Use Avaje Jsonb for Javalin JSON (#2512)

## Description

This fixes up and renables the python examples builds.

Main fixes
- Test shell script just straight up didn't do what it was intended to
do
- Replace analog imus (and half refactored sims) with OnboardIMU
- Fixes swerve velocities function signature
- "regenerates" the default robotpy test

## 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: Matt Morley <matthew.morley.ca@gmail.com>
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>

.github/workflows/build.yml

@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.1.3
+  IMAGE_VERSION: v2027.0.0
 
 jobs:
 
@@ -21,102 +21,116 @@ jobs:
       - uses: actions/checkout@v6
       - uses: gradle/actions/wrapper-validation@v5
 
-  build-examples:
+  # build-examples:
 
-    strategy:
+  #     strategy:
-      fail-fast: false
+  #       fail-fast: false
-      matrix:
+  #       matrix:
-        include:
+  #         include:
-          - os: windows-2022
+  #           - os: windows-2022
-            artifact-name: Win64
+  #             artifact-name: Win64
-          - os: macos-14
+  #           - os: macos-14
-            artifact-name: macOS
+  #             artifact-name: macOS
-          - os: ubuntu-24.04
+  #           - os: ubuntu-24.04
-            artifact-name: Linux
+  #             artifact-name: Linux
 
-    name: "Photonlib - Build Examples - ${{ matrix.os }}"
+  #     name: "Photonlib - Build Examples - ${{ matrix.os }}"
-    runs-on: ${{ matrix.os }}
+  #     runs-on: ${{ matrix.os }}
-    needs: [build-photonlib-host, build-photonlib-docker]
+  #     needs: [build-photonlib-host, build-photonlib-docker]
 
-    steps:
+  #     steps:
-      - name: Checkout code
+  #       - name: Checkout code
-        uses: actions/checkout@v6
+  #         uses: actions/checkout@v6
-        with:
+  #         with:
-          fetch-depth: 0
+  #           fetch-depth: 0
-      - name: Fetch tags
+  #       - name: Fetch tags
-        run: git fetch --tags --force
+  #         run: git fetch --tags --force
-      - name: Install Java 17
+  #       - uses: actions/setup-java@v5
-        uses: actions/setup-java@v5
+  #         with:
-        with:
+  #           java-version: 25
-          java-version: 17
+  #           distribution: temurin
-          distribution: temurin
+  #       - name: Install SystemCore Toolchain
-      - name: Install RoboRIO Toolchain
+  #         run: ./gradlew installSystemCoreToolchain
-        run: ./gradlew installRoboRioToolchain
+  #       - name: Delete duplicate toolchains
-      - name: Delete duplicate toolchains
+  #         run: |
-        run: |
+  #           find ~/.gradle/cache/ -name *bookworm* -exec rm -rf {} +
-          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
+  #           du -h . | sort -h
-          du -h . | sort -h
+  #         if: matrix.os == 'ubuntu-24.04'
-        if: matrix.os == 'ubuntu-24.04'
+  #       # Download prebuilt photonlib artifacts
-      # Download prebuilt photonlib artifacts
+  #       - uses: actions/download-artifact@v7
-      - uses: actions/download-artifact@v7
+  #         with:
-        with:
+  #           name: maven-${{ matrix.artifact-name }}
-          name: maven-${{ matrix.artifact-name }}
+  #       - uses: actions/download-artifact@v7
-      - uses: actions/download-artifact@v7
+  #         with:
-        with:
+  #           name: maven-SystemCore
-          name: maven-Athena
+  #       - name: Move to maven local
-      - name: Move to maven local
+  #         run: |
-        run: |
+  #           mkdir -p ~/.m2/repository/
-          mkdir -p ~/.m2/repository/
+  #           mv maven/org ~/.m2/repository/
-          mv maven/org ~/.m2/repository/
+  #       - name: Copy vendordeps
-      - name: Copy vendordeps
+  #         shell: bash
-        shell: bash
+  #         run: |
-        run: |
+  #           for vendordep_folder in photonlib-*-examples/*/; do
-          for vendordep_folder in photonlib-*-examples/*/; do
+  #           # Remove trailing slash for cross-platform compatibility
-          # Remove trailing slash for cross-platform compatibility
+  #             vendordep_folder="${vendordep_folder%/}"
-            vendordep_folder="${vendordep_folder%/}"
 
-            # Filter for projects only
+  #             # Filter for projects only
-            if [ -e "$vendordep_folder/build.gradle" ]; then
+  #             if [ -e "$vendordep_folder/build.gradle" ]; then
-              mkdir -p "$vendordep_folder/vendordeps/"
+  #               mkdir -p "$vendordep_folder/vendordeps/"
-              cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
+  #               cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
-            fi
+  #             fi
-          done
+  #           done
-      - name: Build Java examples
+  #       - name: Build Java examples
-        working-directory: photonlib-java-examples
+  #         working-directory: photonlib-java-examples
-        run: |
+  #         run: |
-          ./gradlew build
+  #           ./gradlew build
-          ./gradlew clean
+  #           ./gradlew clean
-      - name: Build C++ examples
+  #       - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
+  #         working-directory: photonlib-cpp-examples
-        run: |
+  #         run: |
-          ./gradlew build
+  #           ./gradlew build
-          ./gradlew clean
+  #           ./gradlew clean
 
-  playwright-tests:
+  typecheck-client:
-    name: "Playwright E2E tests"
+    name: "Typecheck Client"
     runs-on: ubuntu-24.04
-    needs: [validation]
     steps:
-      # Checkout code.
       - name: Checkout code
         uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v5
-        with:
-          java-version: 17
-          distribution: temurin
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
       - name: Setup Node.js
         uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+      - name: Typecheck Client
+        working-directory: photon-client
+        run: |
+          pnpm install --frozen-lockfile
+          pnpm type-check
+  playwright-tests:
+    name: "Playwright E2E tests"
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+      - uses: actions/setup-java@v5
+        with:
+          java-version: 25
+          distribution: temurin
+      - uses: pnpm/action-setup@v5
+        with:
+          version: 10
+      - uses: actions/setup-node@v6
+        with:
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+          node-version: 24
       - name: Setup tests
         working-directory: photon-client
         run: |
@@ -127,10 +141,10 @@ jobs:
       - name: Run Playwright tests
         working-directory: photon-client
         run: pnpm test
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         if: ${{ !cancelled() }}
         with:
-          name: playwright-report
+          name: "Playwright Report"
           path: photon-client/playwright-report/
           retention-days: 30
   build-gradle:
@@ -138,26 +152,24 @@ jobs:
     runs-on: ubuntu-24.04
     needs: [validation]
     steps:
-      # Checkout code.
       - name: Checkout code
         uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
-      - name: Install Java 17
+      - uses: actions/setup-java@v5
-        uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-      - name: Install pnpm
+      - uses: pnpm/action-setup@v5
-        uses: pnpm/action-setup@v4
         with:
           version: 10
-      - name: Setup Node.js
+      - uses: actions/setup-node@v6
-        uses: actions/setup-node@v6
         with:
-          node-version: 22
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+          node-version: 24
       - name: Gradle Build
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests and Coverage
@@ -184,7 +196,7 @@ jobs:
         working-directory: docs
         run: |
           make html
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
           name: built-docs
           path: docs/build/html
@@ -198,10 +210,9 @@ jobs:
         with:
           fetch-depth: 0
 
-      - name: Install Java 17
+      - uses: actions/setup-java@v5
-        uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
 
       # grab all tags
@@ -214,9 +225,9 @@ jobs:
           mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json
 
       # Upload it here so it shows up in releases
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
-          name: photonlib-vendor-json
+          archive: false
           path: photon-lib/build/generated/vendordeps/photonlib-*.json
 
   build-photonlib-host:
@@ -226,12 +237,12 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2022
+         - os: windows-2022
-            artifact-name: Win64
+           artifact-name: Win64
-          - os: macos-26
+         - os: macos-26
-            artifact-name: macOS
+           artifact-name: macOS
-          - os: ubuntu-24.04
+         - os: ubuntu-24.04
-            artifact-name: Linux
+           artifact-name: Linux
 
     name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
@@ -240,10 +251,9 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
+      - uses: actions/setup-java@v5
-        uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
       - run: git fetch --tags --force
       - run: ./gradlew photon-targeting:build photon-lib:build
@@ -252,10 +262,10 @@ jobs:
         name: Publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -265,13 +275,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-24.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
-            artifact-name: Athena
+            artifact-name: SystemCore
-            build-options: "-Ponlylinuxathena"
+            build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
 
@@ -293,10 +303,10 @@ jobs:
         run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -311,7 +321,7 @@ jobs:
           fetch-depth: 0
       - run: git fetch --tags --force
       # download all maven-* artifacts to outputs/
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
           path: output
@@ -321,7 +331,7 @@ jobs:
         name: ZIP stuff up
         working-directory: output
       - run: ls output
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
           name: photonlib-offline
           path: output/*.zip
@@ -335,7 +345,7 @@ jobs:
         include:
           - os: ubuntu-24.04
             artifact-name: Linux
-            arch-override: linuxx64
+            arch-override: linuxx86-64
           - os: ubuntu-24.04
             artifact-name: LinuxArm64
             arch-override: linuxarm64
@@ -347,25 +357,22 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
+      - uses: actions/setup-java@v5
-        uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-      - name: Install pnpm
+      - uses: pnpm/action-setup@v5
-        uses: pnpm/action-setup@v4
         with:
           version: 10
-      - name: Setup Node.js
+      - uses: actions/setup-node@v6
-        uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Arm64 Toolchain
         run: ./gradlew installArm64Toolchain
         if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           name: built-docs
           path: photon-server/src/main/resources/web/docs
@@ -373,11 +380,11 @@ jobs:
         if: ${{ (matrix.arch-override != 'none') }}
       - run: ./gradlew photon-server:shadowJar
         if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
-          name: jar-${{ matrix.artifact-name }}
+          archive: false
           path: photon-server/build/libs
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
           name: photon-targeting_jar-${{ matrix.artifact-name }}
           path: photon-targeting/build/libs
@@ -394,7 +401,7 @@ jobs:
             arch-override: macarm64
           - os: macos-latest
             artifact-name: macOS
-            arch-override: macx64
+            arch-override: macx86-64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
@@ -409,8 +416,8 @@ jobs:
       matrix:
         include:
           - os: windows-latest
-            artifact-name: Win64
+            artifact-name: Win
-            arch-override: winx64
+            arch-override: winx86-64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
@@ -425,24 +432,26 @@ jobs:
       matrix:
         include:
           - os: ubuntu-24.04
-            artifact-name: jar-Linux
+            artifact-name: photonvision-*-linuxx86-64.jar
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
           - os: windows-latest
-            artifact-name: jar-Win64
+            artifact-name: photonvision-*-winx86-64.jar
           - os: macos-latest
-            artifact-name: jar-macOS
+            artifact-name: photonvision-*-macarm64.jar
+          - os: ubuntu-24.04-arm
+            artifact-name: photonvision-*-linuxarm64.jar
+
 
     runs-on: ${{ matrix.os }}
 
     steps:
-      - name: Install Java 17
+      - uses: actions/setup-java@v5
-        uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
-          name: ${{ matrix.artifact-name }}
+          pattern: ${{ matrix.artifact-name }}
       # The jar is run twice to exercise different code paths.
       - run: |
           echo "=== First run ==="
@@ -479,85 +488,66 @@ jobs:
       matrix:
         include:
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: limelight2
             plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: limelight3
             plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: limelight3G
             plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: limelight4
             plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: luma_p1
             plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: orangepi5
             plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: orangepi5b
             plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: orangepi5plus
             plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: orangepi5pro
             plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: orangepi5max
             plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: rock5c
             plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
-            image_suffix: orangepi6plus
-            plat_override: LINUX_AARCH64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi6plus.img.xz
-            minimum_free_mb: 1024
-          - os: ubuntu-24.04-arm
-            artifact-name: LinuxArm64
             image_suffix: rubikpi3
             plat_override: LINUX_QCS6490
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz
@@ -573,9 +563,9 @@ jobs:
         uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
-          name: jar-${{ matrix.artifact-name }}
+          pattern: photonvision-*-linuxarm64.jar
       - uses: photonvision/photon-image-runner@HEAD
         name: Generate image
         id: generate_image
@@ -611,10 +601,9 @@ jobs:
           # Point smoketest to the old image
           echo "smoketest_image_loc=${{ steps.generate_image.outputs.image }}" >> $GITHUB_ENV
 
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
-        name: Upload image
         with:
-          name: image-${{ matrix.image_suffix }}
+          archive: false
           path: photonvision*.xz
 
         # This is done after uploading the image to avoid contaminating the image with logs, caches, etc.
@@ -643,25 +632,24 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       # Download all fat JARs
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
-          pattern: jar-*
+          pattern: photonvision-*.jar
       # Download offline photonlib
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
           pattern: photonlib-offline
       # Download vendor json
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
-          merge-multiple: true
+          pattern: photonlib-*.json
-          pattern: photonlib-vendor-json
       # Download all images
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
-          pattern: image-*
+          pattern: photonvision-*.xz
 
       - run: find
       # Push to dev release

.github/workflows/dependency-submission.yml

@@ -13,10 +13,9 @@ jobs:
     steps:
     - name: Checkout sources
       uses: actions/checkout@v6
-    - name: Setup Java
+    - uses: actions/setup-java@v5
-      uses: actions/setup-java@v5
       with:
         distribution: 'temurin'
-        java-version: 17
+        java-version: 25
     - name: Generate and submit dependency graph
       uses: gradle/actions/dependency-submission@v5

.github/workflows/lint-format.yml

@@ -46,9 +46,9 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
-          name: wpiformat fixes
+          archive: false
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
   javaformat:
@@ -61,7 +61,7 @@ jobs:
           fetch-depth: 0
       - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
       - run: |
           set +e
@@ -81,13 +81,12 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
-      - name: Setup Node.js
+      - uses: actions/setup-node@v6
-        uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies

.github/workflows/photon-api-docs.yml

@@ -30,21 +30,19 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v6
-      - name: Install pnpm
+      - uses: pnpm/action-setup@v5
-        uses: pnpm/action-setup@v4
         with:
           version: 10
-      - name: Setup Node.js
+      - uses: actions/setup-node@v6
-        uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies
         run: pnpm i --frozen-lockfile
       - name: Build Production Client
         run: pnpm run build-demo
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
           name: built-demo
           path: photon-client/dist/
@@ -60,16 +58,15 @@ jobs:
         fetch-depth: 0
     - name: Fetch tags
       run: git fetch --tags --force
-    - name: Install Java 17
+    - uses: actions/setup-java@v5
-      uses: actions/setup-java@v5
       with:
-        java-version: 17
+        java-version: 25
         distribution: temurin
     - name: Build javadocs/doxygen
       run: |
         chmod +x gradlew
         ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
-    - uses: actions/upload-artifact@v6
+    - uses: actions/upload-artifact@v7
       with:
         name: docs-java-cpp
         path: photon-docs/build/docs
@@ -80,7 +77,7 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       # Download docs artifact
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           pattern: docs-*
       - run: find .
@@ -106,7 +103,7 @@ jobs:
       needs: [build_demo]
       runs-on: ubuntu-24.04
       steps:
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           name: built-demo
       - run: find .

.github/workflows/python.yml

@@ -36,7 +36,7 @@ jobs:
         run: python setup.py sdist bdist_wheel
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: dist
           path: ./photon-lib/py/dist/
@@ -62,7 +62,7 @@ jobs:
           pip install pytest mypy
 
       - name: Download artifacts
-        uses: actions/download-artifact@v6
+        uses: actions/download-artifact@v8
         with:
           name: dist
           path: dist/
@@ -100,9 +100,10 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
+          python -m pip install mypy
 
       - name: Download artifacts
-        uses: actions/download-artifact@v6
+        uses: actions/download-artifact@v8
         with:
           name: dist
           path: ./photon-lib/py/dist/
@@ -120,7 +121,7 @@ jobs:
           for folder in */;
           do
             echo $folder
-            ./run.sh $folder
+            ./test.sh $folder
           done
 
   deploy:
@@ -131,7 +132,7 @@ jobs:
 
     steps:
       - name: Download artifacts
-        uses: actions/download-artifact@v6
+        uses: actions/download-artifact@v8
         with:
           name: dist
           path: dist/

.github/workflows/website.yml

@@ -11,13 +11,12 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
-      - name: Setup Node
+      - uses: actions/setup-node@v6
-        uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: website/pnpm-lock.yaml
       - name: Install packages
@@ -37,22 +36,27 @@ jobs:
 
   format-check:
     name: Check Formatting
+    defaults:
+      run:
+        working-directory: website
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v6
-      - name: Install pnpm
+      - uses: pnpm/action-setup@v5
-        uses: pnpm/action-setup@v4
         with:
           version: 10
-      - name: Setup Node
+      - uses: actions/setup-node@v6
-        uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: website/pnpm-lock.yaml
       - name: Install Packages
         run: pnpm i --frozen-lockfile
-        working-directory: website
+      - run: |
-      - name: Run Formatting Check
+          set +e
-        run: pnpm prettier -c .
+          pnpm run format-ci
-        working-directory: website
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+          fi
+          exit $exit_code

.gitignore

@@ -161,3 +161,5 @@ photon-client/playwright/.auth/
 shell.nix
 flake.nix
 flake.lock
+
+/workspace

.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

@@ -32,11 +32,11 @@ You can run one of the many built in examples straight from the command line, to
 Note that these are case sensitive!
 
