## Description
In https://github.com/PhotonVision/photonvision/issues/1771, we
discovered that the OV9281 on Linux seems to sometimes ignore our
exposure requests on first boot if we're in manual mode. Cycling the
camera's auto exposure with pauses in-between seems to fix it, which is
what this PR does.
Tested by [Team 2881 on
Discord](https://discord.com/channels/725836368059826228/725846784131203222/1465098110765105456);
thanks for helping us test this fix out!
## Meta
Closes https://github.com/PhotonVision/photonvision/issues/1771
Merge checklist:
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---------
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
## Description
<!-- What changed? Why? (the code + comments should speak for itself on
the "how") -->
<!-- Fun screenshots or a cool video or something are super helpful as
well. If this touches platform-specific behavior, this is where test
evidence should be collected. -->
<!-- Any issues this pull request closes or pull requests this
supersedes should be linked with `Closes #issuenumber`. -->
closes#2318closes#2319
For the 2027 game, teams might want to detect more than 10 results.
Therefore, we're increasing the limit.
We also ran into an issue with our sim, where a user can create too many
objects and cause an overflow. We implement that same limit of 50
targets here.
## Meta
Merge checklist:
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summary](https://cbea.ms/git-commit/) of proposed changes
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is updated
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## Description
Monitoring CPU Temperature on Windows is challenging because most
vendors don't publish this data to WMI. As a work-around, OSHI tries to
use
[LibreHardwareMonitor](https://github.com/LibreHardwareMonitor/LibreHardwareMonitor)
via
[jLibreHardwareMonitor](https://github.com/pandalxb/jLibreHardwareMonitor).
If the temperature isn't found in WMI and jLibreHardwareMonitor isn't
present, OSHI issues warnings every time `getCpuTemperature()` is
called. This clogs the console with useless information when running on
Windows and makes testing difficult.
We could include jLibreHardwareMonitor as a dependency for our Windows
jar, but LibreHardwareMonitor installs Winring0.sys, which is a kernel
level driver with an unfixed severe vulnerability. Windows defender
flags Winring0 as a vulnuratble driver and blocks it from installing.
Rather than messing with it, this PR prevents Windows systems from
calling the `getCpuTemperature()` method in OSHI.
Fixes#2280
## Meta
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---------
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
## Description
Update to use our fork of the WPILib tool plugin. WPILib has indicated
that it won't be maintained past 2026, so we're forking it under our
org. We also fixed a bug that results in native libraries for multiple
platforms being included in a jar when only the native libraries for the
platform being built should be included.
## Meta
Merge checklist:
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summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
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---------
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
Co-authored-by: samfreund <samf.236@proton.me>
## Description
[OSHI](https://github.com/oshi/oshi) is a free (MIT license) JNA-based
library for accessing hardware and system performance information. This
PR includes a re-write of the metrics monitoring code to be based on
OSHI. The original intent was to gain access to data about network
traffic for addition to the Settings tab. An additional benefit is that
collecting the data is now around two orders of magnitude (or more)
faster!
## 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_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
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exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added
---------
Co-authored-by: samfreund <samf.236@proton.me>
## Description
We currently log some things with ERROR status and include stack traces
for events that are typical behavior. This pollutes the logs and makes
it harder to track down real errors.
This PR changes the way that some events are logged:
* missing configs in the database are logged as [INFO] without the
exception stack trace.
* skip parsing NPU usage when the command is blank so that it doesn't
throw a NumberFormatException.
