-        var str =
+        var json =
                 "{\"baseName\":\"aaaaaa\",\"uniqueName\":\"aaaaaa\",\"nickname\":\"aaaaaa\",\"FOV\":70.0,\"path\":\"dev/vid\",\"cameraType\":\"UsbCamera\",\"currentPipelineIndex\":0,\"camPitch\":{\"radians\":0.0},\"calibrations\":[], \"usbVID\":3, \"usbPID\":4, \"cameraLEDs\":[]}";
-        File tempFile = File.createTempFile("test", ".json");
-        tempFile.deleteOnExit();
-        var writer = new FileWriter(tempFile);
-        writer.write(str);
-        writer.flush();
-        writer.close();
 
-        try {
+        CameraConfiguration result = Jsonb.instance().type(CameraConfiguration.class).fromJson(json);
-            CameraConfiguration result =
+        String ser = Jsonb.instance().toJson(result);
-                    JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class);
+        System.out.println(ser);
-            String ser = JacksonUtils.serializeToString(result);
-            System.out.println(ser);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-
-        tempFile.delete();
     }
 
     @Test
-    public void testJacksonHandlesOldTargetEnum() throws IOException {
+    public void testJsonbHandlesOldTargetEnum() throws IOException {
-        var str = "[ \"AprilTagPipelineSettings\", {\n  \"targetModel\" : \"k6in_16h5\"\n} ]\n";
+        var json = "[ \"AprilTagPipelineSettings\", {\n  \"targetModel\" : \"k6in_16h5\"\n} ]\n";
 
-        File tempFile = File.createTempFile("test", ".json");
+        json = CVPipelineSettings.remapSettingsJson(json);
-        tempFile.deleteOnExit();
-        var writer = new FileWriter(tempFile);
-        writer.write(str);
-        writer.flush();
-        writer.close();
 
         AprilTagPipelineSettings settings =
-                (AprilTagPipelineSettings)
+                (AprilTagPipelineSettings) Jsonb.instance().type(CVPipelineSettings.class).fromJson(json);
-                        JacksonUtils.deserialize(tempFile.toPath(), CVPipelineSettings.class);
         assertEquals(TargetModel.kAprilTag6in_16h5, settings.targetModel);
-
-        tempFile.delete();
     }
 }

photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java

@@ -20,8 +20,11 @@ package org.photonvision.common.configuration;
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
 import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
 import java.io.IOException;
 import java.nio.file.Path;
 import org.junit.jupiter.api.Test;
@@ -30,26 +33,30 @@ import org.photonvision.common.util.TestUtils;
 public class NetworkConfigTest {
     @Test
     public void testSerialization() throws IOException {
-        var mapper = new ObjectMapper();
         var path = Path.of("netTest.json");
-        mapper.writeValue(path.toFile(), new NetworkConfig());
+        JsonType<NetworkConfig> jsonb = Jsonb.instance().type(NetworkConfig.class);
-        assertDoesNotThrow(() -> mapper.readValue(path.toFile(), NetworkConfig.class));
+        try (var outputStream = new FileOutputStream(path.toFile())) {
+            jsonb.toJson(new NetworkConfig(), outputStream);
+        }
+        try (var inputStream = new FileInputStream(path.toFile())) {
+            assertDoesNotThrow(() -> jsonb.fromJson(inputStream));
+        }
         new File("netTest.json").delete();
     }
 
     @Test
     public void testDeserializeTeamNumberOrNtServerAddress() {
         {
-            var folder = TestUtils.getResourcesFolderPath(true).resolve("network-old-team-number");
+            var folder = TestUtils.getResourcesFolderPath(true).resolve("network-team-number");
             var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
             configMgr.load();
             assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
         }
         {
-            var folder = TestUtils.getResourcesFolderPath(true).resolve("network-new-team-number");
+            var folder = TestUtils.getResourcesFolderPath(true).resolve("network-ip-addr");
             var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
             configMgr.load();
-            assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
+            assertEquals("127.0.0.1", configMgr.getConfig().getNetworkConfig().ntServerAddress);
         }
     }
 }

photon-core/src/test/java/org/photonvision/common/configuration/NeuralNetworkPropertyManagerTest.java

@@ -20,13 +20,14 @@ package org.photonvision.common.configuration;
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
 import java.nio.file.Path;
 import java.util.LinkedList;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Version;
 import org.photonvision.common.configuration.NeuralNetworkModelsSettings.ModelProperties;
-import org.photonvision.common.util.file.JacksonUtils;
 
 public class NeuralNetworkPropertyManagerTest {
     @Test
@@ -42,10 +43,12 @@ public class NeuralNetworkPropertyManagerTest {
                         640,
                         Family.RKNN,
                         Version.YOLOV8));
-        String result = assertDoesNotThrow(() -> JacksonUtils.serializeToString(nnpm));
+        JsonType<NeuralNetworkModelsSettings> jsonb =
-        var deserializedNnpm =
+                Jsonb.instance().type(NeuralNetworkModelsSettings.class);
-                assertDoesNotThrow(
+        String result = assertDoesNotThrow(() -> jsonb.toJson(nnpm));
-                        () -> JacksonUtils.deserialize(result, NeuralNetworkModelsSettings.class));
+        System.out.println(result);
+        var deserializedNnpm = assertDoesNotThrow(() -> jsonb.fromJson(result));
+        assertEquals(nnpm.getModels().length, deserializedNnpm.getModels().length);
         assertEquals(nnpm.getModels()[0], deserializedNnpm.getModels()[0]);
     }
 }

photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java

@@ -19,8 +19,9 @@ package org.photonvision.common.configuration;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assumptions.assumeTrue;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.json.JsonDataException;
 import java.io.IOException;
 import java.nio.file.Path;
 import java.util.Collection;
@@ -32,8 +33,8 @@ import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.io.TempDir;
 import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
+import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.pipeline.AdvancedPipelineSettings;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
@@ -92,32 +93,6 @@ public class SQLConfigTest {
         assertEquals(cfgLoader.getConfig().getNetworkConfig().ntServerAddress, "5940");
     }
 