 * `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
-    * winx64
+    * winx86-64
     * winarm64
-    * macx64
+    * macx86-64
     * macarm64
-    * linuxx64
+    * linuxx86-64
     * linuxarm64
     * linuxathena
 - `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
@@ -45,7 +45,7 @@ Note that these are case sensitive!
 - `-Pprofile`: enables JVM profiling
 - `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`
 
-If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
+If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain`
 
 ## Out-of-Source Dependencies
 
@@ -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

@@ -1,16 +1,17 @@
-import edu.wpi.first.toolchain.*
+import org.wpilib.toolchain.*
 
 plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
-    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
+    id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
-    id "edu.wpi.first.GradleRIO" version "2026.2.1"
+    id 'org.wpilib.NativeUtils' version '2027.7.1' apply false
-    id 'org.photonvision.tools.WpilibTools' version '2.4.1-photon'
+    id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
-    id 'com.google.protobuf' version '0.9.3' apply false
+    id 'org.photonvision.tools.WpilibTools' version 'v5.0.1'
-    id 'edu.wpi.first.GradleJni' version '1.1.0'
+    id 'com.google.protobuf' version '0.9.5' apply false
+    id 'org.wpilib.GradleJni' version '2027.0.0'
     id "org.ysb33r.doxygen" version "2.0.0" apply false
-    id 'com.gradleup.shadow' version '8.3.4' apply false
+    id 'com.gradleup.shadow' version '9.0.0' apply false
-    id "com.github.node-gradle.node" version "7.0.1" apply false
+    id "com.github.node-gradle.node" version "7.1.0" apply false
 }
 
 allprojects {
@@ -21,6 +22,7 @@ allprojects {
         maven { url = "https://maven.photonvision.org/releases" }
         maven { url = "https://maven.photonvision.org/snapshots" }
     }
+    wpilibRepositories.use2027Repos()
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
 }
@@ -28,20 +30,21 @@ allprojects {
 ext.localMavenURL = file("$project.buildDir/outputs/maven")
 ext.allOutputsFolder = file("$project.buildDir/outputs")
 
-// Configure the version number.
-apply from: "versioningHelper.gradle"
-
 ext {
-    wpilibVersion = "2026.2.1"
+    wpilibVersion = "2027.0.0-alpha-6"
-    wpimathVersion = wpilibVersion
+    openCVversion = "2027-4.13.0-3"
-    openCVYear = "2025"
+    ejmlVersion = "0.43.1";
-    openCVversion = "4.10.0-3"
+    avajeJsonbVersion = "3.14";
+    msgpackVersion = "0.9.0";
+    quickbufVersion = "1.3.3";
+    jacocoVersion = "0.8.14";
+
     javalinVersion = "6.7.0"
-    libcameraDriverVersion = "v2026.0.0"
+    libcameraDriverVersion = "v2027.0.0-alpha-1"
-    rknnVersion = "dev-v2026.0.1-1-g89b2888"
+    rknnVersion = "dev-v2026.0.1-3-g14c3ecb"
-    rubikVersion = "dev-v2026.0.1-4-g13d6279"
+    tfliteVersion = "v2027.0.2-alpha-1"
-    frcYear = "2026"
+    wpilibYear = "2027_alpha5"
-    mrcalVersion = "dev-v2026.0.0-1-g239d80e";
+    mrcalVersion = "v2027.0.2";
 
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
@@ -62,7 +65,7 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', '**/src/generated/**'
+            exclude '**/build/**', '**/build-*/**', '**/src/generated/**', "**/bin/generated-sources/**"
         }
         toggleOffOn()
         googleJavaFormat()
@@ -94,7 +97,7 @@ spotless {
 }
 
 wrapper {
-    gradleVersion = '8.14.3'
+    gradleVersion = '9.4.0'
 }
 
 ext.getCurrentArch = {

docs/requirements.txt

@@ -36,7 +36,6 @@ sphinx-autobuild==2024.10.3
 sphinx-basic-ng==1.0.0b2
 sphinx-notfound-page==1.1.0
 sphinx-rtd-theme==3.0.2
-sphinx-tabs==3.4.7
 sphinx_design==0.6.1
 sphinxcontrib-applehelp==2.0.0
 sphinxcontrib-devhelp==2.0.0

docs/source/conf.py

@@ -181,4 +181,4 @@ if token:
     linkcheck_auth = [(R"https://github.com/.+", token)]
 
 # MyST configuration (https://myst-parser.readthedocs.io/en/latest/configuration.html)
-myst_enable_extensions = ["colon_fence", "substitution"]
+myst_enable_extensions = ["colon_fence", "substitution", "attrs_inline"]

docs/source/docs/additional-resources/nt-api.md

@@ -1,19 +1,17 @@
 # NetworkTables API
 
-## About
+## Usage
 
 :::{warning}
-PhotonVision interfaces with PhotonLib, our vendor dependency, using NetworkTables. If you are running PhotonVision on a robot (ie. with a RoboRIO), you should **turn the NetworkTables server switch (in the settings tab) off** in order to get PhotonLib to work. Also ensure that you set your team number. **The NetworkTables server should only be enabled if you know what you're doing!**
+PhotonVision's NetworkTables API is not designed for robot consumption, only internal at-a-glance debugging.**
 :::
 
+**Use PhotonLib instead, as the NetworkTables API is not supported for robot consumption.**
+
+
+
 ## API
 
-:::{warning}
-NetworkTables is not a supported setup/viable option when using PhotonVision as we only send one target at a time (this is problematic when using AprilTags, which will return data from multiple tags at once).
-
-**We strongly recommend using PhotonLib instead, as the NetworkTables API will most likely be removed in 2027.**
-:::
-
 The tables below contain the the name of the key for each entry that PhotonVision sends over the network and a short description of the key. The entries should be extracted from a subtable with your camera's nickname (visible in the PhotonVision UI) under the main `photonvision` table.
 
 ### Getting Target Information
@@ -64,9 +62,3 @@ These entries are global, meaning that they should be called on the main `photon
 | Key       | Type  | Description                                              |
 | --------- | ----- | -------------------------------------------------------- |
 | `ledMode` | `int` | Sets the LED Mode (-1: default, 0: off, 1: on, 2: blink) |
-
-:::{warning}
-Setting the LED mode to -1 (default) when `multiple` cameras are connected may result in unexpected behavior. {ref}`This is a known limitation of PhotonVision. <docs/troubleshooting/common-errors:LED Control>`
-
-Single camera operation should work without issue.
-:::

docs/source/docs/advanced-installation/sw_install/files/Limelight2+/hardwareConfig.json

@@ -3,5 +3,8 @@
   "ledPins" : [ 13, 18 ],
   "ledsCanDim" : true,
   "ledPWMFrequency" : 1000,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
   "vendorFOV" : 75.76079874010732
 }

docs/source/docs/advanced-installation/sw_install/files/Limelight2/hardwareConfig.json

@@ -2,5 +2,8 @@
   "deviceName" : "Limelight 2",
   "ledPins" : [ 17, 18 ],
   "ledsCanDim" : false,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
   "vendorFOV" : 75.76079874010732
 }

docs/source/docs/advanced-installation/sw_install/linux-pc.md

@@ -25,7 +25,7 @@ Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/re
 :::{note}
 If your coprocessor has a 64 bit ARM based CPU architecture (OrangePi, Raspberry Pi, etc.), download the LinuxArm64.jar file.
 
-If your coprocessor has an 64 bit x86 based CPU architecture (Mini PC, laptop, etc.), download the Linuxx64.jar file.
+If your coprocessor has an 64 bit x86 based CPU architecture (Mini PC, laptop, etc.), download the Linuxx86-64.jar file.
 :::
 
 :::{warning}

docs/source/docs/advanced-installation/sw_install/mac-os.md

@@ -1,53 +1,9 @@
-# Mac OS Installation
+# MacOS Installation
 
-:::{warning}
+## Builds
-Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, the PhotonVision server backend may have issues running macOS.
-:::
 
-:::{note}
+Builds for macOS are currently generated in CI for testing compatibility. This allows us to ensure that macOS remains a viable development platform.
-You do not need to install PhotonVision on a Mac in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
-:::
 
-VERY Limited macOS support is available.
+## Use as a coprocessor
 
-## Installing Java
+This is not a recommended path. MacOS is not officially supported, and your mileage may vary.
-
-PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). You may already have this if you have installed WPILib 2026+. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=17).
-
-:::{warning}
-Using a JDK other than JDK17 will cause issues when running PhotonVision and is not supported.
-:::
-
-## Downloading the Latest Stable Release of PhotonVision
-
-Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the relevant .jar file for your coprocessor.
-
-:::{note}
-If you have an M Series Mac, download the macarm64.jar file.
-
-If you have an Intel based Mac, download the macx64.jar file.
-:::
-
-:::{warning}
-Be careful to pick the latest stable release. "Draft" or "Pre-Release" versions are not stable and often have bugs.
-:::
-
-## Running PhotonVision
-
-To run PhotonVision, open a terminal window of your choice and run the following command:
-
-```
-$ java -jar /path/to/photonvision/photonvision-xxx.jar
-```
-
-:::{warning}
-Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, the PhotonVision using test mode is all that is known to work currently.
-:::
-
-## Accessing the PhotonVision Interface
-
-Once the Java backend is up and running, you can access the main vision interface by navigating to `localhost:5800` inside your browser.
-
-:::{warning}
-Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, it is unlikely any streams will open from real webcams.
-:::

docs/source/docs/advanced-installation/sw_install/windows-pc.md

@@ -16,7 +16,7 @@ PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed
 
 ## Downloading the Latest Stable Release of PhotonVision
 
-Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx64.jar file.
+Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx86-64.jar file.
 
 ## Running PhotonVision
 

docs/source/docs/apriltag-pipelines/multitag.md

@@ -23,7 +23,7 @@ Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Ou
 By default, enabling multi-target will disable calculating camera-to-target transforms for each observed AprilTag target to increase performance; the X/Y/angle numbers shown in the target table of the UI are instead calculated using the tag's expected location (per the field layout JSON) and the field-to-camera transform calculated using MultiTag. If you additionally want the individual camera-to-target transform calculated using SolvePNP for each target, enable "Always Do Single-Target Estimation".
 :::
 
-This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
+This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` and calling `estimateCoprocMultiTagPose` (with an optional fallback like `estimateLowestAmbiguityPose`) to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
 
 ```{eval-rst}
 .. tab-set-code::
@@ -46,7 +46,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
       {
         auto multiTagResult = result.MultiTagResult();
         if (multiTagResult.has_value()) {
-          frc::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
+          wpi::math::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
         }
       }
 

docs/source/docs/calibration/calibration.md

@@ -7,7 +7,7 @@ In order to detect AprilTags and use 3D mode, your camera must be calibrated at
 To calibrate a camera, images of a ChArUco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html).
 
 :::{warning}
-While any resolution can be calibrated, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
+PhotonVision supports many resolution configuration options, with only a minimum of 640x480 required. However, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
 :::
 
 :::{note}

docs/source/docs/contributing/building-photon.md

@@ -8,11 +8,11 @@ This section contains the build instructions from the source code available at [
 
 **Java Development Kit:**
 
- This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2026+. **Windows Users must use the JDK that ships with WPILib.** For other platforms, you can follow the instructions to install JDK 17 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-17-lts).
+ This project requires Java Development Kit (JDK) 25 to be compiled. This is the same Java version that comes with WPILib for 2027. **Windows Users must use the JDK that ships with WPILib.** For other platforms, you can follow the instructions to install JDK 25 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-25-lts).
 
 **Node JS:**
 
- The UI is written in Node JS. To compile the UI, Node 22 or later is required. To install Node JS, follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/).
+ The UI is written in Node JS. To compile the UI, Node 24 or later is required. To install Node JS, follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/).
 
 **pnpm:**
 
@@ -47,6 +47,30 @@ In the photon-client directory:
 pnpm install
 ```
 
+### Building the UI
+
+In order to properly build UI changes before running the project, run the following `gradlew` command in the project's root directory:
+
+```{eval-rst}
+.. tab-set::
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ``./gradlew buildAndCopyUI``
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ``./gradlew buildAndCopyUI``
+
+   .. tab-item:: Windows (cmd)
+      :sync: windows
+
+      ``gradlew buildAndCopyUI``
+```
+
+
 ### Using hot reload on the UI
 
 In the photon-client directory:

docs/source/docs/contributing/design-descriptions/e2e-latency.md

@@ -79,9 +79,9 @@ public class Robot extends TimedRobot {
                 camera.getAllUnreadResults();
             }
 
-            var t1 = Timer.getFPGATimestamp();
+            var t1 = Timer.getMonotonicTimestamp();
             light.set(true);
-            var t2 = Timer.getFPGATimestamp();
+            var t2 = Timer.getMonotonicTimestamp();
 
 
             for (int i = 0; i < 100; i++) {

docs/source/docs/contributing/linting.md

@@ -34,10 +34,16 @@ To install *doc8*, the python tool we use to lint our documentation, run `pipx i
 
 To lint the documentation, run `doc8 docs` from the root level of the docs.
 
+## Website
+
+### Formatting the website
+
+To format the website, run `pnpm -C website run format`.
+
 ## Alias
 
 The following [alias](https://www.computerworld.com/article/1373210/how-to-use-aliases-in-linux-shell-commands.html) can be added to your shell config, which will allow you to lint the entirety of the PhotonVision project by running `pvLint`. The alias will work on Linux, macOS, Git Bash on Windows, and WSL.
 
 ```sh
-alias pvLint='wpiformat -v && ./gradlew spotlessApply && pnpm -C photon-client lint && pnpm -C photon-client format && doc8 docs'
+alias pvLint='wpiformat -v && ./gradlew spotlessApply && pnpm -C photon-client lint && pnpm -C photon-client format && doc8 docs && pnpm -C website format'
 ```