* log warn instead of error for unsupported NN backends (added by
@samfreund)
* skip warn when we don't add a model, only debug when we add it (added
by @samfreund)
Before:
```
Oct 22 20:56:26 photonvision java[831]: [2024-10-22 20:56:26] [Config - SqlConfigProvider] [ERROR] Could not deserialize apriltag layout! Loading defaults: Provided empty string for class edu.wpi.first.apriltag.AprilTagFieldLayout
Oct 22 20:56:26 photonvision java[831]: [2024-10-22 20:56:26] [Config - SqlConfigProvider] [ERROR] org.eclipse.jetty.io.EofException: Provided empty string for class edu.wpi.first.apriltag.AprilTagFieldLayout
Oct 22 20:56:26 photonvision java[831]: at org.photonvision.common.util.file.JacksonUtils.deserialize(JacksonUtils.java:136)
Oct 22 20:56:26 photonvision java[831]: at org.photonvision.common.configuration.SqlConfigProvider.load(SqlConfigProvider.java:298)
Oct 22 20:56:26 photonvision java[831]: at org.photonvision.common.configuration.ConfigManager.load(ConfigManager.java:198)
Oct 22 20:56:26 photonvision java[831]: at org.photonvision.Main.main(Main.java:290)
```
After:
```
Dec 15 22:29:09 photonvision java[662]: [2025-12-15 22:29:09] [Config - SqlConfigProvider] [INFO] Missing AprilTag Field Layout in database. Loading defaults
```
## Meta
Merge checklist:
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---------
Co-authored-by: samfreund <samf.236@proton.me>
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
## Description
On the RubikPi3, PhotonVision starts before NetworkManager has fully
initialized. This causes it to fail to identify the network interfaces
available on the board, which leads to problems with configuring and
controling networking from the UI. The failure can be detected by the
call to `nmcli` returning an [exit status of
8](https://networkmanager.dev/docs/api/latest/nmcli.html#exit_status),
which means "NetworkManager is not running."
This PR retries the call to nmcli every 0.5 seconds until the exit
status does not equal 8, or a maximum of 10 attempts have been made. The
retry only occurs the first time `getAllInterfaces()` is called.
Subsequent calls to this method will only make one attempt to avoid
locking up the program if networking isn't responding as expected.
In my testing on the RubikPi3, the code has to retry for less than 2
seconds in order to get a valid response from NetworkManager.
The need for this is greatly reduced by
https://github.com/PhotonVision/photon-image-modifier/pull/114, but this
code adds an additional layer of robustness against slow network
startup.
Closes#2212
## Meta
Merge checklist:
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---------
Co-authored-by: samfreund <samf.236@proton.me>
## Description
On boot, the interface might not be fully configured yet, and the
returned NetworkInterface will be null. This would cause an NPE to be
thrown when attempting to get the MAC address from the interface. This
checks if the interface is null and silently returns an empty string if
it is, which is okay if the networking is being managed because if that
interface is broken, there's bigger problems. Fixes#2244.
## Meta
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I have all sorts of weird adapters from npcap and Hyper-V that don't
have MAC addresses, so I'm simplifying the logic down so that it always
tries to find _any_ adapter with a MAC address, but attempts to see if
it can find what adapter is in use right now and use the MAC address
from that. This also unpublishes old MAC address topics, which wasn't
done before.
The old GPIO abstraction was replaced with
[`diozero`](https://www.diozero.com), which supports most hardware
running Linux due to its use of GPIO character devices provided by the
Linux kernel. `diozero` also supports [alternate
providers](https://www.diozero.com/concepts/providers.html#providers) if
for some reason the character device API is insufficient. Certain
capabilities outside of the character device API is also implemented for
common hardware.
Custom GPIO commands are implemented via a custom `diozero` provider.
The configuration for custom GPIO will need manually updated according
to the Hardware Config documentation page.
The status LED class was also reworked to support additional statuses or
LED indication types, although none have been added yet.
This was tested on a RPi 5 with LL3 illumination LEDs and an RGB status
led attached. All capabilities worked as expected. All 8 status LED
colors were tested and functional via modifying the code. Basic
functionality of custom GPIO was tested with dummy commands.
## Description
#2224 removed the custom deserializers for `Path`, but we still need one
to be able to deserialize the `Path` key in
`NeuralNetworkPropertyManager`. Additionally, Jackson seems to
auto-convert the `Path` key to a `String` using `toString` instead of
its own serializers, so a custom key serializer is also needed to
consistently use the same format for paths. This also removes unused
serde methods in `JacksonUtils` to minimize potential future churn, and
tacks an `@JsonIgnore` on `getModels` to prevent Jackson from
serializing a `ModelProperty` array into the database.
## Meta
Merge checklist:
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## Description
PhotonJNICommon is just our implementation of combined runtime loader,
which we don't really need. This removes it and just uses
CombinedRuntimeLoader directly. This also fixes the issues introduced in
#2219, which lead to some of our JNIs not loading.