-    @Test
-    public void testLoad2024_3_1() throws IOException {
-        // Copy the 2024.3.1 config to a temp dir
-        FileUtils.copyDirectory(
-                TestUtils.getConfigDirectoriesPath(false)
-                        .resolve("photonvision_config_from_v2024.3.1")
-                        .toFile(),
-                tmpDir.resolve("photonvision_config_from_v2024.3.1").toFile());
-
-        var cfgLoader = new SqlConfigProvider(tmpDir.resolve("photonvision_config_from_v2024.3.1"));
-
-        assertDoesNotThrow(cfgLoader::load);
-
-        System.out.println(cfgLoader.getConfig());
-        for (var c : CameraQuirk.values()) {
-            assertDoesNotThrow(
-                    () ->
-                            cfgLoader
-                                    .config
-                                    .getCameraConfigurations()
-                                    .get("Microsoft_LifeCam_HD-3000")
-                                    .cameraQuirks
-                                    .hasQuirk(c));
-        }
-    }
-
     void common2025p3p1Assertions(PhotonConfiguration config) {
         // Make sure we got 8 cameras
         assertEquals(8, config.getCameraConfigurations().size());
@@ -134,7 +109,7 @@ public class SQLConfigTest {
     }
 
     @Test
-    public void testLoadNewNNMM() throws JsonProcessingException, IOException {
+    public void testLoadNewNNMM() throws JsonDataException, IOException {
         var folder = tmpDir.resolve("2025.3.1-old-nnmm");
         FileUtils.copyDirectory(
                 TestUtils.getConfigDirectoriesPath(false).resolve("2025.3.1-old-nnmm").toFile(),
@@ -165,7 +140,7 @@ public class SQLConfigTest {
         common2025p3p1Assertions(reloadedProvider.getConfig());
 
         // And make sure NNPM has all 5 models
-        assertEquals(5, reloadedProvider.getConfig().neuralNetworkPropertyManager().getModels().length);
+        assertEquals(5, reloadedProvider.getConfig().getNeuralNetworkProperties().getModels().length);
 
         ConfigManager.INSTANCE = null;
     }
@@ -210,4 +185,31 @@ public class SQLConfigTest {
 
         ConfigManager.INSTANCE = null;
     }
+
+    @Test
+    public void testV2026p3p4WindowsPaths() throws JsonDataException, IOException {
+        assumeTrue(
+                Platform.isWindows(), "This test is only relevant on Windows, skipping on other platforms");
+
+        var configName = "2026.3.4-windows";
+        var folder = tmpDir.resolve(configName);
+        FileUtils.copyDirectory(
+                TestUtils.getConfigDirectoriesPath(false).resolve(configName).toFile(), folder.toFile());
+
+        var cfgManager = new ConfigManager(folder, new SqlConfigProvider(folder));
+
+        cfgManager.load();
+
+        // Make sure we have calibrated 1280x720, and the board observation paths matches
+        var camCfg =
+                cfgManager
+                        .getConfig()
+                        .getCameraConfigurations()
+                        .get("1414304b-6812-487a-ab5c-89ee70704fae");
+        assertEquals(1280, camCfg.calibrations.get(0).resolution.width);
+        assertEquals(720, camCfg.calibrations.get(0).resolution.height);
+        assertEquals(
+                "C:\\Users\\matth\\Documents\\GitHub\\photonvision\\test\\photonvision_config\\calibration\\1414304b-6812-487a-ab5c-89ee70704fae\\imgs\\1280x720\\img0.png",
+                camCfg.calibrations.get(0).observations.get(0).snapshotDataLocation.toString());
+    }
 }

photon-core/src/test/java/org/photonvision/hardware/HardwareConfigTest.java

@@ -22,7 +22,8 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import com.diozero.internal.spi.NativeDeviceFactoryInterface;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Jsonb;
+import java.io.FileInputStream;
 import java.io.IOException;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.HardwareConfig;
@@ -33,10 +34,9 @@ import org.photonvision.common.util.TestUtils;
 public class HardwareConfigTest {
     @Test
     public void loadJson() {
-        try {
+        System.out.println("Loading Hardware configs...");
-            System.out.println("Loading Hardware configs...");
+        try (var stream = new FileInputStream(TestUtils.getHardwareConfigJson())) {
-            var config =
+            var config = Jsonb.instance().type(HardwareConfig.class).fromJson(stream);
-                    new ObjectMapper().readValue(TestUtils.getHardwareConfigJson(), HardwareConfig.class);
             assertEquals(config.deviceName, "PhotonVision");
             // Ensure defaults are not null
             assertArrayEquals(config.ledPins.stream().mapToInt(i -> i).toArray(), new int[] {2, 13});

photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java

@@ -22,7 +22,8 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import com.diozero.internal.provider.builtin.DefaultDeviceFactory;
 import com.diozero.internal.spi.NativeDeviceFactoryInterface;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Jsonb;
+import java.io.FileInputStream;
 import java.io.IOException;
 import java.util.HashSet;
 import java.util.List;
@@ -68,8 +69,9 @@ public class HardwareTest {
         @BeforeEach
         void setup() throws IOException {
             System.out.println("Loading Hardware configs...");
-            hardwareConfig =
+            try (var stream = new FileInputStream(TestUtils.getHardwareConfigJson())) {
-                    new ObjectMapper().readValue(TestUtils.getHardwareConfigJson(), HardwareConfig.class);
+                hardwareConfig = Jsonb.instance().type(HardwareConfig.class).fromJson(stream);
+            }
             deviceFactory = HardwareManager.configureCustomGPIO(hardwareConfig);
         }
 

photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java

@@ -128,10 +128,7 @@ public class CalibrationRotationPipeTest {
 
         FrameStaticProperties frameProps =
                 new FrameStaticProperties(
-                        (int) coeffs.unrotatedImageSize.width,
+                        (int) coeffs.resolution.width, (int) coeffs.resolution.height, 66, coeffs);
-                        (int) coeffs.unrotatedImageSize.height,
-                        66,
-                        coeffs);
 
         FrameStaticProperties rotatedFrameProps = frameProps.rotate(rot);
 
@@ -210,7 +207,7 @@ public class CalibrationRotationPipeTest {
         double[] rotatedCamMat = {fx, 0, res.width - cx, 0, fy, res.height - cy, 0, 0, 1};
         assertArrayEquals(rotatedCamMat, coeffs2.cameraIntrinsics.data);
         // AND the image size should be the same
-        assertEquals(res, coeffs2.unrotatedImageSize);
+        assertEquals(res, coeffs2.resolution);
 
         // WHEN the camera calibration is rotated 180 degrees
         var coeffs3 = coeffs2.rotateCoefficients(rot);
@@ -218,7 +215,7 @@ public class CalibrationRotationPipeTest {
         // THEN the camera matrix will be the same as the original
         assertArrayEquals(intrinsics, coeffs3.cameraIntrinsics.data);
         // AND the image size should be the same
-        assertEquals(res, coeffs2.unrotatedImageSize);
+        assertEquals(res, coeffs2.resolution);
     }
 