docs/source/docs/hardware/customhardware.md

@@ -19,14 +19,18 @@ When running on Linux, PhotonVision can use [diozero](https://www.diozero.com) t
         "ledsCanDim" : true,
         "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "statusRGBPins" : [ ],
+        "statusLEDType": "RGB",
-        "statusRGBActiveHigh" : false,
+        "statusLEDPins" : [ ],
+        "statusLEDActiveHigh" : false,
       }
 ```
 
-:::{note}
+There are currently two types of status LEDs supported:
-No hardware boards with status RGB LED pins or non-dimming LED's have been tested yet. Please reach out to the development team if these features are desired, they can assist with configuration and testing.
+
-:::
+* `RGB` (default): A singular LED mixing separate red, green, and blue inputs
+* `GreenYellow`: A pair of independent green and yellow LEDs
+
+For an explanation of the colors used for status LEDs, see {ref}`Status LEDs<docs/troubleshooting/status-leds:Status LEDs>`
 
 ### GPIO Pinout
 
@@ -134,8 +138,9 @@ Here is a complete example `hardwareConfig.json`:
         "ledsCanDim" : true,
         "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "statusRGBPins" : [ ],
+        "statusLEDType": "RGB",
-        "statusRGBActiveHigh" : false,
+        "statusLEDPins" : [ ],
+        "statusLEDActiveHigh" : false,
         "getGPIOCommand" : "getGPIO {p}",
         "setGPIOCommand" : "setGPIO {p} {s}",
         "setPWMCommand" : "setPWM {p} {v}",

docs/source/docs/hardware/selecting-hardware.md

@@ -10,7 +10,7 @@ In order to use PhotonVision, you need a coprocessor and a camera. This page dis
 
 ### Minimum System Requirements
 
-- Ubuntu 22.04 LTS or Windows 10/11
+- Ubuntu 24.04 LTS or Windows 10/11
   - We don't recommend using Windows for anything except testing out the system on a local machine.
 - CPU: ARM Cortex-A53 (the CPU on Raspberry Pi 3) or better
 - At least 8GB of storage

docs/source/docs/objectDetection/opi.md

@@ -8,6 +8,8 @@ PhotonVision runs object detection on the Orange Pi 5 by use of the RKNN model a
 
 PhotonVision currently ONLY supports 640x640 Ultralytics YOLOv5, YOLOv8, and YOLOv11 models trained and converted to `.rknn` format for RK3588 SOCs! Other models require different post-processing code and will NOT work.
 
+If you have a YOLO-Pro model from Edge Impulse, it can be converted using [this notebook](https://github.com/ramalamadingdong/yolo-pro-to-yolo11/tree/main).
+
 ## Converting Custom Models
 
 :::{warning}

docs/source/docs/objectDetection/rubik.md

@@ -8,6 +8,8 @@ PhotonVision runs object detection on the Rubik Pi 3 by use of [TensorflowLite](
 
 PhotonVision currently ONLY supports 640x640 Ultralytics YOLOv8 and YOLOv11 models trained and converted to `.tflite` format for QCS6490 SOCs! Other models require different post-processing code and will NOT work.
 
+If you have a YOLO-Pro model from Edge Impulse, it can be converted using [this notebook](https://github.com/ramalamadingdong/yolo-pro-to-yolo11/tree/main).
+
 ## Converting Custom Models
 
 :::{warning}

docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md

@@ -60,7 +60,7 @@ You can also get the pipeline latency from a pipeline result using the `getLaten
    .. code-block:: c++
 
       // Get the pipeline latency.
-      units::second_t latency = result.GetLatency();
+      wpi::units::second_t latency = result.GetLatency();
 
    .. code-block:: python
 

docs/source/docs/programming/photonlib/getting-target-data.md

@@ -107,7 +107,7 @@ You can get a list of tracked targets using the `getTargets()`/`GetTargets()` (J
    .. code-block:: c++
 
       // Get a list of currently tracked targets.
-      wpi::ArrayRef<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
+      std::span<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
 
    .. code-block:: python
 
@@ -166,8 +166,8 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
       double pitch = target.GetPitch();
       double area = target.GetArea();
       double skew = target.GetSkew();
-      frc::Transform2d pose = target.GetCameraToTarget();
+      wpi::math::Transform2d pose = target.GetCameraToTarget();
-      wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
+      wpi::util::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
 
    .. code-block:: python
 
@@ -206,8 +206,8 @@ All of the data above (**except skew**) is available when using AprilTags.
       // Get information from target.
       int targetID = target.GetFiducialId();
       double poseAmbiguity = target.GetPoseAmbiguity();
-      frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
+      wpi::math::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
-      frc::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
+      wpi::math::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
 
    .. code-block:: python
 

docs/source/docs/programming/photonlib/using-target-data.md

@@ -38,8 +38,8 @@ You can get your robot's `Pose2D` on the field using various camera data, target
    .. code-block:: c++
 
       // Calculate robot's field relative pose
-      frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
+      wpi::math::Pose2d robotPose = photonlib::EstimateFieldToRobot(
-        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
+        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())), wpi::math::Rotation2d(wpi::units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
 
    .. code-block:: python
 
@@ -106,8 +106,8 @@ You can get a [translation](https://docs.wpilib.org/en/latest/docs/software/adva
    .. code-block:: c++
 
       // Calculate a translation from the camera to the target.
-      frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
+      wpi::math::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
-        distance, frc::Rotation2d(units::degree_t(-target.GetYaw())));
+        distance, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())));
 
    .. code-block:: python
 

docs/source/docs/quick-start/networking.md

@@ -81,7 +81,7 @@ If you would like to access your Ethernet-connected vision device from a compute
 
     .. code-block:: c++
 
-        wpi::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
+        wpi::net::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
 
     .. code-block:: python
 

docs/source/docs/troubleshooting/images/led.svg

@@ -0,0 +1,10 @@
+<svg xmlns="http://www.w3.org/2000/svg" id="led" width="30" height="30" viewBox="0 0 100 100" style="color-scheme: dark light">
+  <circle cx="50" cy="50" r="20" fill="dimgrey"/>
+  <circle cx="50" cy="50" r="20" stroke="black" stroke-width="5" fill="currentColor"/>
+  <line x1="5" y1="50" x2="20" y2="50" stroke="currentColor" stroke-width="5" stroke-linecap="round"/>
+  <line x1="27.5" y1="11.03" x2="35" y2="24.02" stroke="currentColor" stroke-width="5" stroke-linecap="round"/>
+  <line x1="72.5" y1="11.03" x2="65" y2="24.02" stroke="currentColor" stroke-width="5" stroke-linecap="round"/>
+  <line x1="80" y1="50" x2="95" y2="50" stroke="currentColor" stroke-width="5" stroke-linecap="round"/>
+  <line x1="72.5" y1="88.97" x2="65" y2="75.98" stroke="currentColor" stroke-width="5" stroke-linecap="round"/>
+  <line x1="27.5" y1="88.97" x2="35" y2="75.98" stroke="currentColor" stroke-width="5" stroke-linecap="round"/>
+</svg>

docs/source/docs/troubleshooting/index.md

@@ -5,6 +5,7 @@
 
 common-errors
 logging
+status-leds
 camera-troubleshooting
 networking-troubleshooting
 unix-commands

docs/source/docs/troubleshooting/status-leds.md

@@ -0,0 +1,101 @@
+---
+myst:
+  substitutions:
+    led_loader: |
+      ```{image} images/led.svg
+      :height: 0
+      ```
+    led: |
+      ```{raw} html
+      <svg class="led" height="30" width="30">
+        <use href="../../_images/led.svg#led"/>
+      </svg>
+      ```
+---
+<!-- markdownlint-disable-next-line MD033 MD041 -->
+<style>
+  svg.led {
+    --off-color: transparent;
+    color: var(--on-color);
+  }
+
+  @keyframes led-blink {
+    66% {
+      color: var(--off-color);
+    }
+  }
+
+  :not(.solid) > svg.led {
+    animation: led-blink 0.45s steps(1) infinite;
+  }
+
+  @keyframes led-even-blink {
+    50% {
+      color: var(--off-color);
+    }
+  }
+
+  :not(.solid).fast > svg.led {
+    animation-name: led-even-blink;
+    animation-duration: 150ms;
+  }
+
+  :not(.solid).error > svg.led {
+    animation-name: led-even-blink;
+    animation-duration: 0.90s;
+  }
+
+  .green > svg.led {
+    --on-color: limegreen;
+  }
+  .blue > svg.led {
+    --on-color: blue;
+  }
+  .yellow > svg.led {
+    --on-color: yellow;
+  }
+  .red > svg.led {
+    --on-color: red;
+  }
+
+  .anti-yellow > svg.led {
+    --on-color: transparent;
+    --off-color: yellow;
+  }
+
+  .off > svg.led {
+    color: var(--off-color);
+  }
+</style>
+
+# Status LEDs
+
+PhotonVision has support for multiple kinds of status LEDs. Make sure you reference the correct table for the type present on your hardware.
+
+## RGB LED
+
+ Color  | Flashing | Preview                   | Status
+--------|----------|:-------------------------:|-----------------------------------------------
+ Green  | Yes      | [{{ led }}]{.green}       | Running normally, no targets visible
+ Blue   | No       | [{{ led }}]{.solid .blue} | Running normally, targets visible
+ Yellow | Yes      | [{{ led }}]{.yellow}      | NT Disconnected, no targets visible
+ Blue   | Yes      | [{{ led }}]{.blue}        | NT Disconnected, targets visible
+ Red    | Yes      | [{{ led }}]{.red}         | Initializing or faulted, not running
+ Off    | No       | [{{ led }}]{.off}         | No power or initialization fault, not running
+
+## Green and Yellow LEDs
+
+Used on Limelight 1, 2, 2+, 3, 3G, and 3A
+
+Green and Yellow LED patterns may be active at the same time
+
+ Color  | Pattern        | Preview                                                     | Status
+--------|----------------|:-----------------------------------------------------------:|-------------------------------------------------
+ Green  | Slow Flashing  | [{{ led }}]{.green} [{{ led }}]{.off}                       | No targets visible
+ Green  | Quick Flashing | [{{ led }}]{.fast .green} [{{ led }}]{.off}                 | Targets visible
+ Yellow | Flashing       | [{{ led }}]{.off} [{{ led }}]{.yellow}                      | NT Disconnected
+ Yellow | Solid          | [{{ led }}]{.off} [{{ led }}]{.solid .yellow}               | NT Connected
+ Both   | Alternating    | [{{ led }}]{.green .error} [{{ led }}]{.anti-yellow .error} | Initializing or faulted, not running
+ Both   | Off            | [{{ led }}]{.off} [{{ led }}]{.off}                         | No power or initialization fault, not running
+
+{{ led_loader }}

docs/source/docs/troubleshooting/unix-commands.md

@@ -13,10 +13,10 @@ You may see a warning similar to `The authenticity of host 'xxx' can't be establ
 Example:
 