## Meta
Merge checklist:
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---------
Co-authored-by: Matt M <matthew.morley.ca@gmail.com>
## Description
We can avoid copying files by chunks just using `Files.copy`. This
should be NFC, just makes the code cleaner
<!-- What changed? Why? (the code + comments should speak for itself on
the "how") -->
<!-- Fun screenshots or a cool video or something are super helpful as
well. If this touches platform-specific behavior, this is where test
evidence should be collected. -->
<!-- Any issues this pull request closes or pull requests this
supersedes should be linked with `Closes #issuenumber`. -->
## Meta
Merge checklist:
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summary](https://cbea.ms/git-commit/) of proposed changes
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## Description
Updating to take advantage of the now independent mrcal-java (no longer
need to install SuiteSparse and friends!)
## Meta
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---------
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
## Description
Camera focus tool pipeline using a Laplacian and finding the variance.
Similar to Limelight.
closes#1597
## Meta
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[linted](https://docs.photonvision.org/en/latest/docs/contributing/linting.html).
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## Description
Looks like this is the convention from a quick Google search.
## Meta
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## Description
Adds the ability to remove old calibrations. This might be helpful if
you have a bad calibration.
closes#1262
## Meta
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---------
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
## Description
Switch default tag family used in AprilTag pipeline. We already
functionally changed the default in
https://github.com/PhotonVision/photonvision/pull/1333 but since 2024
FIRST appears to have been using 36h11 so switching here seems to make
sense as well.
## Meta
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---------
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
## Description
This fixes a few problems with the Gradle `build` task and subtasks.
1. Spotless was being run on `node_modules`, resulting in errors for
out-of-source files. This is now disabled.
2. All tests were running from the `build` task, resulting in unexpected
windows popping up. Now only headless tests are run.
3. Headless tests were updated to run from the same root directory as
the other tests.
## Meta
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## Description
Detects if a camera mismatch is present in any camera and displays a
banner in the dashboard for better visibility to the user. All detection
occurs in the backend, and is sent to the frontend via use of a mismatch
boolean included in each vision module.
<img width="1235" alt="image"
src="https://github.com/user-attachments/assets/19219a56-c366-4c56-8c4b-cb5a36fe4a04"
/>
Closes#1920
## Meta
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---------
Co-authored-by: Sam Freund <techguy763@gmail.com>
Co-authored-by: samfreund <samf.236@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
## Description
This allows photon-targeting to be loaded using the same mechanism as
the rest of the WPILib libraries, fixing issues with libraries not being
able to find and load their dependent libraries.
## Meta
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is updated
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## Description
There isn't anything that 3D mode adds for OD, and the results are
typically messed up. Thus, we disable 3D mode when we're using an OD
pipeline.
## Meta
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Fix numerous places where using AutoCloseable objects without closing
them.
Changes:
- Upgrade JUnit from 5.10.0 to 5.11.4 (so `@AutoClose` can be used)
- Use `Files.copy()` to copy files
- Use try-with-resources when calling `Files.list()` or `Files.walk()`
- Use try-with-resources or `@AutoClose` to close `PhotonCamera` and
`PhotonCameraSim` objects created by tests
- Update `SQLConfigTest` to use `@TempDir`
## Meta
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## Description
After #1991, the program state was always resent in an attempt to
simplify logic, but this had the side effect of causing the settings UI
to reset periodically when the hostname check was performed. This
restores the original logic in #1791 to check for differences in the
conflict state, and to only send the program state if it's changed.
## Meta
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## Description
Previously, NetworkManager would happily go asking for networkmanager to
do things even if it wasn't installed. This should never be the case,
but we should bail out early if it is regardless IMO. This prevents logs
and the UI from looking suspiciously "working", if you ignore the exit
code. Up for debate if we actually need this feature.
## Meta
Merge checklist:
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---------
Co-authored-by: Craig Schardt <crschardt@fastem.com>
## Description
See #2026 for the previous iteration of this PR.
This adds the RKNN model trained on the COCO dataset as one of the
models shipped with PV. This model is fairly general, and has been
trained to identify a number of objects, including people, animals,
cars, and more. This model is meant for teams to test object detection,
particularly for teams who might not have access to the game elements
that our other models are trained on.
It additionally acknowledges Ultralytics for the model, and includes the
AGPL copyleft license.
## Meta
Merge checklist:
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This reverts commit 753123844b.
## Description
The COCO dataset contains images that use the NC and/or ND variants of
the CC license, and distributing a model based on that dataset is most
likely a violation of licenses. Additionally, the model is licensed under AGPL,
which might be a concern for PhotonVision, and at a minimum, there's no
license file bundled with the model right now.
## 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_
- [x] 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 settings back to v2024.3.1
- [ ] 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