     @CartesianTest

photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java

@@ -21,8 +21,8 @@ import static org.junit.jupiter.api.Assertions.assertNotNull;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.Assertions.fail;
 
+import java.util.ArrayList;
 import java.util.Arrays;
-import java.util.HashMap;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
@@ -115,9 +115,9 @@ public class VisionModuleManagerTest {
         }
 
         @Override
-        public HashMap<Integer, VideoMode> getAllVideoModes() {
+        public List<VideoMode> getAllVideoModes() {
-            var ret = new HashMap<Integer, VideoMode>();
+            var ret = new ArrayList<VideoMode>();
-            ret.put(0, getCurrentVideoMode());
+            ret.add(getCurrentVideoMode());
             return ret;
         }
 

photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java

@@ -21,6 +21,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import io.avaje.jsonb.Jsonb;
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
@@ -31,8 +32,8 @@ import org.junit.jupiter.api.Test;
 import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.configuration.PhotonConfiguration;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.wpilib.vision.camera.UsbCameraInfo;
 
@@ -94,17 +95,18 @@ public class VisionSourceManagerTest {
                                     7,
                                     8));
 
-            var str = JacksonUtils.serializeToString(usb);
+            var str = Jsonb.instance().type(PVCameraInfo.class).toJson(usb);
             System.out.println(str);
-            System.out.println(JacksonUtils.deserialize(str, PVCameraInfo.class));
+            System.out.println(Jsonb.instance().type(PVCameraInfo.class).fromJson(str));
         }
         {
             var csi =
                     PVCameraInfo.fromCSICameraInfo(
                             "/dev/v4l/by-path/platform-1f00110000.csi-video-index0", "rp1-cfe");
-            var str = JacksonUtils.serializeToString(csi);
+
+            var str = Jsonb.instance().type(PVCameraInfo.class).toJson(csi);
             System.out.println(str);
-            System.out.println(JacksonUtils.deserialize(str, PVCameraInfo.class));
+            System.out.println(Jsonb.instance().type(PVCameraInfo.class).fromJson(str));
         }
     }
 
@@ -137,7 +139,10 @@ public class VisionSourceManagerTest {
 
         vsm.assignUnmatchedCamera(fileCamera1);
 
-        System.out.println(JacksonUtils.serializeToString(ConfigManager.getInstance().getConfig()));
+        System.out.println(
+                Jsonb.instance()
+                        .type(PhotonConfiguration.class)
+                        .toJson(ConfigManager.getInstance().getConfig()));
 
         // And make assertions about the current matching state
         assertEquals(1, vsm.getVsmState().allConnectedCameras.size());
@@ -268,7 +273,10 @@ public class VisionSourceManagerTest {
 
         vsm.assignUnmatchedCamera(fileCamera3);
 
-        System.out.println(JacksonUtils.serializeToString(ConfigManager.getInstance().getConfig()));
+        System.out.println(
+                Jsonb.instance()
+                        .type(PhotonConfiguration.class)
+                        .toJson(ConfigManager.getInstance().getConfig()));
 
         // And make assertions about the current matching state
         assertEquals(3, vsm.getVsmState().allConnectedCameras.size());

photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java

@@ -24,7 +24,10 @@
 
 package org.photonvision.simulation;
 
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.json.JsonIoException;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
+import java.io.FileInputStream;
 import java.io.IOException;
 import java.nio.file.Path;
 import java.util.ArrayList;
@@ -66,6 +69,26 @@ import org.wpilib.math.util.Pair;
  * network latency and the latency reported will always be perfect.
  */
 public class SimCameraProperties {
+    @Json
+    record SimCameraData(SimCameraCalibrationData[] calibrations) {
+        @Json
+        record SimCameraCalibrationData(
+                ResolutionData resolution,
+                CameraIntrinsicsData cameraIntrinsics,
+                DistortionCoefficients distCoeffs,
+                double[] perViewErrors,
+                double standardDeviation) {
+            @Json
+            record ResolutionData(int width, int height) {}
+
+            @Json
+            record CameraIntrinsicsData(double[] data) {}
+
+            @Json
+            record DistortionCoefficients(double[] data) {}
+        }
+    }
+
     private final Random rand = new Random();
     // calibration
     private int resWidth;
@@ -114,47 +137,26 @@ public class SimCameraProperties {
      *     calibrated resolution.
      */
     public SimCameraProperties(Path path, int width, int height) throws IOException {
-        var mapper = new ObjectMapper();
+        SimCameraData data;
-        var json = mapper.readTree(path.toFile());
+        try (var stream = new FileInputStream(path.toFile())) {
-        json = json.get("calibrations");
+            data = Jsonb.instance().type(SimCameraData.class).fromJson(stream);
+        } catch (JsonIoException e) {
+            throw new IOException("Invalid calibration JSON", e);
+        }
         boolean success = false;
-        try {
+        for (var calib : data.calibrations) {
-            for (int i = 0; i < json.size() && !success; i++) {
+            // check if this calibration entry is our desired resolution
-                // check if this calibration entry is our desired resolution
+            if (calib.resolution.width != width || calib.resolution.height != height) continue;
-                var calib = json.get(i);
+            // get the relevant calibration values
-                int jsonWidth = calib.get("resolution").get("width").asInt();
+            double avgViewError = Arrays.stream(calib.perViewErrors).average().orElse(0);
-                int jsonHeight = calib.get("resolution").get("height").asInt();
+            // assign the read JSON values to this CameraProperties
-                if (jsonWidth != width || jsonHeight != height) continue;
+            setCalibration(
-                // get the relevant calibration values
+                    calib.resolution.width,
-                var jsonIntrinsicsNode = calib.get("cameraIntrinsics").get("data");
+                    calib.resolution.height,
-                double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()];
+                    MatBuilder.fill(Nat.N3(), Nat.N3(), calib.cameraIntrinsics.data),
-                for (int j = 0; j < jsonIntrinsicsNode.size(); j++) {
+                    MatBuilder.fill(Nat.N8(), Nat.N1(), calib.distCoeffs.data));
-                    jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble();
+            setCalibError(avgViewError, calib.standardDeviation);
-                }
+            success = true;
-                var jsonDistortNode = calib.get("distCoeffs").get("data");
-                double[] jsonDistortion = new double[8];
-                Arrays.fill(jsonDistortion, 0);
-                for (int j = 0; j < jsonDistortNode.size(); j++) {
-                    jsonDistortion[j] = jsonDistortNode.get(j).asDouble();
-                }
-                var jsonViewErrors = calib.get("perViewErrors");
-                double jsonAvgError = 0;
-                for (int j = 0; j < jsonViewErrors.size(); j++) {
-                    jsonAvgError += jsonViewErrors.get(j).asDouble();
-                }
-                jsonAvgError /= jsonViewErrors.size();
-                double jsonErrorStdDev = calib.get("standardDeviation").asDouble();
-                // assign the read JSON values to this CameraProperties
-                setCalibration(
-                        jsonWidth,
-                        jsonHeight,
-                        MatBuilder.fill(Nat.N3(), Nat.N3(), jsonIntrinsics),
-                        MatBuilder.fill(Nat.N8(), Nat.N1(), jsonDistortion));
-                setCalibError(jsonAvgError, jsonErrorStdDev);
-                success = true;
-            }
-        } catch (Exception e) {
-            throw new IOException("Invalid calibration JSON");
         }
         if (!success) throw new IOException("Requested resolution not found in calibration");
     }