 ```
-ssh pi@hostname
+ssh photon@hostname
 ```
 
-For PhotonVision, the username will be `pi` and the password will be `raspberry`.
+For PhotonVision images, the username will be `photon` and the password will be `vision`.
 
 ### ip
 

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.0-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

photon-client/env.d.ts

@@ -1 +1,3 @@
 /// <reference types="vite/client" />
+
+declare module "vue3-virtual-scroll-list";

photon-client/eslint.config.mjs

@@ -5,7 +5,7 @@ import skipFormattingConfig from "@vue/eslint-config-prettier/skip-formatting";
 
 export default defineConfigWithVueTs(
   pluginVue.configs["flat/recommended-error"],
-  vueTsConfigs.recommended,
+  vueTsConfigs.recommendedTypeChecked,
   skipFormattingConfig,
   {
     ignores: ["**/dist/**", "playwright-report"]
@@ -42,10 +42,13 @@ export default defineConfigWithVueTs(
       "vue/no-use-v-else-with-v-for": "error",
       "vue/no-useless-mustaches": "error",
       "vue/no-useless-v-bind": "error",
+      "vue/prefer-use-template-ref": "error",
       "vue/require-default-prop": "off",
+      "vue/require-typed-ref": "error",
       "vue/v-for-delimiter-style": "error",
       "vue/v-on-event-hyphenation": "off",
-      "@typescript-eslint/no-explicit-any": "off",
+      "@typescript-eslint/no-empty-object-type": "error",
+      "@typescript-eslint/no-explicit-any": "error",
       "vue/valid-v-slot": ["error", { allowModifiers: true }]
     }
   }

photon-client/package.json

@@ -3,6 +3,9 @@
   "version": "0.0.0",
   "private": true,
   "type": "module",
+  "engines": {
+    "node": "24.x"
+  },
   "scripts": {
     "dev": "vite",
     "preview": "vite preview --port 4173",
@@ -14,8 +17,8 @@
     "format-ci": "prettier --check src/",
     "test": "playwright test",
     "test-ui": "playwright test --ui",
-    "test-setup": "playwright install --with-deps"
+    "test-setup": "playwright install --with-deps",
-
+    "type-check": "vue-tsc --noEmit"
   },
   "dependencies": {
     "@fontsource/prompt": "^5.2.6",
@@ -34,9 +37,10 @@
   "devDependencies": {
     "@eslint/js": "^9.31.0",
     "@playwright/test": "^1.56.1",
-    "@types/node": "^22.15.14",
+    "@types/node": "^24.0.0",
     "@types/three": "^0.178.0",
-    "@vitejs/plugin-vue": "^6.0.0",
+    "@vitejs/plugin-vue": "^6.0.6",
+    "vue-tsc": "^3.2.5",
     "@vue/eslint-config-prettier": "^10.2.0",
     "@vue/eslint-config-typescript": "^14.5.0",
     "@vue/tsconfig": "^0.7.0",
@@ -45,7 +49,7 @@
     "prettier": "^3.6.2",
     "sass": "^1.89.2",
     "typescript": "^5.8.3",
-    "vite": "^8.0.2",
+    "vite": "^8.0.10",
     "vite-plugin-vuetify": "^2.1.1"
   }
 }

photon-client/pnpm-lock.yaml

@@ -52,14 +52,14 @@ importers:
         specifier: ^1.56.1
         version: 1.56.1
       '@types/node':
-        specifier: ^22.15.14
+        specifier: ^24.0.0
-        version: 22.15.14
+        version: 24.12.2
       '@types/three':
         specifier: ^0.178.0
         version: 0.178.1
       '@vitejs/plugin-vue':
-        specifier: ^6.0.0
+        specifier: ^6.0.6
-        version: 6.0.0(vite@8.0.2(@types/node@22.15.14)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))
+        version: 6.0.6(vite@8.0.10(@types/node@24.12.2)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))
       '@vue/eslint-config-prettier':
         specifier: ^10.2.0
         version: 10.2.0(eslint@9.31.0)(prettier@3.6.2)
@@ -85,11 +85,14 @@ importers:
         specifier: ^5.8.3
         version: 5.8.3
       vite:
-        specifier: ^8.0.2
+        specifier: ^8.0.10
-        version: 8.0.2(@types/node@22.15.14)(sass@1.89.2)
+        version: 8.0.10(@types/node@24.12.2)(sass@1.89.2)
       vite-plugin-vuetify:
         specifier: ^2.1.1
-        version: 2.1.1(vite@8.0.2(@types/node@22.15.14)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))(vuetify@3.8.3)
+        version: 2.1.1(vite@8.0.10(@types/node@24.12.2)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))(vuetify@3.8.3)
+      vue-tsc:
+        specifier: ^3.2.5
+        version: 3.2.5(typescript@5.8.3)
 
 packages:
 
@@ -117,14 +120,14 @@ packages:
   '@dimforge/rapier3d-compat@0.12.0':
     resolution: {integrity: sha512-uekIGetywIgopfD97oDL5PfeezkFpNhwlzlaEYNOA0N6ghdsOvh/HYjSMek5Q2O1PYvRSDFcqFVJl4r4ZBwOow==}
 
-  '@emnapi/core@1.9.1':
+  '@emnapi/core@1.10.0':
-    resolution: {integrity: sha512-mukuNALVsoix/w1BJwFzwXBN/dHeejQtuVzcDsfOEsdpCumXb/E9j8w11h5S54tT1xhifGfbbSm/ICrObRb3KA==}
+    resolution: {integrity: sha512-yq6OkJ4p82CAfPl0u9mQebQHKPJkY7WrIuk205cTYnYe+k2Z8YBh11FrbRG/H6ihirqcacOgl2BIO8oyMQLeXw==}
 
-  '@emnapi/runtime@1.9.1':
+  '@emnapi/runtime@1.10.0':
-    resolution: {integrity: sha512-VYi5+ZVLhpgK4hQ0TAjiQiZ6ol0oe4mBx7mVv7IflsiEp0OWoVsp/+f9Vc1hOhE0TtkORVrI1GvzyreqpgWtkA==}
+    resolution: {integrity: sha512-ewvYlk86xUoGI0zQRNq/mC+16R1QeDlKQy21Ki3oSYXNgLb45GV1P6A0M+/s6nyCuNDqe5VpaY84BzXGwVbwFA==}
 
-  '@emnapi/wasi-threads@1.2.0':
+  '@emnapi/wasi-threads@1.2.1':
-    resolution: {integrity: sha512-N10dEJNSsUx41Z6pZsXU8FjPjpBEplgH24sfkmITrBED1/U2Esum9F3lfLrMjKHHjmi557zQn7kR9R+XWXu5Rg==}
+    resolution: {integrity: sha512-uTII7OYF+/Mes/MrcIOYp5yOtSMLBWSIoLPpcgwipoiKbli6k322tcoFsxoIIxPDqW01SQGAgko4EzZi2BNv2w==}
 
   '@eslint-community/eslint-utils@4.7.0':
     resolution: {integrity: sha512-dyybb3AcajC7uha6CvhdVRJqaKyn7w2YKqKyAN37NKYgZT36w+iRb0Dymmc5qEJ549c/S31cMMSFd75bteCpCw==}
@@ -197,8 +200,11 @@ packages:
     resolution: {integrity: sha512-JEW4DEtBzfe8HvUYecLU9e6+XJnKDlUAIve8FvPzF3Kzs6Xo/KuZkZJsDH0wJXl/qEZbeeE7edxDNY3kMs39hQ==}
     engines: {node: '>= 18'}
 
-  '@napi-rs/wasm-runtime@1.1.1':
+  '@napi-rs/wasm-runtime@1.1.4':
-    resolution: {integrity: sha512-p64ah1M1ld8xjWv3qbvFwHiFVWrq1yFvV4f7w+mzaqiR4IlSgkqhcRdHwsGgomwzBH51sRY4NEowLxnaBjcW/A==}
+    resolution: {integrity: sha512-3NQNNgA1YSlJb/kMH1ildASP9HW7/7kYnRI2szWJaofaS1hWmbGI4H+d3+22aGzXXN9IJ+n+GiFVcGipJP18ow==}
+    peerDependencies:
+      '@emnapi/core': ^1.7.1
+      '@emnapi/runtime': ^1.7.1
 
   '@nodelib/fs.scandir@2.1.5':
     resolution: {integrity: sha512-vq24Bq3ym5HEQm2NKCr3yXDwjc7vTsEThRDnkp2DK9p1uqLR+DHurm/NOTo0KG7HYHU7eppKZj3MyqYuMBf62g==}
@@ -212,8 +218,8 @@ packages:
     resolution: {integrity: sha512-oGB+UxlgWcgQkgwo8GcEGwemoTFt3FIO9ababBmaGwXIoBKZ+GTy0pP185beGg7Llih/NSHSV2XAs1lnznocSg==}
     engines: {node: '>= 8'}
 
-  '@oxc-project/types@0.122.0':
+  '@oxc-project/types@0.127.0':
-    resolution: {integrity: sha512-oLAl5kBpV4w69UtFZ9xqcmTi+GENWOcPF7FCrczTiBbmC0ibXxCwyvZGbO39rCVEuLGAZM84DH0pUIyyv/YJzA==}
+    resolution: {integrity: sha512-aIYXQBo4lCbO4z0R3FHeucQHpF46l2LbMdxRvqvuRuW2OxdnSkcng5B8+K12spgLDj93rtN3+J2Vac/TIO+ciQ==}
 
   '@parcel/watcher-android-arm64@2.5.1':
     resolution: {integrity: sha512-KF8+j9nNbUN8vzOFDpRMsaKBHZ/mcjEjMToVMJOhTozkDonQFFrRcfdLWn6yWKCmJKmdVxSgHiYvTCef4/qcBA==}
@@ -244,36 +250,42 @@ packages:
     engines: {node: '>= 10.0.0'}
     cpu: [arm]
     os: [linux]
+    libc: [glibc]
 
   '@parcel/watcher-linux-arm-musl@2.5.1':
     resolution: {integrity: sha512-6E+m/Mm1t1yhB8X412stiKFG3XykmgdIOqhjWj+VL8oHkKABfu/gjFj8DvLrYVHSBNC+/u5PeNrujiSQ1zwd1Q==}
     engines: {node: '>= 10.0.0'}
     cpu: [arm]
     os: [linux]
+    libc: [musl]
 
   '@parcel/watcher-linux-arm64-glibc@2.5.1':
     resolution: {integrity: sha512-LrGp+f02yU3BN9A+DGuY3v3bmnFUggAITBGriZHUREfNEzZh/GO06FF5u2kx8x+GBEUYfyTGamol4j3m9ANe8w==}
     engines: {node: '>= 10.0.0'}
     cpu: [arm64]
     os: [linux]
+    libc: [glibc]
 
   '@parcel/watcher-linux-arm64-musl@2.5.1':
     resolution: {integrity: sha512-cFOjABi92pMYRXS7AcQv9/M1YuKRw8SZniCDw0ssQb/noPkRzA+HBDkwmyOJYp5wXcsTrhxO0zq1U11cK9jsFg==}
     engines: {node: '>= 10.0.0'}
     cpu: [arm64]
     os: [linux]
+    libc: [musl]
 
   '@parcel/watcher-linux-x64-glibc@2.5.1':
     resolution: {integrity: sha512-GcESn8NZySmfwlTsIur+49yDqSny2IhPeZfXunQi48DMugKeZ7uy1FX83pO0X22sHntJ4Ub+9k34XQCX+oHt2A==}
     engines: {node: '>= 10.0.0'}
     cpu: [x64]
     os: [linux]
+    libc: [glibc]
 
   '@parcel/watcher-linux-x64-musl@2.5.1':
     resolution: {integrity: sha512-n0E2EQbatQ3bXhcH2D1XIAANAcTZkQICBPVaxMeaCVBtOpBZpWJuf7LwyWPSBDITb7In8mqQgJ7gH8CILCURXg==}
     engines: {node: '>= 10.0.0'}
     cpu: [x64]
     os: [linux]
+    libc: [musl]
 
   '@parcel/watcher-win32-arm64@2.5.1':
     resolution: {integrity: sha512-RFzklRvmc3PkjKjry3hLF9wD7ppR4AKcWNzH7kXR7GUe0Igb3Nz8fyPwtZCSquGrhU5HhUNDr/mKBqj7tqA2Vw==}
@@ -306,100 +318,106 @@ packages:
     engines: {node: '>=18'}
     hasBin: true
 
-  '@rolldown/binding-android-arm64@1.0.0-rc.11':
+  '@rolldown/binding-android-arm64@1.0.0-rc.17':
-    resolution: {integrity: sha512-SJ+/g+xNnOh6NqYxD0V3uVN4W3VfnrGsC9/hoglicgTNfABFG9JjISvkkU0dNY84MNHLWyOgxP9v9Y9pX4S7+A==}
+    resolution: {integrity: sha512-s70pVGhw4zqGeFnXWvAzJDlvxhlRollagdCCKRgOsgUOH3N1l0LIxf83AtGzmb5SiVM4Hjl5HyarMRfdfj3DaQ==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [android]
 
-  '@rolldown/binding-darwin-arm64@1.0.0-rc.11':
+  '@rolldown/binding-darwin-arm64@1.0.0-rc.17':
-    resolution: {integrity: sha512-7WQgR8SfOPwmDZGFkThUvsmd/nwAWv91oCO4I5LS7RKrssPZmOt7jONN0cW17ydGC1n/+puol1IpoieKqQidmg==}
+    resolution: {integrity: sha512-4ksWc9n0mhlZpZ9PMZgTGjeOPRu8MB1Z3Tz0Mo02eWfWCHMW1zN82Qz/pL/rC+yQa+8ZnutMF0JjJe7PjwasYw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [darwin]
 
-  '@rolldown/binding-darwin-x64@1.0.0-rc.11':
+  '@rolldown/binding-darwin-x64@1.0.0-rc.17':
-    resolution: {integrity: sha512-39Ks6UvIHq4rEogIfQBoBRusj0Q0nPVWIvqmwBLaT6aqQGIakHdESBVOPRRLacy4WwUPIx4ZKzfZ9PMW+IeyUQ==}
+    resolution: {integrity: sha512-SUSDOI6WwUVNcWxd02QEBjLdY1VPHvlEkw6T/8nYG322iYWCTxRb1vzk4E+mWWYehTp7ERibq54LSJGjmouOsw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [darwin]
 
-  '@rolldown/binding-freebsd-x64@1.0.0-rc.11':
+  '@rolldown/binding-freebsd-x64@1.0.0-rc.17':
-    resolution: {integrity: sha512-jfsm0ZHfhiqrvWjJAmzsqiIFPz5e7mAoCOPBNTcNgkiid/LaFKiq92+0ojH+nmJmKYkre4t71BWXUZDNp7vsag==}
+    resolution: {integrity: sha512-hwnz3nw9dbJ05EDO/PvcjaaewqqDy7Y1rn1UO81l8iIK1GjenME75dl16ajbvSSMfv66WXSRCYKIqfgq2KCfxw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [freebsd]
 
-  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.11':
+  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.17':
-    resolution: {integrity: sha512-zjQaUtSyq1nVe3nxmlSCuR96T1LPlpvmJ0SZy0WJFEsV4kFbXcq2u68L4E6O0XeFj4aex9bEauqjW8UQBeAvfQ==}
+    resolution: {integrity: sha512-IS+W7epTcwANmFSQFrS1SivEXHtl1JtuQA9wlxrZTcNi6mx+FDOYrakGevvvTwgj2JvWiK8B29/qD9BELZPyXQ==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm]
     os: [linux]
 
-  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.17':
-    resolution: {integrity: sha512-WMW1yE6IOnehTcFE9eipFkm3XN63zypWlrJQ2iF7NrQ9b2LDRjumFoOGJE8RJJTJCTBAdmLMnJ8uVitACUUo1Q==}
+    resolution: {integrity: sha512-e6usGaHKW5BMNZOymS1UcEYGowQMWcgZ71Z17Sl/h2+ZziNJ1a9n3Zvcz6LdRyIW5572wBCTH/Z+bKuZouGk9Q==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [linux]
+    libc: [glibc]
 
-  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.11':
+  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.17':
-    resolution: {integrity: sha512-jfndI9tsfm4APzjNt6QdBkYwre5lRPUgHeDHoI7ydKUuJvz3lZeCfMsI56BZj+7BYqiKsJm7cfd/6KYV7ubrBg==}
+    resolution: {integrity: sha512-b/CgbwAJpmrRLp02RPfhbudf5tZnN9nsPWK82znefso832etkem8H7FSZwxrOI9djcdTP7U6YfNhbRnh7djErg==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [linux]
+    libc: [musl]
 
-  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.17':
-    resolution: {integrity: sha512-ZlFgw46NOAGMgcdvdYwAGu2Q+SLFA9LzbJLW+iyMOJyhj5wk6P3KEE9Gct4xWwSzFoPI7JCdYmYMzVtlgQ+zfw==}
+    resolution: {integrity: sha512-4EII1iNGRUN5WwGbF/kOh/EIkoDN9HsupgLQoXfY+D1oyJm7/F4t5PYU5n8SWZgG0FEwakyM8pGgwcBYruGTlA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [ppc64]
     os: [linux]
+    libc: [glibc]
 
-  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.17':
-    resolution: {integrity: sha512-hIOYmuT6ofM4K04XAZd3OzMySEO4K0/nc9+jmNcxNAxRi6c5UWpqfw3KMFV4MVFWL+jQsSh+bGw2VqmaPMTLyw==}
+    resolution: {integrity: sha512-AH8oq3XqQo4IibpVXvPeLDI5pzkpYn0WiZAfT05kFzoJ6tQNzwRdDYQ45M8I/gslbodRZwW8uxLhbSBbkv96rA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [s390x]
     os: [linux]
+    libc: [glibc]
 
-  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.17':
-    resolution: {integrity: sha512-qXBQQO9OvkjjQPLdUVr7Nr2t3QTZI7s4KZtfw7HzBgjbmAPSFwSv4rmET9lLSgq3rH/ndA3ngv3Qb8l2njoPNA==}
+    resolution: {integrity: sha512-cLnjV3xfo7KslbU41Z7z8BH/E1y5mzUYzAqih1d1MDaIGZRCMqTijqLv76/P7fyHuvUcfGsIpqCdddbxLLK9rA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [linux]
+    libc: [glibc]
 
-  '@rolldown/binding-linux-x64-musl@1.0.0-rc.11':
+  '@rolldown/binding-linux-x64-musl@1.0.0-rc.17':
-    resolution: {integrity: sha512-/tpFfoSTzUkH9LPY+cYbqZBDyyX62w5fICq9qzsHLL8uTI6BHip3Q9Uzft0wylk/i8OOwKik8OxW+QAhDmzwmg==}
+    resolution: {integrity: sha512-0phclDw1spsL7dUB37sIARuis2tAgomCJXAHZlpt8PXZ4Ba0dRP1e+66lsRqrfhISeN9bEGNjQs+T/Fbd7oYGw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [linux]
+    libc: [musl]
 
-  '@rolldown/binding-openharmony-arm64@1.0.0-rc.11':
+  '@rolldown/binding-openharmony-arm64@1.0.0-rc.17':
-    resolution: {integrity: sha512-mcp3Rio2w72IvdZG0oQ4bM2c2oumtwHfUfKncUM6zGgz0KgPz4YmDPQfnXEiY5t3+KD/i8HG2rOB/LxdmieK2g==}
+    resolution: {integrity: sha512-0ag/hEgXOwgw4t8QyQvUCxvEg+V0KBcA6YuOx9g0r02MprutRF5dyljgm3EmR02O292UX7UeS6HzWHAl6KgyhA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [openharmony]
 
-  '@rolldown/binding-wasm32-wasi@1.0.0-rc.11':
+  '@rolldown/binding-wasm32-wasi@1.0.0-rc.17':
-    resolution: {integrity: sha512-LXk5Hii1Ph9asuGRjBuz8TUxdc1lWzB7nyfdoRgI0WGPZKmCxvlKk8KfYysqtr4MfGElu/f/pEQRh8fcEgkrWw==}
+    resolution: {integrity: sha512-LEXei6vo0E5wTGwpkJ4KoT3OZJRnglwldt5ziLzOlc6qqb55z4tWNq2A+PFqCJuvWWdP53CVhG1Z9NtToDPJrA==}
-    engines: {node: '>=14.0.0'}
+    engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [wasm32]
 
-  '@rolldown/binding-win32-arm64-msvc@1.0.0-rc.11':
+  '@rolldown/binding-win32-arm64-msvc@1.0.0-rc.17':
-    resolution: {integrity: sha512-dDwf5otnx0XgRY1yqxOC4ITizcdzS/8cQ3goOWv3jFAo4F+xQYni+hnMuO6+LssHHdJW7+OCVL3CoU4ycnh35Q==}
+    resolution: {integrity: sha512-gUmyzBl3SPMa6hrqFUth9sVfcLBlYsbMzBx5PlexMroZStgzGqlZ26pYG89rBb45Mnia+oil6YAIFeEWGWhoZA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [win32]
 
-  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.11':
+  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.17':
-    resolution: {integrity: sha512-LN4/skhSggybX71ews7dAj6r2geaMJfm3kMbK2KhFMg9B10AZXnKoLCVVgzhMHL0S+aKtr4p8QbAW8k+w95bAA==}
+    resolution: {integrity: sha512-3hkiolcUAvPB9FLb3UZdfjVVNWherN1f/skkGWJP/fgSQhYUZpSIRr0/I8ZK9TkF3F7kxvJAk0+IcKvPHk9qQg==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [win32]
 
-  '@rolldown/pluginutils@1.0.0-beta.19':
