## 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
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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>
This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more.
Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
On a Luma P1, autoexposure on first boot was getting overridden with the manual exposure setting. This was traced back to #1814, where the order of setting auto exposure and raw exposure was flipped. This flips it back.
## Description
Back in
https://github.com/PhotonVision/photonvision/pull/467#issuecomment-1280964529
and
https://discord.com/channels/725836368059826228/725846784131203222/974498049609056266
we added code to poke our NT client every 5 seconds to "clicking the
save button in the settings window makes Photon show up again over
networktables". Total hack, but it seemed to work. We didn't at the time
dig any deeper in Wireshark or debug-level NT logs.
<img width="1373" height="679" alt="image"
src="https://github.com/user-attachments/assets/8cb2102e-0bae-4bfd-b9ac-55d31f8421b6"
/>
Now, it's 2026. 4 years on from the OG bug. And this code seems linked
to these issues
-
https://www.chiefdelphi.com/t/photonvision-coprocessor-not-sending-data-can-t-change-networking/516356/5
-
https://www.chiefdelphi.com/t/photonvision-network-tables-known-issue/515966
Craig collected these log files as well:
[craig-nt-never-connects.zip](https://github.com/user-attachments/files/26001809/craig-nt-never-connects.zip)
The code path that handles TCP re-connection was also changed entirely
since we first added this workaround. Regardless this hack was not
removed as part of the NT3 to NT4 upgrade:
- pre-NT4, reconnection was handled by `TCPConnector::connect_parallel`
which delegates to `TCPConnector`. This uses raw socket APIs
- post-NT4, reconnect is handled by `ParallelTcpConnector`. This uses
libuv exclusively
@crschardt did some really great debugging with a rio and radio in the
loop with a luma p1. In this test setup, removing this code improves
stability markedly. I'd still like to get this more on robot time, as
well as try to understand from Peter why we might have needed this code
in the first place.
## Changes
- Remove periodic stop/restart of NetworkTables client every 5 seconds
if `NetworkTablesInstance::isConnected` returns false.
## Meta
Merge checklist:
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compatibility and steps taken to follow it
---------
Co-authored-by: Craig Schardt <crschardt@fastem.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`. -->
Pursuant to PhotonVision/rubik_jni#21 modify the neuralnetworkresult and related code to use a rotatedrect. This is scaffolding for implementing OBB -- overall this shouldn't change behavior of existing normal object detection models. This PR also bumps the rubik_jni version.
## Meta
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is updated
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Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
Given that WPILib is nuking their Java tooling, it becomes necessary to
pull said tooling into PV itself. This migrates the
CombinedRuntimeLoader into PV, which should finalize all of the tooling
migration.
## Description
Presently, any tests using our old configs happen in place. This is
problematic, as it changes the files themselves. This means that anyone
running the tests will cause unintentional modifications, which stand a
chance of being committed and merged into main. We want these old
database files to remain untouched, thus we copy them to a temp
directory prior to running our tests.
## Meta
Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
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is updated
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exchange, the frontend typing is updated
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## Description
Previously, when attempting to load a model that did not follow the old
naming pattern that was in the models directory, we caused PV to crash
due to a missing early return (reproducable on this branch with the
extra bonus ML model and missing label file):
```
[2026-02-01 17:35:15] [Config - NeuralNetworkModelManager] [ERROR] Model properties are null. This could mean the config for model /home/matth/photonvision/test-resources/old_configs/2025.3.1-old-nnmm/models/iCauseProblems.rknn was unable to be found in the database. Trying legacy...
[2026-02-01 17:35:15] [Config - NeuralNetworkModelManager] [ERROR] Failed to translate legacy model filename to properties: /home/matth/photonvision/test-resources/old_configs/2025.3.1-old-nnmm/models/iCauseProblems.rknn: /home/matth/photonvision/test-resources/old_configs/2025.3.1-old-nnmm/models/iCauseProblems-labels.txt
SQLConfigTest > testLoadNewNNMM() FAILED
java.lang.NullPointerException: Cannot invoke "org.photonvision.common.configuration.NeuralNetworkModelsSettings$ModelProperties.toString()" because "properties" is null
at org.photonvision.common.configuration.NeuralNetworkModelManager.loadModel(NeuralNetworkModelManager.java:342)
at java.base/java.util.stream.ForEachOps$ForEachOp$OfRef.accept(ForEachOps.java:183)
```
This PR fixes it by adding the missing early-return, and adding unit
tests to make sure we handle this.
## Meta
Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
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that led to this PR
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is updated
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---------
Co-authored-by: Matt M <matthew.morley.ca@gmail.com>
## Description
#2255 introduced a new, cross-platform method for monitoring hardware
and removed the custom shell commands that had been used previously.
This PR updates the documentation to reflect the removal of those
commands from hardwareConfig.json.
## Meta
Merge checklist:
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---------
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
## 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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with settings back to v2024.3.1
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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
Merge checklist:
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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
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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:
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summary](https://cbea.ms/git-commit/) of proposed changes
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---------
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:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
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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>
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