photon-server/build.gradle

@@ -39,6 +39,7 @@ shadowJar {
     configurations = [
         project.configurations.runtimeClasspath
     ]
+    mergeServiceFiles()
 }
 
 node {

photon-server/src/main/java/org/photonvision/Main.java

@@ -235,6 +235,8 @@ public class Main {
         Logger.setLevel(LogGroup.General, logLevel);
         logger.info("Logging initialized in debug mode.");
 
+        System.setProperty("jsonb.disableAdapterSpi", "true");
+
         logger.info(
                 "Starting PhotonVision version "
                         + PhotonVersion.versionString

photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java

@@ -17,22 +17,21 @@
 
 package org.photonvision.server;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.json.JsonException;
-import com.fasterxml.jackson.core.type.TypeReference;
+import io.avaje.jsonb.Json;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Jsonb;
+import io.avaje.jsonb.jackson.JacksonAdapter;
 import io.javalin.websocket.WsBinaryMessageContext;
 import io.javalin.websocket.WsCloseContext;
 import io.javalin.websocket.WsConnectContext;
 import io.javalin.websocket.WsContext;
-import java.io.IOException;
 import java.net.InetSocketAddress;
 import java.nio.ByteBuffer;
 import java.time.Duration;
-import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.CopyOnWriteArrayList;
+import org.jetbrains.annotations.Nullable;
 import org.msgpack.jackson.dataformat.MessagePackFactory;
 import org.photonvision.common.dataflow.DataChangeDestination;
 import org.photonvision.common.dataflow.DataChangeService;
@@ -47,7 +46,9 @@ import org.wpilib.math.util.Pair;
 public class DataSocketHandler {
     private final Logger logger = new Logger(DataSocketHandler.class, LogGroup.WebServer);
     private final List<WsContext> users = new CopyOnWriteArrayList<>();
-    private final ObjectMapper objectMapper = new ObjectMapper(new MessagePackFactory());
+    private final JacksonAdapter adapter =
+            JacksonAdapter.builder().jsonFactory(new MessagePackFactory()).serializeEmpty(true).build();
+    private final Jsonb msgpackJsonb = Jsonb.builder().adapter(adapter).build();
     private final DataChangeService dcService = DataChangeService.getInstance();
 
     @SuppressWarnings("FieldCanBeLocal")
@@ -91,20 +92,16 @@ public class DataSocketHandler {
         }
     }
 
+    @Json
+    static record WSMessage(
+            @Nullable String cameraUniqueName, @Json.Unmapped Map<String, Object> properties) {}
+
     @SuppressWarnings({"unchecked"})
     public void onBinaryMessage(WsBinaryMessageContext context) {
         try {
-            Map<String, Object> deserializedData =
+            var message = msgpackJsonb.type(WSMessage.class).fromJson(context.data());
-                    objectMapper.readValue(context.data(), new TypeReference<>() {});
 
-            // Special case the current camera index
+            for (Map.Entry<String, Object> entry : message.properties.entrySet()) {
-            String cameraUniqueName = "";
-            if (deserializedData.get("cameraUniqueName") instanceof String camUniqueNameValue) {
-                cameraUniqueName = camUniqueNameValue;
-                deserializedData.remove("cameraUniqueName");
-            }
-
-            for (Map.Entry<String, Object> entry : deserializedData.entrySet()) {
                 try {
                     var entryKey = entry.getKey();
                     var entryValue = entry.getValue();
@@ -131,7 +128,7 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "isDriverMode",
                                                 (Boolean) entryValue,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_CHANGECAMERANAME ->
                                 dcService.publishEvent(
@@ -139,7 +136,7 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "cameraNickname",
                                                 (String) entryValue,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_CHANGEPIPELINENAME ->
                                 dcService.publishEvent(
@@ -147,38 +144,39 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "pipelineName",
                                                 (String) entryValue,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_ADDNEWPIPELINE -> {
                             // HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
                             // var type = (PipelineType) data.get("pipelineType");
                             // var name = (String) data.get("pipelineName");
-                            var arr = (ArrayList<Object>) entryValue;
+                            var arr = (List<Object>) entryValue;
                             var name = (String) arr.get(0);
-                            var type = PipelineType.values()[(Integer) arr.get(1) + 3];
+                            var type = PipelineType.values()[((Long) arr.get(1)).intValue() + 3];
 
                             dcService.publishEvent(
                                     new IncomingWebSocketEvent<>(
                                             DataChangeDestination.DCD_ACTIVEMODULE,
                                             "newPipelineInfo",
                                             Pair.of(name, type),
-                                            cameraUniqueName,
+                                            message.cameraUniqueName,
                                             context));
                         }
                         case SMT_CHANGEBRIGHTNESS ->
                                 HardwareManager.getInstance()
                                         .setBrightnessPercent(Integer.parseInt(entryValue.toString()));
                         case SMT_DUPLICATEPIPELINE -> {
-                            var pipeIndex = (Integer) entryValue;
+                            var pipeIndex = ((Long) entryValue).intValue();
 
-                            logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraUniqueName);
+                            logger.info(
+                                    "Duplicating pipe@index" + pipeIndex + " for camera " + message.cameraUniqueName);
 