+  '@rolldown/pluginutils@1.0.0-rc.13':
-    resolution: {integrity: sha512-3FL3mnMbPu0muGOCaKAhhFEYmqv9eTfPSJRJmANrCwtgK8VuxpsZDGK+m0LYAGoyO8+0j5uRe4PeyPDK1yA/hA==}
+    resolution: {integrity: sha512-3ngTAv6F/Py35BsYbeeLeecvhMKdsKm4AoOETVhAA+Qc8nrA2I0kF7oa93mE9qnIurngOSpMnQ0x2nQY2FPviA==}
 
-  '@rolldown/pluginutils@1.0.0-rc.11':
+  '@rolldown/pluginutils@1.0.0-rc.17':
-    resolution: {integrity: sha512-xQO9vbwBecJRv9EUcQ/y0dzSTJgA7Q6UVN7xp6B81+tBGSLVAK03yJ9NkJaUA7JFD91kbjxRSC/mDnmvXzbHoQ==}
+    resolution: {integrity: sha512-n8iosDOt6Ig1UhJ2AYqoIhHWh/isz0xpicHTzpKBeotdVsTEcxsSA/i3EVM7gQAj0rU27OLAxCjzlj15IWY7bg==}
 
   '@tweenjs/tween.js@23.1.3':
     resolution: {integrity: sha512-vJmvvwFxYuGnF2axRtPYocag6Clbb5YS7kLL+SO/TeVFzHqDIWrNKYtcsPMibjDx9O+bu+psAy9NKfWklassUA==}
@@ -413,8 +431,8 @@ packages:
   '@types/json-schema@7.0.15':
     resolution: {integrity: sha512-5+fP8P8MFNC+AyZCDxrB2pkZFPGzqQWUzpSeuuVLvm8VMcorNYavBqoFcxK8bQz4Qsbn4oUEEem4wDLfcysGHA==}
 
-  '@types/node@22.15.14':
+  '@types/node@24.12.2':
-    resolution: {integrity: sha512-BL1eyu/XWsFGTtDWOYULQEs4KR0qdtYfCxYAUYRoB7JP7h9ETYLgQTww6kH8Sj2C0pFGgrpM0XKv6/kbIzYJ1g==}
+    resolution: {integrity: sha512-A1sre26ke7HDIuY/M23nd9gfB+nrmhtYyMINbjI1zHJxYteKR6qSMX56FsmjMcDb3SMcjJg5BiRRgOCC/yBD0g==}
 
   '@types/raf@3.4.3':
     resolution: {integrity: sha512-c4YAvMedbPZ5tEyxzQdMoOhhJ4RD3rngZIdwC2/qDN3d7JpEhB6fiBRKVY1lg5B7Wk+uPBjn5f39j1/2MY1oOw==}
@@ -478,13 +496,22 @@ packages:
     resolution: {integrity: sha512-1rYQTCLFFzOI5Nl0c8LUpJT8HxpwVRn9E4CkMsYfuN6ctmQqExjSTzzSk0Tz2apmXy7WU6/6fyaZVVA/thPN+w==}
     engines: {node: ^18.18.0 || ^20.9.0 || >=21.1.0}
 
-  '@vitejs/plugin-vue@6.0.0':
+  '@vitejs/plugin-vue@6.0.6':
-    resolution: {integrity: sha512-iAliE72WsdhjzTOp2DtvKThq1VBC4REhwRcaA+zPAAph6I+OQhUXv+Xu2KS7ElxYtb7Zc/3R30Hwv1DxEo7NXQ==}
+    resolution: {integrity: sha512-u9HHgfrq3AjXlysn0eINFnWQOJQLO9WN6VprZ8FXl7A2bYisv3Hui9Ij+7QZ41F/WYWarHjwBbXtD7dKg3uxbg==}
     engines: {node: ^20.19.0 || >=22.12.0}
     peerDependencies:
-      vite: ^5.0.0 || ^6.0.0 || ^7.0.0
+      vite: ^5.0.0 || ^6.0.0 || ^7.0.0 || ^8.0.0
       vue: ^3.2.25
 
+  '@volar/language-core@2.4.28':
+    resolution: {integrity: sha512-w4qhIJ8ZSitgLAkVay6AbcnC7gP3glYM3fYwKV3srj8m494E3xtrCv6E+bWviiK/8hs6e6t1ij1s2Endql7vzQ==}
+
+  '@volar/source-map@2.4.28':
+    resolution: {integrity: sha512-yX2BDBqJkRXfKw8my8VarTyjv48QwxdJtvRgUpNE5erCsgEUdI2DsLbpa+rOQVAJYshY99szEcRDmyHbF10ggQ==}
+
+  '@volar/typescript@2.4.28':
+    resolution: {integrity: sha512-Ja6yvWrbis2QtN4ClAKreeUZPVYMARDYZl9LMEv1iQ1QdepB6wn0jTRxA9MftYmYa4DQ4k/DaSZpFPUfxl8giw==}
+
   '@vue/compiler-core@3.5.13':
     resolution: {integrity: sha512-oOdAkwqUfW1WqpwSYJce06wvt6HljgY3fGeM9NcVA1HaYOij3mZG9Rkysn0OHuyUAGMbEbARIpsG+LPVlBJ5/Q==}
 
@@ -526,6 +553,9 @@ packages:
       typescript:
         optional: true
 
+  '@vue/language-core@3.2.5':
+    resolution: {integrity: sha512-d3OIxN/+KRedeM5wQ6H6NIpwS3P5gC9nmyaHgBk+rO6dIsjY+tOh4UlPpiZbAh3YtLdCGEX4M16RmsBqPmJV+g==}
+
   '@vue/reactivity@3.5.13':
     resolution: {integrity: sha512-NaCwtw8o48B9I6L1zl2p41OHo/2Z4wqYGGIK1Khu5T7yxrn+ATOixn/Udn2m+6kZKB/J7cuT9DbWWhRxqixACg==}
 
@@ -581,6 +611,9 @@ packages:
   ajv@6.12.6:
     resolution: {integrity: sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==}
 
+  alien-signals@3.1.2:
+    resolution: {integrity: sha512-d9dYqZTS90WLiU0I5c6DHj/HcKkF8ZyGN3G5x8wSbslulz70KOxaqCT0hQCo9KOyhVqzqGojvNdJXoTumZOtcw==}
+
   ansi-styles@4.3.0:
     resolution: {integrity: sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==}
     engines: {node: '>=8'}
@@ -1051,24 +1084,28 @@ packages:
     engines: {node: '>= 12.0.0'}
     cpu: [arm64]
     os: [linux]
+    libc: [glibc]
 
   lightningcss-linux-arm64-musl@1.32.0:
     resolution: {integrity: sha512-UpQkoenr4UJEzgVIYpI80lDFvRmPVg6oqboNHfoH4CQIfNA+HOrZ7Mo7KZP02dC6LjghPQJeBsvXhJod/wnIBg==}
     engines: {node: '>= 12.0.0'}
     cpu: [arm64]
     os: [linux]
+    libc: [musl]
 
   lightningcss-linux-x64-gnu@1.32.0:
     resolution: {integrity: sha512-V7Qr52IhZmdKPVr+Vtw8o+WLsQJYCTd8loIfpDaMRWGUZfBOYEJeyJIkqGIDMZPwPx24pUMfwSxxI8phr/MbOA==}
     engines: {node: '>= 12.0.0'}
     cpu: [x64]
     os: [linux]
+    libc: [glibc]
 
   lightningcss-linux-x64-musl@1.32.0:
     resolution: {integrity: sha512-bYcLp+Vb0awsiXg/80uCRezCYHNg1/l3mt0gzHnWV9XP1W5sKa5/TCdGWaR/zBM2PeF/HbsQv/j2URNOiVuxWg==}
     engines: {node: '>= 12.0.0'}
     cpu: [x64]
     os: [linux]
+    libc: [musl]
 
   lightningcss-win32-arm64-msvc@1.32.0:
     resolution: {integrity: sha512-8SbC8BR40pS6baCM8sbtYDSwEVQd4JlFTOlaD3gWGHfThTcABnNDBda6eTZeqbofalIJhFx0qKzgHJmcPTnGdw==}
@@ -1135,6 +1172,9 @@ packages:
   ms@2.1.3:
     resolution: {integrity: sha512-6FlzubTLZG3J2a/NVCAleEhjzq5oxgHyaCU9yYXvcLsvoVaHJq/s5xXI6/XXP6tz7R9xAOtHnSO/tXtF3WRTlA==}
 
+  muggle-string@0.4.1:
+    resolution: {integrity: sha512-VNTrAak/KhO2i8dqqnqnAHOa3cYBwXEZe9h+D5h/1ZqFSTEFHdM65lR7RoIqq3tBBYavsOXV84NoHXZ0AkPyqQ==}
+
   nanoid@3.3.11:
     resolution: {integrity: sha512-N8SpfPUnUp1bK+PMYW8qSWdl9U+wwNWI4QKxOYDy9JAro3WMX7p2OeVRF9v+347pnakNevPmiHhNmZ2HbFA76w==}
     engines: {node: ^10 || ^12 || ^13.7 || ^14 || >=15.0.1}
@@ -1165,6 +1205,9 @@ packages:
     resolution: {integrity: sha512-GQ2EWRpQV8/o+Aw8YqtfZZPfNRWZYkbidE9k5rpl/hC3vtHHBfGm2Ifi6qWV+coDGkrUKZAxE3Lot5kcsRlh+g==}
     engines: {node: '>=6'}
 
+  path-browserify@1.0.1:
+    resolution: {integrity: sha512-b7uo2UCUOYZcnF/3ID0lulOJi/bafxa1xPe7ZPsammBSpjSWQkjNxlt635YGS2MiR9GjvuXCtz2emr3jbsz98g==}
+
   path-exists@4.0.0:
     resolution: {integrity: sha512-ak9Qy5Q7jYb2Wwcey5Fpvg2KoAc/ZIhLSLOSBmRmygPsGwkVVt0fZa0qrtMz+m6tJTAHfZQ8FnmB4MG4LWy7/w==}
     engines: {node: '>=8'}
@@ -1213,12 +1256,12 @@ packages:
     resolution: {integrity: sha512-orRsuYpJVw8LdAwqqLykBj9ecS5/cRHlI5+nvTo8LcCKmzDmqVORXtOIYEEQuL9D4BxtA1lm5isAqzQZCoQ6Eg==}
     engines: {node: '>=4'}
 
-  postcss@8.5.3:
+  postcss@8.5.13:
-    resolution: {integrity: sha512-dle9A3yYxlBSrt8Fu+IpjGT8SY8hN0mlaA6GY8t0P5PjIOZemULz/E2Bnm/2dcUOena75OTNkHI76uZBNUUq3A==}
+    resolution: {integrity: sha512-qif0+jGGZoLWdHey3UFHHWP0H7Gbmsk8T5VEqyYFbWqPr1XqvLGBbk/sl8V5exGmcYJklJOhOQq1pV9IcsiFag==}
     engines: {node: ^10 || ^12 || >=14}
 
-  postcss@8.5.8:
+  postcss@8.5.3:
-    resolution: {integrity: sha512-OW/rX8O/jXnm82Ey1k44pObPtdblfiuWnrd8X7GJ7emImCOstunGbXUpp7HdBrFQX6rJzn3sPT397Wp5aCwCHg==}
+    resolution: {integrity: sha512-dle9A3yYxlBSrt8Fu+IpjGT8SY8hN0mlaA6GY8t0P5PjIOZemULz/E2Bnm/2dcUOena75OTNkHI76uZBNUUq3A==}
     engines: {node: ^10 || ^12 || >=14}
 
   prelude-ls@1.2.1:
@@ -1269,8 +1312,8 @@ packages:
     resolution: {integrity: sha512-9aZLIrhRaD97sgVhtJOW6ckOEh6/GnvQtdVNfdZ6s67+3/XwLS9lBcQYzEEhYVeUowN7pRzMLsyGhK2i/xvWbw==}
     engines: {node: '>= 0.8.15'}
 
-  rolldown@1.0.0-rc.11:
+  rolldown@1.0.0-rc.17:
-    resolution: {integrity: sha512-NRjoKMusSjfRbSYiH3VSumlkgFe7kYAa3pzVOsVYVFY3zb5d7nS+a3KGQ7hJKXuYWbzJKPVQ9Wxq2UvyK+ENpw==}
+    resolution: {integrity: sha512-ZrT53oAKrtA4+YtBWPQbtPOxIbVDbxT0orcYERKd63VJTF13zPcgXTvD4843L8pcsI7M6MErt8QtON6lrB9tyA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     hasBin: true
 
@@ -1333,8 +1376,8 @@ packages:
   three@0.178.0:
     resolution: {integrity: sha512-ybFIB0+x8mz0wnZgSGy2MO/WCO6xZhQSZnmfytSPyNpM0sBafGRVhdaj+erYh5U+RhQOAg/eXqw5uVDiM2BjhQ==}
 
-  tinyglobby@0.2.15:
+  tinyglobby@0.2.16:
-    resolution: {integrity: sha512-j2Zq4NyQYG5XMST4cbs02Ak8iJUdxRM0XI5QyxXuZOzKOINmWurp3smXu3y5wDcJrptwpSjgXHzIQxR0omXljQ==}
+    resolution: {integrity: sha512-pn99VhoACYR8nFHhxqix+uvsbXineAasWm5ojXoN8xEwK5Kd3/TrhNn1wByuD52UxWRLy8pu+kRMniEi6Eq9Zg==}
     engines: {node: '>=12.0.0'}
 
   to-regex-range@5.0.1:
@@ -1369,8 +1412,8 @@ packages:
     engines: {node: '>=14.17'}
     hasBin: true
 
-  undici-types@6.21.0:
+  undici-types@7.16.0:
-    resolution: {integrity: sha512-iwDZqg0QAGrg9Rav5H4n0M64c3mkR59cJ6wQp+7C4nI0gsmExaedaYLNO44eT4AtBBwjbTiGPMlt2Md0T9H9JQ==}
+    resolution: {integrity: sha512-Zz+aZWSj8LE6zoxD+xrjh4VfkIG8Ya6LvYkZqtUQGJPZjYl53ypCaUwWqo7eI0x66KBGeRo+mlBEkMSeSZ38Nw==}
 
   upath@2.0.1:
     resolution: {integrity: sha512-1uEe95xksV1O0CYKXo8vQvN1JEbtJp7lb7C5U9HMsIp6IVwntkH/oNUzyVNQSd4S1sYk2FpSSW44FqMc8qee5w==}
@@ -1393,14 +1436,14 @@ packages:
       vue: ^3.0.0
       vuetify: ^3.0.0
 
-  vite@8.0.2:
+  vite@8.0.10:
-    resolution: {integrity: sha512-1gFhNi+bHhRE/qKZOJXACm6tX4bA3Isy9KuKF15AgSRuRazNBOJfdDemPBU16/mpMxApDPrWvZ08DcLPEoRnuA==}
+    resolution: {integrity: sha512-rZuUu9j6J5uotLDs+cAA4O5H4K1SfPliUlQwqa6YEwSrWDZzP4rhm00oJR5snMewjxF5V/K3D4kctsUTsIU9Mw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     hasBin: true
     peerDependencies:
       '@types/node': ^20.19.0 || >=22.12.0
       '@vitejs/devtools': ^0.1.0
-      esbuild: ^0.27.0
+      esbuild: ^0.27.0 || ^0.28.0
       jiti: '>=1.21.0'
       less: ^4.0.0
       sass: ^1.70.0
@@ -1436,6 +1479,9 @@ packages:
       yaml:
         optional: true
 
+  vscode-uri@3.1.0:
+    resolution: {integrity: sha512-/BpdSx+yCQGnCvecbyXdxHDkuk55/G3xwnC0GqY4gmQ3j+A+g8kzzgB4Nk/SINjqn6+waqw3EgbVF2QKExkRxQ==}
+
   vue-eslint-parser@10.1.3:
     resolution: {integrity: sha512-dbCBnd2e02dYWsXoqX5yKUZlOt+ExIpq7hmHKPb5ZqKcjf++Eo0hMseFTZMLKThrUk61m+Uv6A2YSBve6ZvuDQ==}
     engines: {node: ^18.18.0 || ^20.9.0 || >=21.1.0}
@@ -1447,6 +1493,12 @@ packages:
     peerDependencies:
       vue: ^3.2.0
 
+  vue-tsc@3.2.5:
+    resolution: {integrity: sha512-/htfTCMluQ+P2FISGAooul8kO4JMheOTCbCy4M6dYnYYjqLe3BExZudAua6MSIKSFYQtFOYAll7XobYwcpokGA==}
+    hasBin: true
+    peerDependencies:
+      typescript: '>=5.0.0'
+
   vue3-virtual-scroll-list@0.2.1:
     resolution: {integrity: sha512-G4KxITUOy9D4ro15zOp40D6ogmMefzjIyMsBKqN3xGbV1P6dlKYMx+BBXCKm3Nr/6iipcUKM272Sh2AJRyWMyQ==}
     peerDependencies:
@@ -1515,18 +1567,18 @@ snapshots:
 
   '@dimforge/rapier3d-compat@0.12.0': {}
 
-  '@emnapi/core@1.9.1':
+  '@emnapi/core@1.10.0':
     dependencies:
-      '@emnapi/wasi-threads': 1.2.0
+      '@emnapi/wasi-threads': 1.2.1
       tslib: 2.8.1
     optional: true
 
-  '@emnapi/runtime@1.9.1':
+  '@emnapi/runtime@1.10.0':
     dependencies:
       tslib: 2.8.1
     optional: true
 
-  '@emnapi/wasi-threads@1.2.0':
+  '@emnapi/wasi-threads@1.2.1':
     dependencies:
       tslib: 2.8.1
     optional: true
@@ -1596,10 +1648,10 @@ snapshots:
 
   '@msgpack/msgpack@3.1.2': {}
 
-  '@napi-rs/wasm-runtime@1.1.1':
+  '@napi-rs/wasm-runtime@1.1.4(@emnapi/core@1.10.0)(@emnapi/runtime@1.10.0)':
     dependencies:
-      '@emnapi/core': 1.9.1
+      '@emnapi/core': 1.10.0
-      '@emnapi/runtime': 1.9.1
+      '@emnapi/runtime': 1.10.0
       '@tybys/wasm-util': 0.10.1
     optional: true
 
@@ -1615,7 +1667,7 @@ snapshots:
       '@nodelib/fs.scandir': 2.1.5
       fastq: 1.19.1
 
-  '@oxc-project/types@0.122.0': {}
+  '@oxc-project/types@0.127.0': {}
 
   '@parcel/watcher-android-arm64@2.5.1':
     optional: true
@@ -1684,56 +1736,58 @@ snapshots:
     dependencies:
       playwright: 1.56.1
 
-  '@rolldown/binding-android-arm64@1.0.0-rc.11':
+  '@rolldown/binding-android-arm64@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-darwin-arm64@1.0.0-rc.11':
+  '@rolldown/binding-darwin-arm64@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-darwin-x64@1.0.0-rc.11':
+  '@rolldown/binding-darwin-x64@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-freebsd-x64@1.0.0-rc.11':
+  '@rolldown/binding-freebsd-x64@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.11':
+  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.11':
+  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.11':
+  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-linux-x64-musl@1.0.0-rc.11':
+  '@rolldown/binding-linux-x64-musl@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-openharmony-arm64@1.0.0-rc.11':
+  '@rolldown/binding-openharmony-arm64@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-wasm32-wasi@1.0.0-rc.11':
+  '@rolldown/binding-wasm32-wasi@1.0.0-rc.17':
     dependencies:
-      '@napi-rs/wasm-runtime': 1.1.1
+      '@emnapi/core': 1.10.0
+      '@emnapi/runtime': 1.10.0
+      '@napi-rs/wasm-runtime': 1.1.4(@emnapi/core@1.10.0)(@emnapi/runtime@1.10.0)
     optional: true
 
-  '@rolldown/binding-win32-arm64-msvc@1.0.0-rc.11':
+  '@rolldown/binding-win32-arm64-msvc@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.11':
+  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.17':
     optional: true
 
-  '@rolldown/pluginutils@1.0.0-beta.19': {}
+  '@rolldown/pluginutils@1.0.0-rc.13': {}
 
-  '@rolldown/pluginutils@1.0.0-rc.11': {}
+  '@rolldown/pluginutils@1.0.0-rc.17': {}
 
   '@tweenjs/tween.js@23.1.3': {}
 
@@ -1746,9 +1800,9 @@ snapshots:
 
   '@types/json-schema@7.0.15': {}
 
-  '@types/node@22.15.14':
+  '@types/node@24.12.2':
     dependencies:
-      undici-types: 6.21.0
+      undici-types: 7.16.0
 
   '@types/raf@3.4.3':
     optional: true
@@ -1847,12 +1901,24 @@ snapshots:
       '@typescript-eslint/types': 8.32.0
       eslint-visitor-keys: 4.2.0
 
-  '@vitejs/plugin-vue@6.0.0(vite@8.0.2(@types/node@22.15.14)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))':
+  '@vitejs/plugin-vue@6.0.6(vite@8.0.10(@types/node@24.12.2)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))':
     dependencies:
-      '@rolldown/pluginutils': 1.0.0-beta.19
+      '@rolldown/pluginutils': 1.0.0-rc.13
-      vite: 8.0.2(@types/node@22.15.14)(sass@1.89.2)
+      vite: 8.0.10(@types/node@24.12.2)(sass@1.89.2)
       vue: 3.5.13(typescript@5.8.3)
 
+  '@volar/language-core@2.4.28':
+    dependencies:
+      '@volar/source-map': 2.4.28
+
+  '@volar/source-map@2.4.28': {}
+
+  '@volar/typescript@2.4.28':
+    dependencies:
+      '@volar/language-core': 2.4.28
+      path-browserify: 1.0.1
+      vscode-uri: 3.1.0
+
   '@vue/compiler-core@3.5.13':
     dependencies:
       '@babel/parser': 7.27.2
@@ -1925,6 +1991,16 @@ snapshots:
     transitivePeerDependencies:
       - supports-color
 
+  '@vue/language-core@3.2.5':
+    dependencies:
+      '@volar/language-core': 2.4.28
+      '@vue/compiler-dom': 3.5.13
+      '@vue/shared': 3.5.13
+      alien-signals: 3.1.2
+      muggle-string: 0.4.1
+      path-browserify: 1.0.1
+      picomatch: 4.0.4
+
   '@vue/reactivity@3.5.13':
     dependencies:
       '@vue/shared': 3.5.13
@@ -1981,6 +2057,8 @@ snapshots:
       json-schema-traverse: 0.4.1
       uri-js: 4.4.1
 
+  alien-signals@3.1.2: {}
+
   ansi-styles@4.3.0:
     dependencies:
       color-convert: 2.0.1
@@ -2501,6 +2579,8 @@ snapshots:
 
   ms@2.1.3: {}
 
+  muggle-string@0.4.1: {}
+
   nanoid@3.3.11: {}
 
   natural-compare@1.4.0: {}
@@ -2533,6 +2613,8 @@ snapshots:
     dependencies:
       callsites: 3.1.0
 
+  path-browserify@1.0.1: {}
+
   path-exists@4.0.0: {}
 
   path-key@3.1.1: {}
@@ -2568,13 +2650,13 @@ snapshots:
       cssesc: 3.0.0
       util-deprecate: 1.0.2
 
-  postcss@8.5.3:
+  postcss@8.5.13:
     dependencies:
       nanoid: 3.3.11
       picocolors: 1.1.1
       source-map-js: 1.2.1
 
-  postcss@8.5.8:
+  postcss@8.5.3:
     dependencies:
       nanoid: 3.3.11
       picocolors: 1.1.1
@@ -2613,26 +2695,26 @@ snapshots:
   rgbcolor@1.0.1:
     optional: true
 
-  rolldown@1.0.0-rc.11:
+  rolldown@1.0.0-rc.17:
     dependencies:
-      '@oxc-project/types': 0.122.0
+      '@oxc-project/types': 0.127.0
-      '@rolldown/pluginutils': 1.0.0-rc.11
+      '@rolldown/pluginutils': 1.0.0-rc.17
     optionalDependencies:
-      '@rolldown/binding-android-arm64': 1.0.0-rc.11
+      '@rolldown/binding-android-arm64': 1.0.0-rc.17
-      '@rolldown/binding-darwin-arm64': 1.0.0-rc.11
+      '@rolldown/binding-darwin-arm64': 1.0.0-rc.17
-      '@rolldown/binding-darwin-x64': 1.0.0-rc.11
+      '@rolldown/binding-darwin-x64': 1.0.0-rc.17
-      '@rolldown/binding-freebsd-x64': 1.0.0-rc.11
+      '@rolldown/binding-freebsd-x64': 1.0.0-rc.17
-      '@rolldown/binding-linux-arm-gnueabihf': 1.0.0-rc.11
+      '@rolldown/binding-linux-arm-gnueabihf': 1.0.0-rc.17
-      '@rolldown/binding-linux-arm64-gnu': 1.0.0-rc.11
+      '@rolldown/binding-linux-arm64-gnu': 1.0.0-rc.17
-      '@rolldown/binding-linux-arm64-musl': 1.0.0-rc.11
+      '@rolldown/binding-linux-arm64-musl': 1.0.0-rc.17
-      '@rolldown/binding-linux-ppc64-gnu': 1.0.0-rc.11
+      '@rolldown/binding-linux-ppc64-gnu': 1.0.0-rc.17
-      '@rolldown/binding-linux-s390x-gnu': 1.0.0-rc.11
+      '@rolldown/binding-linux-s390x-gnu': 1.0.0-rc.17
-      '@rolldown/binding-linux-x64-gnu': 1.0.0-rc.11
+      '@rolldown/binding-linux-x64-gnu': 1.0.0-rc.17
-      '@rolldown/binding-linux-x64-musl': 1.0.0-rc.11
+      '@rolldown/binding-linux-x64-musl': 1.0.0-rc.17
-      '@rolldown/binding-openharmony-arm64': 1.0.0-rc.11
+      '@rolldown/binding-openharmony-arm64': 1.0.0-rc.17
-      '@rolldown/binding-wasm32-wasi': 1.0.0-rc.11
+      '@rolldown/binding-wasm32-wasi': 1.0.0-rc.17
-      '@rolldown/binding-win32-arm64-msvc': 1.0.0-rc.11
+      '@rolldown/binding-win32-arm64-msvc': 1.0.0-rc.17
-      '@rolldown/binding-win32-x64-msvc': 1.0.0-rc.11
+      '@rolldown/binding-win32-x64-msvc': 1.0.0-rc.17
 
   run-parallel@1.2.0:
     dependencies:
@@ -2686,7 +2768,7 @@ snapshots:
 
   three@0.178.0: {}
 
-  tinyglobby@0.2.15:
+  tinyglobby@0.2.16:
     dependencies:
       fdir: 6.5.0(picomatch@4.0.4)
       picomatch: 4.0.4
@@ -2719,7 +2801,7 @@ snapshots:
 
   typescript@5.8.3: {}
 
-  undici-types@6.21.0: {}
+  undici-types@7.16.0: {}
 
   upath@2.0.1: {}
 
@@ -2734,29 +2816,31 @@ snapshots:
       base64-arraybuffer: 1.0.2
     optional: true
 
-  vite-plugin-vuetify@2.1.1(vite@8.0.2(@types/node@22.15.14)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))(vuetify@3.8.3):
+  vite-plugin-vuetify@2.1.1(vite@8.0.10(@types/node@24.12.2)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))(vuetify@3.8.3):
     dependencies:
       '@vuetify/loader-shared': 2.1.0(vue@3.5.13(typescript@5.8.3))(vuetify@3.8.3)
       debug: 4.4.0
       upath: 2.0.1
-      vite: 8.0.2(@types/node@22.15.14)(sass@1.89.2)
+      vite: 8.0.10(@types/node@24.12.2)(sass@1.89.2)
       vue: 3.5.13(typescript@5.8.3)
       vuetify: 3.8.3(typescript@5.8.3)(vite-plugin-vuetify@2.1.1)(vue@3.5.13(typescript@5.8.3))
     transitivePeerDependencies:
       - supports-color
 
-  vite@8.0.2(@types/node@22.15.14)(sass@1.89.2):
+  vite@8.0.10(@types/node@24.12.2)(sass@1.89.2):
     dependencies:
       lightningcss: 1.32.0
       picomatch: 4.0.4
-      postcss: 8.5.8
+      postcss: 8.5.13
-      rolldown: 1.0.0-rc.11
+      rolldown: 1.0.0-rc.17
-      tinyglobby: 0.2.15
+      tinyglobby: 0.2.16
     optionalDependencies:
-      '@types/node': 22.15.14
+      '@types/node': 24.12.2
       fsevents: 2.3.3
       sass: 1.89.2
 
+  vscode-uri@3.1.0: {}
+
   vue-eslint-parser@10.1.3(eslint@9.31.0):
     dependencies:
       debug: 4.4.0
@@ -2775,6 +2859,12 @@ snapshots:
       '@vue/devtools-api': 6.6.4
       vue: 3.5.13(typescript@5.8.3)
 
+  vue-tsc@3.2.5(typescript@5.8.3):
+    dependencies:
+      '@volar/typescript': 2.4.28
+      '@vue/language-core': 3.2.5
+      typescript: 5.8.3
+
   vue3-virtual-scroll-list@0.2.1(vue@3.5.13(typescript@5.8.3)):
     dependencies:
       vue: 3.5.13(typescript@5.8.3)
@@ -2794,7 +2884,7 @@ snapshots:
       vue: 3.5.13(typescript@5.8.3)
     optionalDependencies:
       typescript: 5.8.3
-      vite-plugin-vuetify: 2.1.1(vite@8.0.2(@types/node@22.15.14)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))(vuetify@3.8.3)
+      vite-plugin-vuetify: 2.1.1(vite@8.0.10(@types/node@24.12.2)(sass@1.89.2))(vue@3.5.13(typescript@5.8.3))(vuetify@3.8.3)
 
   which@2.0.2:
     dependencies:

photon-client/pnpm-workspace.yaml

@@ -0,0 +1,3 @@
+allowBuilds:
+  '@parcel/watcher': true
+  core-js: true

photon-client/src/App.vue

@@ -11,9 +11,10 @@ import { useTheme } from "vuetify";
 import { restoreThemeConfig } from "@/lib/ThemeManager";
 
 const is_demo = import.meta.env.MODE === "demo";
+const backendHost = inject<string>("backendHost");
 if (!is_demo) {
   const websocket = new AutoReconnectingWebsocket(
-    `ws://${inject("backendHost")}/websocket_data`,
+    `ws://${backendHost}/websocket_data`,
     () => {
       useStateStore().$patch({ backendConnected: true });
     },

photon-client/src/components/app/photon-3d-visualizer.vue

@@ -3,7 +3,7 @@ import type { PhotonTarget } from "@/types/PhotonTrackingTypes";
 // @ts-expect-error Intellisense says these conflict with the dynamic imports below
 import type { Mesh, Object3D, PerspectiveCamera, Scene, WebGLRenderer } from "three";
 // @ts-expect-error Intellisense says these conflict with the dynamic imports below
-import type { TrackballControls } from "three/examples/jsm/controls/TrackballControls";
+import type { TrackballControls } from "three/examples/jsm/controls/TrackballControls.js";
 import { onBeforeUnmount, onMounted, watchEffect } from "vue";
 const {
   ArrowHelper,
@@ -20,7 +20,7 @@ const {
   Scene,
   WebGLRenderer
 } = await import("three");
-const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls");
+const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls.js");
 
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { createPerspectiveCamera } from "@/lib/ThreeUtils";
@@ -213,14 +213,14 @@ onMounted(async () => {
     renderer.render(scene, camera);
   };
 
-  drawTargets(props.targets);
+  await drawTargets(props.targets);
   animate();
 });
 onBeforeUnmount(() => {
   window.removeEventListener("resize", onWindowResize);
 });
 watchEffect(() => {
-  drawTargets(props.targets);
+  void drawTargets(props.targets);
 });
 </script>
 

photon-client/src/components/app/photon-calibration-visualizer.vue

@@ -1,5 +1,13 @@
 <script setup lang="ts">
 import { onBeforeUnmount, onMounted, ref, watch, watchEffect, type Ref } from "vue";
+import type {
+  Scene as SceneType,
+  PerspectiveCamera as PerspectiveCameraType,
+  WebGLRenderer as WebGLRendererType,
+  Group as GroupType,
+  Object3D
+} from "three";
+import type { TrackballControls as TrackballControlsType } from "three/examples/jsm/controls/TrackballControls.js";
 const {
   AmbientLight,
   AxesHelper,
@@ -16,7 +24,7 @@ const {
   SphereGeometry,
   WebGLRenderer
 } = await import("three");
-const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls");
+const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls.js");
 import type { BoardObservation, CameraCalibrationResult } from "@/types/SettingTypes";
 import axios from "axios";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
@@ -31,12 +39,12 @@ const props = defineProps<{
   title: string;
 }>();
 
-let scene: Scene | undefined;
+let scene: SceneType | undefined;
-let camera: PerspectiveCamera | undefined;
+let camera: PerspectiveCameraType | undefined;
-let renderer: WebGLRenderer | undefined;
+let renderer: WebGLRendererType | undefined;
-let controls: TrackballControls | undefined;
+let controls: TrackballControlsType | undefined;
 
-const createChessboard = (obs: BoardObservation, cal: CameraCalibrationResult): Group => {
+const createChessboard = (obs: BoardObservation, cal: CameraCalibrationResult): GroupType => {
   const group = new Group();
 
   if (obs.locationInImageSpace.length === 0) return group;
@@ -194,9 +202,6 @@ const resetCamThirdPerson = () => {
 let animationFrameId: number | null = null;
 
 onMounted(async () => {
-  // Grab data first off
-  fetchCalibrationData();
-
   scene = new Scene();
   camera = new PerspectiveCamera(75, 800 / 800, 0.1, 1000);
 
@@ -256,6 +261,10 @@ onMounted(async () => {
 
   controls.update();
 
+  // Fetch calibration only after the scene is ready so the initial draw
+  // can happen immediately when the data arrives.
+  await fetchCalibrationData();
+
   const animate = () => {
     if (!scene || !camera || !renderer || !controls) {
       return;
@@ -318,7 +327,7 @@ if (import.meta.hot) {
 }
 
 watchEffect(() => {
-  drawCalibration(calibrationData.value);
+  void drawCalibration(calibrationData.value);
 });
 
 watch(
@@ -328,9 +337,9 @@ watch(
     props.resolution.height,
     useCameraSettingsStore().getCalibrationCoeffs(props.resolution)
   ],
-  () => {
+  async () => {
     console.log("Camera or resolution changed, refetching calibration");
-    fetchCalibrationData();
+    await fetchCalibrationData();
   }
 );
 </script>

photon-client/src/components/app/photon-camera-stream.vue

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, inject, ref, onBeforeUnmount } from "vue";
+import { computed, inject, onBeforeUnmount, useTemplateRef } from "vue";
 import { useStateStore } from "@/stores/StateStore";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import type { StyleValue } from "vue";
@@ -13,6 +13,7 @@ const props = defineProps<{
   cameraSettings: UiCameraConfiguration;
 }>();
 
+const backendHostname = inject<string>("backendHostname");
 const emptyStreamSrc = "//:0";
 const streamSrc = computed<string>(() => {
   const port = props.cameraSettings.stream[props.streamType === "Raw" ? "inputPort" : "outputPort"];
@@ -21,7 +22,7 @@ const streamSrc = computed<string>(() => {
     return emptyStreamSrc;
   }
 
-  return `http://${inject("backendHostname")}:${port}/stream.mjpg`;
+  return `http://${backendHostname}:${port}/stream.mjpg`;
 });
 const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
 const streamStyle = computed<StyleValue>(() => {
@@ -67,26 +68,26 @@ const handleCaptureClick = () => {
 const handlePopoutClick = () => {
   window.open(streamSrc.value);
 };
-const handleFullscreenRequest = () => {
+const handleFullscreenRequest = async () => {
   const stream = document.getElementById(props.id);
   if (!stream) return;
-  stream.requestFullscreen();
+  await stream.requestFullscreen();
 };
 
-const mjpgStream: any = ref(null);
+const mjpgStream = useTemplateRef("mjpgStream");
 
 const handleStreamError = () => {
   if (streamSrc.value && streamSrc.value !== emptyStreamSrc) {
     console.error("Error loading stream:", streamSrc.value, " Trying again.");
     setTimeout(() => {
-      mjpgStream.value.src = streamSrc.value;
+      mjpgStream.value!.src = streamSrc.value;
     }, 100);
   }
 };
 
 onBeforeUnmount(() => {
   if (!mjpgStream.value) return;
-  mjpgStream.value["src"] = emptyStreamSrc;
+  mjpgStream.value.src = emptyStreamSrc;
 });
 </script>
 

photon-client/src/components/app/photon-log-view.vue

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, inject, ref, watch } from "vue";
+import { computed, inject, ref, useTemplateRef, watch } from "vue";
 import { LogLevel, type LogMessage } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 import LogEntry from "@/components/app/photon-log-entry.vue";
@@ -10,10 +10,10 @@ const backendHost = inject<string>("backendHost");
 const searchQuery = ref("");
 const timeInput = ref<string>();
 const autoScroll = ref(true);
-const logList = ref();
+const logList = useTemplateRef<InstanceType<typeof VirtualList>>("logList"); // this needs to be typed in the definition since vue has trouble inferring it
 const logKeeps = ref(40);
-const exportLogFile = ref();
+const exportLogFile = useTemplateRef("exportLogFile");
-const selectedLogLevels = ref({
+const selectedLogLevels = ref<Record<number, boolean>>({
   [LogLevel.ERROR]: true,
   [LogLevel.WARN]: true,
   [LogLevel.INFO]: true,
@@ -48,7 +48,7 @@ watch(logs, () => {
   );
   autoScroll.value = bottomOffset < 50;
 
-  if (autoScroll.value) logList.value.scrollToBottom();
+  if (autoScroll.value) logList.value?.scrollToBottom();
 });
 
 const getLogLevelFromIndex = (index: number): string => {
@@ -56,7 +56,7 @@ const getLogLevelFromIndex = (index: number): string => {
 };
 
 const handleLogExport = () => {
-  exportLogFile.value.click();
+  exportLogFile.value?.click();
 };
 
 const handleLogClear = () => {

photon-client/src/components/cameras/CameraCalibrationCard.vue

@@ -20,6 +20,7 @@ const PromptRegular = import("@/assets/fonts/PromptRegular");
 const jspdf = import("jspdf");
 
 const theme = useTheme();
+const MM_PER_INCH = 25.4;
 
 const settingsValid = ref(true);
 
@@ -38,6 +39,11 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
 
     if (!skip) {
       const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
+
+      // minPixelCount is the multiplied area of a 640x480 (the minimum for proper calibration) resolution
+      const minPixelCount = 640 * 480;
+      const resArea = format.resolution.width * format.resolution.height;
+
       if (calib !== undefined) {
         // Mean overall reprojection error
         // Calculated as average of each observation's mean error
@@ -60,7 +66,10 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
           ) *
           (180 / Math.PI);
       }
-      uniqueResolutions.push(format);
+
+      if (resArea >= minPixelCount) {
+        uniqueResolutions.push(format);
+      }
     }
   });
   uniqueResolutions.sort(
@@ -81,18 +90,26 @@ const calibrationDivisors = computed(() =>
   })
 );
 
-const uniqueVideoResolutionString = ref("");
+const uniqueVideoResolutionIndex = ref(getUniqueVideoResolutionStrings()?.[0]?.value);
 
 // Use a watchEffect so the value is populated/reacts when the stores become available or update.
 // This avoids trying to index into an array that may be empty during page reload.
 watchEffect(() => {
-  const currentIndex = useCameraSettingsStore().currentVideoFormat.index ?? 0;
-  useStateStore().calibrationData.videoFormatIndex = currentIndex;
   const names = useCameraSettingsStore().currentCameraSettings.validVideoFormats.map((f) =>
     getResolutionString(f.resolution)
   );
-  uniqueVideoResolutionString.value = names[currentIndex] ?? names[0] ?? "";
+  const currentFormatIndex = useCameraSettingsStore().currentVideoFormat.index ?? 0;