                             dcService.publishEvent(
                                     new IncomingWebSocketEvent<>(
                                             DataChangeDestination.DCD_ACTIVEMODULE,
                                             "duplicatePipeline",
                                             pipeIndex,
-                                            cameraUniqueName,
+                                            message.cameraUniqueName,
                                             context));
                         }
                         case SMT_DELETECURRENTPIPELINE ->
@@ -187,27 +185,29 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "deleteCurrPipeline",
                                                 0,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_ROBOTOFFSETPOINT ->
                                 dcService.publishEvent(
                                         new IncomingWebSocketEvent<>(
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "robotOffsetPoint",
-                                                (Integer) entryValue,
+                                                ((Long) entryValue).intValue(),
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 null));
                         case SMT_CURRENTCAMERA ->
                                 dcService.publishEvent(
                                         new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue));
+                                                DataChangeDestination.DCD_OTHER,
+                                                "changeUICamera",
+                                                ((Long) entryValue).intValue()));
                         case SMT_CURRENTPIPELINE ->
                                 dcService.publishEvent(
                                         new IncomingWebSocketEvent<>(
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "changePipeline",
-                                                (Integer) entryValue,
+                                                ((Long) entryValue).intValue(),
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_STARTPNPCALIBRATION ->
                                 dcService.publishEvent(
@@ -215,7 +215,7 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "startCalibration",
                                                 (Map) entryValue,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_SAVEINPUTSNAPSHOT ->
                                 dcService.publishEvent(
@@ -223,7 +223,7 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "saveInputSnapshot",
                                                 0,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_SAVEOUTPUTSNAPSHOT ->
                                 dcService.publishEvent(
@@ -231,7 +231,7 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "saveOutputSnapshot",
                                                 0,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_TAKECALIBRATIONSNAPSHOT ->
                                 dcService.publishEvent(
@@ -239,10 +239,10 @@ public class DataSocketHandler {
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "takeCalSnapshot",
                                                 0,
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                         case SMT_PIPELINESETTINGCHANGE -> {
-                            HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
+                            Map<String, Object> data = (Map) entryValue;
 
                             if (data.size() >= 2) {
                                 var cameraIndex2 = (String) data.get("cameraUniqueName");
@@ -267,28 +267,27 @@ public class DataSocketHandler {
                                         new IncomingWebSocketEvent<>(
                                                 DataChangeDestination.DCD_ACTIVEMODULE,
                                                 "changePipelineType",
-                                                (Integer) entryValue,
+                                                ((Long) entryValue).intValue(),
-                                                cameraUniqueName,
+                                                message.cameraUniqueName,
                                                 context));
                     }
                 } catch (Exception e) {
                     logger.error("Failed to parse message!", e);
                 }
             }
-        } catch (IOException e) {
+        } catch (IllegalStateException | JsonException e) {
             logger.error("Failed to deserialize message!", e);
         }
     }
 
-    private void sendMessage(ByteBuffer b, WsContext user) throws JsonProcessingException {
+    private void sendMessage(ByteBuffer b, WsContext user) {
         if (user.session.isOpen()) {
             user.send(b);
         }
     }
 
-    public void broadcastMessage(Object message, WsContext userToSkip)
+    public void broadcastMessage(Object message, WsContext userToSkip) throws JsonException {
-            throws JsonProcessingException {
+        ByteBuffer b = ByteBuffer.wrap(msgpackJsonb.toJsonBytes(message));
-        ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
 
         if (userToSkip == null) {
             for (WsContext user : users) {

photon-server/src/main/java/org/photonvision/server/DataSocketMessageType.java

@@ -21,7 +21,6 @@ import java.util.EnumSet;
 import java.util.HashMap;
 import java.util.Map;
 
-@SuppressWarnings("unused")
 public enum DataSocketMessageType {
     SMT_DRIVERMODE("driverMode"),
     SMT_CHANGECAMERANAME("changeCameraName"),

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -17,8 +17,9 @@
 
 package org.photonvision.server;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.json.JsonException;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
 import io.javalin.http.Context;
 import io.javalin.http.UploadedFile;
 import java.io.*;
@@ -53,7 +54,6 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.ShellExec;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
@@ -71,8 +71,6 @@ public class RequestHandler {
 
     private static final Logger logger = new Logger(RequestHandler.class, LogGroup.WebServer);
 
-    private static final ObjectMapper kObjectMapper = new ObjectMapper();
-
     private static boolean testMode = false;
 
     public static void onStatusRequest(Context ctx) {
@@ -84,7 +82,8 @@ public class RequestHandler {
         testMode = isTestMode;
     }
 
-    private record CommonCameraUniqueName(String cameraUniqueName) {}
+    @Json
+    record CommonCameraUniqueName(String cameraUniqueName) {}
 
     public static void onSettingsImportRequest(Context ctx) {
         var file = ctx.uploadedFile("data");
@@ -372,12 +371,12 @@ public class RequestHandler {
     public static void onGeneralSettingsRequest(Context ctx) {
         NetworkConfig config;
         try {
-            config = kObjectMapper.readValue(ctx.bodyInputStream(), NetworkConfig.class);
+            config = Jsonb.instance().type(NetworkConfig.class).fromJson(ctx.bodyInputStream());
 
             ctx.status(200);
             ctx.result("Successfully saved general settings");
             logger.info("Successfully saved general settings");
-        } catch (IOException e) {
+        } catch (IllegalStateException | JsonException e) {
             // If the settings can't be parsed, use the default network settings
             config = new NetworkConfig();
 
@@ -394,13 +393,14 @@ public class RequestHandler {
         NetworkTablesManager.getInstance().setConfig(config);
     }
 
-    private record CameraSettingsRequest(
+    @Json
+    record CameraSettingsRequest(
             double fov, HashMap<CameraQuirk, Boolean> quirksToChange, String cameraUniqueName) {}
 
     public static void onCameraSettingsRequest(Context ctx) {
         try {
             CameraSettingsRequest request =
-                    kObjectMapper.readValue(ctx.body(), CameraSettingsRequest.class);
+                    Jsonb.instance().type(CameraSettingsRequest.class).fromJson(ctx.body());
             // Extract the settings from the request
             double fov = request.fov;
             HashMap<CameraQuirk, Boolean> quirksToChange = request.quirksToChange;
@@ -489,7 +489,7 @@ public class RequestHandler {
 
         try {
             CommonCameraUniqueName request =
-                    kObjectMapper.readValue(ctx.body(), CommonCameraUniqueName.class);
+                    Jsonb.instance().type(CommonCameraUniqueName.class).fromJson(ctx.body());
 
             var calData =
                     VisionSourceManager.getInstance()
@@ -509,7 +509,7 @@ public class RequestHandler {
             ctx.result("Camera calibration successfully completed!");
             ctx.status(200);
             logger.info("Camera calibration successfully completed!");
-        } catch (JsonProcessingException e) {
+        } catch (IllegalStateException | JsonException e) {
             ctx.status(400);
             ctx.result(
                     "The 'cameraUniqueName' field was not found in the request. Please make sure the cameraUniqueName of the vision module is specified with the 'cameraUniqueName' key.");
@@ -523,13 +523,14 @@ public class RequestHandler {
         }
     }
 
-    private record DataCalibrationImportRequest(
+    @Json
+    record DataCalibrationImportRequest(
             String cameraUniqueName, CameraCalibrationCoefficients calibration) {}
 
     public static void onDataCalibrationImportRequest(Context ctx) {
-        try {
+        try (var stream = ctx.req().getInputStream()) {
             DataCalibrationImportRequest request =
-                    kObjectMapper.readValue(ctx.req().getInputStream(), DataCalibrationImportRequest.class);
+                    Jsonb.instance().type(DataCalibrationImportRequest.class).fromJson(stream);
 
             var uploadCalibrationEvent =
                     new IncomingWebSocketEvent<>(
@@ -543,7 +544,7 @@ public class RequestHandler {
             ctx.status(200);
             ctx.result("Calibration imported successfully from imported data!");
             logger.info("Calibration imported successfully from imported data!");
-        } catch (JsonProcessingException e) {
+        } catch (IllegalStateException | JsonException e) {
             ctx.status(400);
             ctx.result("The provided calibration data was malformed");
             logger.error("The provided calibration data was malformed", e);
@@ -704,11 +705,10 @@ public class RequestHandler {
             }
             ConfigManager.getInstance()
                     .getConfig()
-                    .neuralNetworkPropertyManager()
+                    .getNeuralNetworkProperties()
                     .addModelProperties(modelProperties);
 
-            logger.debug(
+            logger.debug(ConfigManager.getInstance().getConfig().getNeuralNetworkProperties().toString());
-                    ConfigManager.getInstance().getConfig().neuralNetworkPropertyManager().toString());
 
             NeuralNetworkModelManager.getInstance().discoverModels();
 
@@ -860,14 +860,15 @@ public class RequestHandler {
                                 UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
     }
 
-    private record DeleteObjectDetectionModelRequest(Path modelPath) {}
+    @Json
+    record DeleteObjectDetectionModelRequest(Path modelPath) {}
 
     public static void onDeleteObjectDetectionModelRequest(Context ctx) {
         logger.info("Deleting object detection model");
 
         try {
             DeleteObjectDetectionModelRequest request =
-                    JacksonUtils.deserialize(ctx.body(), DeleteObjectDetectionModelRequest.class);
+                    Jsonb.instance().type(DeleteObjectDetectionModelRequest.class).fromJson(ctx.body());
 
             if (request.modelPath == null) {
                 ctx.status(400);
@@ -892,7 +893,7 @@ public class RequestHandler {
 
             if (!ConfigManager.getInstance()
                     .getConfig()
-                    .neuralNetworkPropertyManager()
+                    .getNeuralNetworkProperties()
                     .removeModel(request.modelPath)) {
                 ctx.status(400);
                 ctx.result("The model's information was not found in the config");
@@ -917,12 +918,13 @@ public class RequestHandler {
         }
     }
 
-    private record RenameObjectDetectionModelRequest(Path modelPath, String newName) {}
+    @Json
+    record RenameObjectDetectionModelRequest(Path modelPath, String newName) {}
 
     public static void onRenameObjectDetectionModelRequest(Context ctx) {
         try {
             RenameObjectDetectionModelRequest request =
-                    JacksonUtils.deserialize(ctx.body(), RenameObjectDetectionModelRequest.class);
+                    Jsonb.instance().type(RenameObjectDetectionModelRequest.class).fromJson(ctx.body());
 
             if (request.modelPath == null) {
                 ctx.status(400);
@@ -947,7 +949,7 @@ public class RequestHandler {
 
             if (!ConfigManager.getInstance()
                     .getConfig()
-                    .neuralNetworkPropertyManager()
+                    .getNeuralNetworkProperties()
                     .renameModel(request.modelPath, request.newName)) {
                 ctx.status(400);
                 ctx.result("The model's information was not found in the config");
@@ -994,12 +996,13 @@ public class RequestHandler {
         ctx.status(HardwareManager.getInstance().restartDevice() ? 204 : 500);
     }
 
-    private record CameraNicknameChangeRequest(String name, String cameraUniqueName) {}
+    @Json
+    record CameraNicknameChangeRequest(String name, String cameraUniqueName) {}
 
     public static void onCameraNicknameChangeRequest(Context ctx) {
         try {
             CameraNicknameChangeRequest request =
-                    kObjectMapper.readValue(ctx.body(), CameraNicknameChangeRequest.class);
+                    Jsonb.instance().type(CameraNicknameChangeRequest.class).fromJson(ctx.body());
 
             VisionSourceManager.getInstance()
                     .vmm
@@ -1008,7 +1011,7 @@ public class RequestHandler {
             ctx.status(200);
             ctx.result("Successfully changed the camera name to: " + request.name);
             logger.info("Successfully changed the camera name to: " + request.name);
-        } catch (JsonProcessingException e) {
+        } catch (IllegalStateException | JsonException e) {
             ctx.status(400).result("Invalid JSON format");
             logger.error("Failed to process camera nickname change request", e);
         } catch (Exception e) {
@@ -1038,8 +1041,8 @@ public class RequestHandler {
                 module.getStateAsCameraConfig().calibrations.stream()
                         .filter(
                                 it ->
-                                        Math.abs(it.unrotatedImageSize.width - width) < 1e-4
+                                        Math.abs(it.resolution.width - width) < 1e-4
-                                                && Math.abs(it.unrotatedImageSize.height - height) < 1e-4)
+                                                && Math.abs(it.resolution.height - height) < 1e-4)
                         .findFirst()
                         .orElse(null);
 
@@ -1052,12 +1055,13 @@ public class RequestHandler {
         ctx.status(200);
     }
 