+  // Checks if the current resolution is present in the list of valid formats, if not defaults to the last index (which is usually the highest resolution)
+  const currentIndex =
+    getUniqueVideoResolutionStrings()
+      .map((x) => x.name)
+      .find((n) => n === names[currentFormatIndex]) !== undefined
+      ? currentFormatIndex
+      : names.length - 1;
+  useStateStore().calibrationData.videoFormatIndex = currentIndex;
+  uniqueVideoResolutionIndex.value = currentIndex;
 });
+const dimensionUnit = ref<"in" | "mm">("in");
 const squareSizeIn = ref(1);
 const markerSizeIn = ref(0.75);
 const patternWidth = ref(8);
@@ -102,6 +119,28 @@ const useOldPattern = ref(false);
 const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
 const requestedVideoFormatIndex = ref(0);
 
+const convertInchesToDisplay = (valueInInches: number) =>
+  dimensionUnit.value === "mm" ? valueInInches * MM_PER_INCH : valueInInches;
+
+const convertDisplayToInches = (displayValue: number) =>
+  dimensionUnit.value === "mm" ? displayValue / MM_PER_INCH : displayValue;
+
+const squareSize = computed({
+  get: () => convertInchesToDisplay(squareSizeIn.value),
+  set(value) {
+    squareSizeIn.value = convertDisplayToInches(value);
+  }
+});
+
+const markerSize = computed({
+  get: () => convertInchesToDisplay(markerSizeIn.value),
+  set(value) {
+    markerSizeIn.value = convertDisplayToInches(value);
+  }
+});
+
+const dimensionStep = computed(() => (dimensionUnit.value === "mm" ? 0.1 : 0.01));
+
 // Emperical testing - with stack size limit of 1MB, we can handle at -least- 700k points
 const tooManyPoints = computed(
   () => useStateStore().calibrationData.imageCount * patternWidth.value * patternHeight.value > 700000
@@ -176,7 +215,7 @@ const downloadCalibBoard = async () => {
 };
 
 const isCalibrating = computed(
-  () => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d
+  () => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d.valueOf()
 );
 
 const startCalibration = () => {
@@ -203,7 +242,7 @@ const endCalibration = () => {
   calibSuccess.value = undefined;
   calibEndpointFail.value = false;
 
-  if (!useStateStore().calibrationData.hasEnoughImages) {
+  if (!hasEnoughImages.value) {
     calibCanceled.value = true;
   }
 
@@ -231,6 +270,10 @@ const endCalibration = () => {
 
 const drawAllSnapshots = ref(true);
 
+const bypassVal = ref(false);
+const minCount = computed(() => (bypassVal.value ? 10 : 100));
+const hasEnoughImages = computed(() => useStateStore().calibrationData.imageCount >= minCount.value);
+
 const showCalDialog = ref(false);
 const selectedVideoFormat = ref<VideoFormat | undefined>(undefined);
 const setSelectedVideoFormat = (format: VideoFormat) => {
@@ -295,23 +338,23 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           >
           <v-form v-model="settingsValid">
             <pv-select
-              v-model="uniqueVideoResolutionString"
+              v-model="uniqueVideoResolutionIndex"
               label="Resolution"
               :select-cols="8"
               :disabled="isCalibrating"
               tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
               :items="getUniqueVideoResolutionStrings()"
-              @update:model-value="
+              @update:model-value="(value) => (useStateStore().calibrationData.videoFormatIndex = value)"
-                useStateStore().calibrationData.videoFormatIndex =
-                  getUniqueVideoResolutionStrings().find((v) => v.value === $event)?.value || 0
-              "
             />
             <pv-select
               v-model="boardType"
               label="Board Type"
               tooltip="Calibration board pattern to use"
               :select-cols="8"
-              :items="['Chessboard', 'ChArUco']"
+              :items="[
+                { value: CalibrationBoardTypes.Charuco, name: 'ChArUco' },
+                { value: CalibrationBoardTypes.Chessboard, name: 'Chessboard' }
+              ]"
               :disabled="isCalibrating"
             />
             <v-alert
@@ -341,25 +384,43 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               label="Tag Family"
               tooltip="Dictionary of ArUco markers on the ChArUco board"
               :select-cols="8"
-              :items="['Dict_4X4_1000', 'Dict_5X5_1000', 'Dict_6X6_1000', 'Dict_7X7_1000']"
+              :items="[
+                { value: CalibrationTagFamilies.Dict_4X4_1000, name: 'Dict_4X4_1000' },
+                { value: CalibrationTagFamilies.Dict_5X5_1000, name: 'Dict_5X5_1000' },
+                { value: CalibrationTagFamilies.Dict_6X6_1000, name: 'Dict_6X6_1000' },
+                { value: CalibrationTagFamilies.Dict_7X7_1000, name: 'Dict_7X7_1000' }
+              ]"
+              :disabled="isCalibrating"
+            />
+            <pv-select
+              v-model="dimensionUnit"
+              label="Dimension Unit"
+              tooltip="Units used for pattern spacing and marker size inputs"
+              :select-cols="8"
+              :items="[
+                { value: 'in', name: 'Inches' },
+                { value: 'mm', name: 'Millimeters' }
+              ]"
               :disabled="isCalibrating"
             />
             <pv-number-input
-              v-model="squareSizeIn"
+              v-model="squareSize"
-              label="Pattern Spacing (in)"
+              :label="`Pattern Spacing (${dimensionUnit})`"
-              tooltip="Spacing between pattern features in inches"
+              :tooltip="`Spacing between pattern features in ${dimensionUnit === 'mm' ? 'millimeters' : 'inches'}`"
               :disabled="isCalibrating"
               :rules="[(v) => v > 0 || 'Size must be positive']"
               :label-cols="4"
+              :step="dimensionStep"
             />
             <pv-number-input
               v-if="boardType === CalibrationBoardTypes.Charuco"
-              v-model="markerSizeIn"
+              v-model="markerSize"
-              label="Marker Size (in)"
+              :label="`Marker Size (${dimensionUnit})`"
-              tooltip="Size of the tag markers in inches must be smaller than pattern spacing"
+              :tooltip="`Size of the tag markers in ${dimensionUnit === 'mm' ? 'millimeters' : 'inches'}; must be smaller than pattern spacing`"
               :disabled="isCalibrating"
               :rules="[(v) => v > 0 || 'Size must be positive']"
               :label-cols="4"
+              :step="dimensionStep"
             />
             <pv-number-input
               v-model="patternWidth"
@@ -483,11 +544,22 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           <v-chip
             :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
             label
-            :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonPassive' : 'light-grey'"
+            :color="hasEnoughImages ? 'buttonPassive' : 'light-grey'"
           >
             Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
-            {{ useStateStore().calibrationData.minimumImageCount }}
+            {{ minCount }}
           </v-chip>
+          <v-spacer />
+          <pv-switch
+            v-model="bypassVal"
+            color="error"
+            hide-details
+            class="ml-4"
+            label="Bypass minimum"
+            :label-cols="6"
+            :switch-cols="6"
+            tooltip="Bypass the minimum recommended amount of snapshots for a calibration. Should only be used for dev work or temporary tests not competitions. Still requires 10 images to calibrate."
+          />
         </div>
         <div>
           <v-btn
@@ -532,16 +604,14 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               size="small"
               block
               :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
-              :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonActive' : 'error'"
+              :color="hasEnoughImages ? 'buttonActive' : 'error'"
               :disabled="!isCalibrating || !settingsValid"
               @click="endCalibration"
             >
               <v-icon start class="calib-btn-icon" size="large">
-                {{ useStateStore().calibrationData.hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
+                {{ hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
               </v-icon>
-              <span class="calib-btn-label">{{
+              <span class="calib-btn-label">{{ hasEnoughImages ? "Finish Calibration" : "Cancel Calibration" }}</span>
-                useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration"
-              }}</span>
             </v-btn>
           </v-col>
         </div>

photon-client/src/components/cameras/CameraCalibrationInfoCard.vue

@@ -3,7 +3,7 @@ import PhotonCalibrationVisualizer from "@/components/app/photon-calibration-vis
 import type { CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { computed, inject, ref } from "vue";
+import { computed, inject, ref, useTemplateRef } from "vue";
 import { axiosPost, getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";
 import { useTheme } from "vuetify";
 import PvDeleteModal from "@/components/common/pv-delete-modal.vue";
@@ -13,28 +13,28 @@ const props = defineProps<{
   videoFormat: VideoFormat;
 }>();
 
-const confirmRemoveDialog = ref({ show: false, vf: props.videoFormat as VideoFormat });
+const confirmRemoveDialog = ref({ show: false, vf: props.videoFormat });
 
-const removeCalibration = (vf: VideoFormat) => {
+const removeCalibration = async (vf: VideoFormat) => {
-  axiosPost("/calibration/remove", "delete a camera calibration", {
+  await axiosPost("/calibration/remove", "delete a camera calibration", {
     cameraUniqueName: useCameraSettingsStore().currentCameraSettings.uniqueName,
     width: vf.resolution.width,
     height: vf.resolution.height
   });
 };
 
-const exportCalibration = ref();
+const exportCalibration = useTemplateRef("exportCalibration");
 const openExportCalibrationPrompt = () => {
-  exportCalibration.value.click();
+  exportCalibration.value?.click();
 };
 
-const importCalibrationFromPhotonJson = ref();
+const importCalibrationFromPhotonJson = useTemplateRef("importCalibrationFromPhotonJson");
 const openUploadPhotonCalibJsonPrompt = () => {
-  importCalibrationFromPhotonJson.value.click();
+  importCalibrationFromPhotonJson.value?.click();
 };
 const importCalibration = async () => {
-  const files = importCalibrationFromPhotonJson.value.files;
+  const files = importCalibrationFromPhotonJson.value?.files;
-  if (files.length === 0) return;
+  if (!files?.length) return;
   const uploadedJson = files[0];
 
   const data = await parseJsonFile<CameraCalibrationResult>(uploadedJson);

photon-client/src/components/cameras/CameraControlCard.vue

@@ -53,7 +53,7 @@ const fetchSnapshots = () => {
     .get("/utils/getImageSnapshots")
     .then((response) => {
       imgData.value = response.data.map(
-        (snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index) => {
+        (snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index: number) => {
           const metadata = getSnapshotMetadataFromName(snapshotData.snapshotName);
 
           return {
@@ -99,7 +99,7 @@ const expanded = ref([]);
     <v-card-text class="pt-0">
       <v-btn
         color="buttonPassive"
-        :variant="theme.global.current.value.dark ? 'outlined' : 'tonal'"
+        :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
         @click="fetchSnapshots"
       >
         <v-icon start class="open-icon" size="large"> mdi-folder </v-icon>

photon-client/src/components/cameras/CameraSettingsCard.vue

@@ -9,6 +9,7 @@ import { computed, ref, watchEffect } from "vue";
 import { type CameraSettingsChangeRequest, ValidQuirks } from "@/types/SettingTypes";
 import { useTheme } from "vuetify";
 import { axiosPost } from "@/lib/PhotonUtils";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
 
 const theme = useTheme();
 
@@ -20,7 +21,7 @@ const focusMode = computed<boolean>({
   get: () => useCameraSettingsStore().isFocusMode,
   set: (v) =>
     useCameraSettingsStore().changeCurrentPipelineIndex(
-      v ? -3 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      v ? WebsocketPipelineType.FocusCamera : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
       true
     )
 });
@@ -65,8 +66,8 @@ const settingsHaveChanged = (): boolean => {
   const a = tempSettingsStruct.value;
   const b = useCameraSettingsStore().currentCameraSettings;
 
-  for (const q in ValidQuirks) {
+  for (const quirk of Object.values(ValidQuirks)) {
-    if (a.quirksToChange[q] !== b.cameraQuirks.quirks[q]) return true;
+    if (a.quirksToChange[quirk] !== b.cameraQuirks.quirks[quirk]) return true;
   }
 
   return a.fov !== b.fov.value;
@@ -120,12 +121,12 @@ watchEffect(() => {
 });
 
 const showDeleteCamera = ref(false);
-const deleteThisCamera = () => {
+const deleteThisCamera = async () => {
-  axiosPost("/utils/nukeOneCamera", "delete this camera", {
+  await axiosPost("/utils/nukeOneCamera", "delete this camera", {
     cameraUniqueName: useStateStore().currentCameraUniqueName
   });
 };
-const wrappedCameras = computed<SelectItem[]>(() =>
+const wrappedCameras = computed<SelectItem<string>[]>(() =>
   Object.keys(useCameraSettingsStore().cameras).map((cameraUniqueName) => ({
     name: useCameraSettingsStore().cameras[cameraUniqueName].nickname,
     value: cameraUniqueName
@@ -159,7 +160,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
         v-model="arducamSelectWrapper"
         label="Arducam Model"
         :items="[
-          { name: 'None', value: 0, disabled: true },
+          { name: 'None', value: 0 },
           { name: 'OV9281', value: 1 },
           { name: 'OV2311', value: 2 },
           { name: 'OV9782', value: 3 }

photon-client/src/components/cameras/CamerasView.vue

@@ -6,6 +6,7 @@ import { PipelineType } from "@/types/PipelineTypes";
 import { useStateStore } from "@/stores/StateStore";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useTheme } from "vuetify";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
 
 const theme = useTheme();
 
@@ -15,7 +16,7 @@ const driverMode = computed<boolean>({
   get: () => useCameraSettingsStore().isDriverMode,
   set: (v) =>
     useCameraSettingsStore().changeCurrentPipelineIndex(
-      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      v ? WebsocketPipelineType.DriverMode : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
       true
     )
 });

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

@@ -1,69 +1,51 @@
 <script setup lang="ts">
-import { PVCameraInfo } from "@/types/SettingTypes";
+import type { PVCameraInfo } from "@/types/SettingTypes";
 
-const { camera } = defineProps({
+const { camera } = defineProps<{ camera: PVCameraInfo }>();