-    private record CalibrationRemoveRequest(int width, int height, String cameraUniqueName) {}
+    @Json
+    record CalibrationRemoveRequest(int width, int height, String cameraUniqueName) {}
 
     public static void onCalibrationRemoveRequest(Context ctx) {
         try {
             CalibrationRemoveRequest request =
-                    kObjectMapper.readValue(ctx.body(), CalibrationRemoveRequest.class);
+                    Jsonb.instance().type(CalibrationRemoveRequest.class).fromJson(ctx.body());
 
             logger.info(
                     "Attempting to remove calibration for camera: "
@@ -1083,7 +1087,7 @@ public class RequestHandler {
                             + request.width
                             + "x"
                             + request.height);
-        } catch (JsonProcessingException e) {
+        } catch (IllegalStateException | JsonException e) {
             ctx.status(400).result("Invalid JSON format");
             logger.error("Failed to process calibration removed request", e);
         } catch (Exception e) {
@@ -1107,8 +1111,8 @@ public class RequestHandler {
                         .stream()
                         .filter(
                                 it ->
-                                        Math.abs(it.unrotatedImageSize.width - width) < 1e-4
+                                        Math.abs(it.resolution.width - width) < 1e-4
-                                                && Math.abs(it.unrotatedImageSize.height - height) < 1e-4)
+                                                && Math.abs(it.resolution.height - height) < 1e-4)
                         .findFirst()
                         .orElse(null);
 
@@ -1146,8 +1150,8 @@ public class RequestHandler {
                 cc.calibrations.stream()
                         .filter(
                                 it ->
-                                        Math.abs(it.unrotatedImageSize.width - width) < 1e-4
+                                        Math.abs(it.resolution.width - width) < 1e-4
-                                                && Math.abs(it.unrotatedImageSize.height - height) < 1e-4)
+                                                && Math.abs(it.resolution.height - height) < 1e-4)
                         .findFirst()
                         .orElse(null);
 
@@ -1319,7 +1323,7 @@ public class RequestHandler {
     public static void onNukeOneCamera(Context ctx) {
         try {
             CommonCameraUniqueName request =
-                    kObjectMapper.readValue(ctx.body(), CommonCameraUniqueName.class);
+                    Jsonb.instance().type(CommonCameraUniqueName.class).fromJson(ctx.body());
 
             logger.warn("Deleting camera name " + request.cameraUniqueName);
 
@@ -1334,7 +1338,7 @@ public class RequestHandler {
             VisionSourceManager.getInstance().deleteVisionSource(request.cameraUniqueName);
 
             ctx.status(200);
-        } catch (IOException e) {
+        } catch (IOException | IllegalStateException | JsonException e) {
             logger.error("Failed to delete camera", e);
             ctx.status(500);
             ctx.result("Failed to delete camera");
@@ -1346,7 +1350,7 @@ public class RequestHandler {
         logger.info(ctx.queryString());
         try {
             CommonCameraUniqueName request =
-                    kObjectMapper.readValue(ctx.body(), CommonCameraUniqueName.class);
+                    Jsonb.instance().type(CommonCameraUniqueName.class).fromJson(ctx.body());
 
             if (VisionSourceManager.getInstance()
                     .reactivateDisabledCameraConfig(request.cameraUniqueName)) {
@@ -1354,7 +1358,7 @@ public class RequestHandler {
             } else {
                 ctx.status(403);
             }
-        } catch (IOException e) {
+        } catch (IllegalStateException | JsonException e) {
             ctx.status(401);
             logger.error("Failed to process activate matched camera request", e);
             ctx.result("Failed to process activate matched camera request");
@@ -1362,14 +1366,15 @@ public class RequestHandler {
         }
     }
 
-    private record AssignUnmatchedCamera(PVCameraInfo cameraInfo) {}
+    @Json
+    record AssignUnmatchedCamera(PVCameraInfo cameraInfo) {}
 
     public static void onAssignUnmatchedCameraRequest(Context ctx) {
         logger.info(ctx.queryString());
 
         try {
             AssignUnmatchedCamera request =
-                    kObjectMapper.readValue(ctx.body(), AssignUnmatchedCamera.class);
+                    Jsonb.instance().type(AssignUnmatchedCamera.class).fromJson(ctx.body());
 
             if (request.cameraInfo == null) {
                 ctx.status(400);
@@ -1385,7 +1390,7 @@ public class RequestHandler {
             }
 
             ctx.result("Successfully assigned camera: " + request.cameraInfo);
-        } catch (IOException e) {
+        } catch (IllegalStateException | JsonException e) {
             ctx.status(401);
             logger.error("Failed to process assign unmatched camera request", e);
             ctx.result("Failed to process assign unmatched camera request");
@@ -1397,14 +1402,14 @@ public class RequestHandler {
         logger.info(ctx.queryString());
         try {
             CommonCameraUniqueName request =
-                    kObjectMapper.readValue(ctx.body(), CommonCameraUniqueName.class);
+                    Jsonb.instance().type(CommonCameraUniqueName.class).fromJson(ctx.body());
 
             if (VisionSourceManager.getInstance().deactivateVisionSource(request.cameraUniqueName)) {
                 ctx.status(200);
             } else {
                 ctx.status(403);
             }
-        } catch (IOException e) {
+        } catch (IllegalStateException | JsonException e) {
             ctx.status(401);
             logger.error("Failed to process unassign camera request", e);
             ctx.result("Failed to process unassign camera request");

photon-server/src/main/java/org/photonvision/server/Server.java

@@ -41,7 +41,7 @@ public class Server {
         }
 
         @Override
-        public void onDataChangeEvent(DataChangeEvent<?> event) {
+        public <T> void onDataChangeEvent(DataChangeEvent<T> event) {
             if (event.propertyName.equals("restartServer")) {
                 Server.restart();
             }

photon-server/src/main/java/org/photonvision/server/TestRequestHandler.java

@@ -17,13 +17,14 @@
 
 package org.photonvision.server;
 
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
 import io.javalin.http.Context;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.file.JacksonUtils;
 
 public class TestRequestHandler {
     // Treat all 2XX calls as "INFO"
@@ -39,12 +40,13 @@ public class TestRequestHandler {
         ConfigManager.getInstance().load();
     }
 
-    private record PlatformOverrideRequest(Platform platform) {}
+    @Json
+    record PlatformOverrideRequest(Platform platform) {}
 
     public static void handlePlatformOverrideRequest(Context ctx) {
         try {
             PlatformOverrideRequest request =
-                    JacksonUtils.deserialize(ctx.body(), PlatformOverrideRequest.class);
+                    Jsonb.instance().type(PlatformOverrideRequest.class).fromJson(ctx.body());
             Platform platform = request.platform();
             logger.info("Overriding platform to: " + platform);
 

photon-server/src/main/java/org/photonvision/server/UIInboundSubscriber.java

@@ -38,8 +38,8 @@ public class UIInboundSubscriber extends DataChangeSubscriber {
     }
 
     @Override
-    public void onDataChangeEvent(DataChangeEvent<?> event) {
+    public <T> void onDataChangeEvent(DataChangeEvent<T> event) {
-        if (event instanceof IncomingWebSocketEvent incomingWSEvent) {
+        if (event instanceof IncomingWebSocketEvent<T> incomingWSEvent) {
             if (incomingWSEvent.propertyName.equals("userConnected")
                     || incomingWSEvent.propertyName.equals("sendFullSettings")) {
                 // Send full settings

photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java

@@ -17,7 +17,7 @@
 
 package org.photonvision.server;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.json.JsonDataException;
 import java.util.Collections;
 import java.util.HashMap;
 import org.photonvision.common.dataflow.DataChangeDestination;
@@ -43,15 +43,15 @@ class UIOutboundSubscriber extends DataChangeSubscriber {
     }
 
     @Override
-    public void onDataChangeEvent(DataChangeEvent event) {
+    public <T> void onDataChangeEvent(DataChangeEvent<T> event) {
-        if (event instanceof OutgoingUIEvent thisEvent) {
+        if (event instanceof OutgoingUIEvent<T> thisEvent) {
             try {
                 if (event.data instanceof HashMap data) {
                     socketHandler.broadcastMessage(data, thisEvent.originContext);
                 } else {
                     socketHandler.broadcastMessage(event.data, thisEvent.originContext);
                 }
-            } catch (JsonProcessingException e) {
+            } catch (JsonDataException e) {
                 logger.error("Failed to process outgoing message!", e);
             }
         }

photon-targeting/src/main/java/org/photonvision/common/networktables/PacketPublisher.java

@@ -17,8 +17,8 @@
 
 package org.photonvision.common.networktables;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.json.JsonException;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Jsonb;
 import java.util.HashSet;
 import java.util.Set;
 import org.photonvision.common.dataflow.structures.Packet;
@@ -34,12 +34,11 @@ public class PacketPublisher<T> implements AutoCloseable {
         this.publisher = publisher;
         this.photonStruct = photonStruct;
 
-        var mapper = new ObjectMapper();
         try {
             this.publisher
                     .getTopic()
-                    .setProperty("message_uuid", mapper.writeValueAsString(photonStruct.getInterfaceUUID()));
+                    .setProperty("message_uuid", Jsonb.instance().toJson(photonStruct.getInterfaceUUID()));
-        } catch (JsonProcessingException e) {
+        } catch (IllegalStateException | JsonException e) {
             // TODO Auto-generated catch block
             e.printStackTrace();
             throw new RuntimeException(e);

photon-targeting/src/main/java/org/photonvision/jni/CombinedRuntimeLoader.java

@@ -18,7 +18,9 @@
 
 package org.photonvision.jni;
 
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
 import java.io.BufferedInputStream;
 import java.io.File;
 import java.io.FileInputStream;
@@ -139,15 +141,18 @@ public final class CombinedRuntimeLoader {
      * Architecture-specific information containing file hashes for a specific CPU architecture (e.g.,
      * x86-64, arm64).
      */
+    @Json
     public record ArchInfo(Map<String, String> fileHashes) {}
 
     /**
      * Platform-specific information containing architectures for a specific OS platform (e.g., linux,
      * windows).
      */
+    @Json
     public record PlatformInfo(Map<String, ArchInfo> architectures) {}
 
     /** Overall resource information to be serialized */
+    @Json
     public record ResourceInformation(
             // Combined MD5 hash of all native resource files
             String hash,
@@ -167,10 +172,10 @@ public final class CombinedRuntimeLoader {
      */
     public static <T> List<String> extractLibraries(Class<T> clazz, String resourceName)
             throws IOException {
-        ObjectMapper mapper = new ObjectMapper();
+        JsonType<ResourceInformation> jsonb = Jsonb.instance().type(ResourceInformation.class);
         ResourceInformation resourceInfo;
         try (var stream = clazz.getResourceAsStream(resourceName)) {
-            resourceInfo = mapper.readValue(stream, ResourceInformation.class);
+            resourceInfo = jsonb.fromJson(stream);
         }
 
         var platformPath = Paths.get(getPlatformPath());

shared/common.gradle

@@ -18,8 +18,8 @@ dependencies {
 
     implementation "io.javalin:javalin:$javalinVersion"
 
-    implementation 'org.msgpack:msgpack-core:0.9.0'
+    implementation "org.msgpack:msgpack-core:$msgpackVersion"
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
+    implementation "org.msgpack:jackson-dataformat-msgpack:$msgpackVersion"
 
     implementation "org.wpilib.wpiutil:wpiutil-java:$wpilibVersion"
     implementation "org.wpilib.datalog:datalog-java:$wpilibVersion"
@@ -34,9 +34,11 @@ dependencies {
     implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
     implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, openCVversion)
 
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: jacksonVersion
     implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
     implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
+    implementation group: "io.avaje", name: "avaje-jsonb", version: avajeJsonbVersion
+    annotationProcessor group: "io.avaje", name: "avaje-jsonb-generator", version: avajeJsonbVersion
+    implementation group: "io.avaje", name: "avaje-jsonb-jackson", version: avajeJsonbVersion
 
     implementation group: "org.ejml", name: "ejml-simple", version: ejmlVersion
     implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: quickbufVersion;
@@ -53,6 +55,7 @@ dependencies {
 test {
     useJUnitPlatform()
     systemProperty("java.awt.headless", !project.hasProperty("enableTestUi"))
+    systemProperty 'jsonb.disableAdapterSpi', 'true'
     testLogging {
         events "passed", "skipped", "failed", "standardOut", "standardError"
         exceptionFormat = "full"

shared/javacommon.gradle

@@ -120,6 +120,7 @@ publishing {
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    systemProperty 'jsonb.disableAdapterSpi', 'true'
     testLogging {
         events "failed"
         exceptionFormat = "full"
@@ -149,9 +150,10 @@ dependencies {
     implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
     implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, openCVversion)
 
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: jacksonVersion
     implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
     implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
+    implementation group: "io.avaje", name: "avaje-jsonb", version: avajeJsonbVersion
+    annotationProcessor group: "io.avaje", name: "avaje-jsonb-generator", version: avajeJsonbVersion
 
     implementation group: "org.ejml", name: "ejml-simple", version: ejmlVersion
     implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: quickbufVersion;

test-resources/network-ip-addr/networkSettings.json

@@ -0,0 +1,3 @@
+{
+  "ntServerAddress" : "127.0.0.1"
+}

test-resources/network-old-team-number/networkSettings.json

@@ -1,3 +0,0 @@
-{
-  "teamNumber" : 9999
-}