-  camera: {
-    type: PVCameraInfo,
-    required: true
-  }
-});
-
-const cameraInfoFor: any = (camera: PVCameraInfo) => {
-  if (camera.PVUsbCameraInfo) {
-    return camera.PVUsbCameraInfo;
-  }
-  if (camera.PVCSICameraInfo) {
-    return camera.PVCSICameraInfo;
-  }
-  if (camera.PVFileCameraInfo) {
-    return camera.PVFileCameraInfo;
-  }
-  return {};
-};
 </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

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { PVCameraInfo } from "@/types/SettingTypes";
+import type { PVCameraInfo } from "@/types/SettingTypes";
 
 function isEqual<T>(a: T, b: T): boolean {
   if (a === b) {
@@ -15,29 +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
-  }
-});
-
-const cameraInfoFor = (camera: PVCameraInfo): any => {
-  if (camera.PVUsbCameraInfo) {
-    return camera.PVUsbCameraInfo;
-  }
-  if (camera.PVCSICameraInfo) {
-    return camera.PVCSICameraInfo;
-  }
-  if (camera.PVFileCameraInfo) {
-    return camera.PVFileCameraInfo;
-  }
-  return {};
-};
 </script>
 
 <template>
@@ -50,79 +28,70 @@ const cameraInfoFor = (camera: PVCameraInfo): any => {
           <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/common/pv-input.vue

@@ -25,7 +25,7 @@ const emit = defineEmits<{
   (e: "onEscape"): void;
 }>();
 
-const handleKeydown = ({ key }) => {
+const handleKeydown = ({ key }: KeyboardEvent) => {
   switch (key) {
     case "Enter":
       // Explicitly check that all rule props return true

photon-client/src/components/common/pv-select.vue

@@ -1,13 +1,15 @@
-<script setup lang="ts">
+<script setup lang="ts" generic="T extends string | number">
 import { computed } from "vue";
 import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
 
-export interface SelectItem {
+export interface SelectItem<TValue extends string | number> {
   name: string | number;
-  value: string | number;
+  value: TValue;
   disabled?: boolean;
 }
-const value = defineModel<string | number | undefined>({ required: true });
+
+type SelectItems = SelectItem<T>[] | ReadonlyArray<T>;
+const value = defineModel<T>({ required: true });
 
 const props = withDefaults(
   defineProps<{
@@ -15,7 +17,7 @@ const props = withDefaults(
     tooltip?: string;
     selectCols?: number;
     disabled?: boolean;
-    items: string[] | number[] | SelectItem[];
+    items: SelectItems;
   }>(),
   {
     selectCols: 9,
@@ -23,18 +25,20 @@ const props = withDefaults(
   }
 );
 
+const areSelectItems = (items: SelectItems): items is SelectItem<T>[] => typeof items[0] === "object";
+
 // Computed in case items changes
-const items = computed<SelectItem[]>(() => {
+const items = computed<SelectItem<T>[]>(() => {
   // Trivial case for empty list; we have no data
   if (!props.items.length) {
     return [];
   }
 
-  // Check if the prop exists on the object to infer object type
+  if (areSelectItems(props.items)) {
-  if ((props.items[0] as SelectItem).name) {
+    return props.items;
-    return props.items as SelectItem[];
   }
-  return props.items.map((v, i) => ({ name: v, value: i }));
+
+  return props.items.map((item) => ({ name: item, value: item }));
 });
 </script>
 
@@ -49,7 +53,7 @@ const items = computed<SelectItem[]>(() => {
         :items="items"
         item-title="name"
         item-value="value"
-        item-props.disabled="disabled"
+        item-props
         :disabled="disabled"
         hide-details="auto"
         variant="underlined"

photon-client/src/components/common/pv-slider.vue

@@ -18,11 +18,11 @@ const props = withDefaults(
 const emit = defineEmits<{ (e: "update:modelValue", value: number): void }>();
 
 // Debounce function
-function debounce(func: (...args: any[]) => void, wait: number) {
+function debounce(func: (...args: number[]) => void, wait: number) {
   let timeout: ReturnType<typeof setTimeout>;
-  return function (...args: any[]) {
+  return function (...args: number[]) {
     clearTimeout(timeout);
-    timeout = setTimeout(() => func.apply(this, args), wait);
+    timeout = setTimeout(() => func(...args), wait);
   };
 }
 

photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue

@@ -13,28 +13,6 @@ import PvDeleteModal from "@/components/common/pv-delete-modal.vue";
 
 const theme = useTheme();
 
-const changeCurrentCameraUniqueName = (cameraUniqueName: string) => {
-  useCameraSettingsStore().setCurrentCameraUniqueName(cameraUniqueName, true);
-
-  switch (useCameraSettingsStore().cameras[cameraUniqueName].pipelineSettings.pipelineType) {
-    case PipelineType.Reflective:
-      pipelineType.value = WebsocketPipelineType.Reflective;
-      break;
-    case PipelineType.ColoredShape:
-      pipelineType.value = WebsocketPipelineType.ColoredShape;
-      break;
-    case PipelineType.AprilTag:
-      pipelineType.value = WebsocketPipelineType.AprilTag;
-      break;
-    case PipelineType.Aruco:
-      pipelineType.value = WebsocketPipelineType.Aruco;
-      break;
-    case PipelineType.ObjectDetection:
-      pipelineType.value = WebsocketPipelineType.ObjectDetection;
-      break;
-  }
-};
-
 // Common RegEx used for naming both pipelines and cameras
 const nameChangeRegex = /^[A-Za-z0-9_ \-)(]*[A-Za-z0-9][A-Za-z0-9_ \-)(.]*$/;
 
@@ -87,17 +65,17 @@ const cancelCameraNameEdit = () => {
 };
 
 // Pipeline Name Edit
-const pipelineNamesWrapper = computed<SelectItem[]>(() => {
+const pipelineNamesWrapper = computed(() => {
   const pipelineNames = useCameraSettingsStore().pipelineNames.map((name, index) => ({ name: name, value: index }));
 
   if (useCameraSettingsStore().isDriverMode) {
-    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
+    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode.valueOf() });
   }
   if (useCameraSettingsStore().isFocusMode) {
-    pipelineNames.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera });
+    pipelineNames.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera.valueOf() });
   }
   if (useCameraSettingsStore().isCalibrationMode) {
-    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
+    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d.valueOf() });
   }
 
   return pipelineNames;
@@ -240,7 +218,7 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
       break;
   }
 });
-const wrappedCameras = computed<SelectItem[]>(() =>
+const wrappedCameras = computed<SelectItem<string>[]>(() =>
   Object.keys(useCameraSettingsStore().cameras).map((cameraUniqueName) => ({
     name: useCameraSettingsStore().cameras[cameraUniqueName].nickname,
     value: cameraUniqueName
@@ -257,7 +235,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
           v-model="useStateStore().currentCameraUniqueName"
           label="Camera"
           :items="wrappedCameras"
-          @update:modelValue="changeCurrentCameraUniqueName"
+          @update:modelValue="pipelineType = useCameraSettingsStore().currentWebsocketPipelineType"
         />
         <pv-input
           v-else

photon-client/src/components/dashboard/ConfigOptions.vue

@@ -13,9 +13,9 @@ import OutputTab from "@/components/dashboard/tabs/OutputTab.vue";
 import TargetsTab from "@/components/dashboard/tabs/TargetsTab.vue";
 import PnPTab from "@/components/dashboard/tabs/PnPTab.vue";
 import Map3DTab from "@/components/dashboard/tabs/Map3DTab.vue";
+import { PipelineType } from "@/types/PipelineTypes";
 import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
-import { useDisplay } from "vuetify/lib/composables/display";
+import { useDisplay, useTheme } from "vuetify";
-import { useTheme } from "vuetify";
 
 const theme = useTheme();
 
@@ -106,6 +106,17 @@ const tabGroups = computed<ConfigOption[][]>(() => {
     .filter((it) => it.length); // Remove empty tab groups
 });
 
+// This boolean is used to satisfy type-checking requirements.
+const shouldUseWideSecondTabGroup = computed(() => {
+  const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+
+  return (
+    (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+      currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+    currentPipelineSettings.doMultiTarget
+  );
+});
+
 const onBeforeTabUpdate = () => {
   // Force the current tab to the input tab on driver mode change
   if (useCameraSettingsStore().isDriverMode) {
@@ -129,7 +140,7 @@ const onBeforeTabUpdate = () => {
       <v-col
         v-for="(tabGroupData, tabGroupIndex) in tabGroups"
         :key="tabGroupIndex"
-        :cols="tabGroupIndex === 1 && useCameraSettingsStore().currentPipelineSettings.doMultiTarget ? 7 : ''"
+        :cols="tabGroupIndex === 1 && shouldUseWideSecondTabGroup ? 7 : ''"
         :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
         @vue:before-update="onBeforeTabUpdate"
       >

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

@@ -1,18 +1,17 @@
 <script setup lang="ts">
-import { PipelineType } from "@/types/PipelineTypes";
+import { PipelineType, type AprilTagPipelineSettings, AprilTagFamily } from "@/types/PipelineTypes";
 import PvSelect from "@/components/common/pv-select.vue";
 import PvSlider from "@/components/common/pv-slider.vue";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import { computed } from "vue";
 import { useStateStore } from "@/stores/StateStore";
-import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useDisplay } from "vuetify";
 
 // TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
 // Defer reference to store access method
-const currentPipelineSettings = computed<ActivePipelineSettings>(
+const currentPipelineSettings = computed<AprilTagPipelineSettings>(
-  () => useCameraSettingsStore().currentPipelineSettings
+  () => useCameraSettingsStore().currentPipelineSettings as AprilTagPipelineSettings
 );
 const { mdAndDown } = useDisplay();
 const interactiveCols = computed(() =>
@@ -25,7 +24,10 @@ const interactiveCols = computed(() =>
     <pv-select
       v-model="currentPipelineSettings.tagFamily"
       label="Target family"
-      :items="['AprilTag 36h11 (6.5in)', 'AprilTag 16h5 (6in)']"
+      :items="[
+        { value: AprilTagFamily.Family36h11, name: 'AprilTag 36h11 (6.5in)' },
+        { value: AprilTagFamily.Family16h5, name: 'AprilTag 16h5 (6in)' }
+      ]"
       :select-cols="interactiveCols"
       @update:modelValue="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
     />

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

@@ -1,6 +1,6 @@
 <script setup lang="ts">
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { PipelineType, type ActivePipelineSettings } from "@/types/PipelineTypes";
+import { PipelineType, type ArucoPipelineSettings, AprilTagFamily } from "@/types/PipelineTypes";
 import PvSlider from "@/components/common/pv-slider.vue";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import PvRangeSlider from "@/components/common/pv-range-slider.vue";
@@ -11,8 +11,8 @@ import { useDisplay } from "vuetify";
 
 // TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
 // Defer reference to store access method
-const currentPipelineSettings = computed<ActivePipelineSettings>(
+const currentPipelineSettings = computed<ArucoPipelineSettings>(
-  () => useCameraSettingsStore().currentPipelineSettings
+  () => useCameraSettingsStore().currentPipelineSettings as ArucoPipelineSettings
 );
 const { mdAndDown } = useDisplay();
 const interactiveCols = computed(() =>
@@ -25,7 +25,10 @@ const interactiveCols = computed(() =>
     <pv-select
       v-model="currentPipelineSettings.tagFamily"
       label="Target family"
-      :items="['AprilTag Family 36h11', 'AprilTag Family 16h5']"
+      :items="[
+        { value: AprilTagFamily.Family36h11, name: 'AprilTag 36h11 (6.5in)' },
+        { value: AprilTagFamily.Family16h5, name: 'AprilTag 16h5 (6in)' }
+      ]"
       :select-cols="interactiveCols"
       @update:modelValue="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
     />

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

@@ -1,6 +1,14 @@
 <script setup lang="ts">
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { type ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
+import {
+  type ActivePipelineSettings,
+  PipelineType,
+  ContourSortMode,
+  ContourTargetOrientation,
+  ContourGroupingMode,
+  ContourIntersection,
+  ContourShape
+} from "@/types/PipelineTypes";
 import PvRangeSlider from "@/components/common/pv-range-slider.vue";
 import PvSelect from "@/components/common/pv-select.vue";
 import PvSlider from "@/components/common/pv-slider.vue";
@@ -61,7 +69,10 @@ const interactiveCols = computed(() =>
       v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
       label="Target Orientation"
       tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
-      :items="['Portrait', 'Landscape']"
+      :items="[
+        { value: ContourTargetOrientation.Portrait, name: 'Portrait' },
+        { value: ContourTargetOrientation.Landscape, name: 'Landscape' }
+      ]"
       :select-cols="interactiveCols"
       @update:modelValue="
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
@@ -72,7 +83,15 @@ const interactiveCols = computed(() =>
       label="Target Sort"
       tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
       :select-cols="interactiveCols"
-      :items="['Largest', 'Smallest', 'Highest', 'Lowest', 'Rightmost', 'Leftmost', 'Centermost']"
+      :items="[
+        { value: ContourSortMode.Largest, name: 'Largest' },
+        { value: ContourSortMode.Smallest, name: 'Smallest' },
+        { value: ContourSortMode.Highest, name: 'Highest' },
+        { value: ContourSortMode.Lowest, name: 'Lowest' },
+        { value: ContourSortMode.Rightmost, name: 'Rightmost' },
+        { value: ContourSortMode.Leftmost, name: 'Leftmost' },
+        { value: ContourSortMode.Centermost, name: 'Centermost' }
+      ]"
       @update:modelValue="
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSortMode: value }, false)
       "
@@ -166,7 +185,11 @@ const interactiveCols = computed(() =>
         label="Target Grouping"
         tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
         :select-cols="interactiveCols"
-        :items="['Single', 'Dual', 'Two or More']"
+        :items="[
+          { value: ContourGroupingMode.Single, name: 'Single' },
+          { value: ContourGroupingMode.Dual, name: 'Dual' },
+          { value: ContourGroupingMode.TwoOrMore, name: 'Two or More' }
+        ]"
         @update:modelValue="
           (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourGroupingMode: value }, false)
         "
@@ -176,7 +199,13 @@ const interactiveCols = computed(() =>
         label="Target Intersection"
         tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
         :select-cols="interactiveCols"
-        :items="['None', 'Up', 'Down', 'Left', 'Right']"
+        :items="[
+          { value: ContourIntersection.None, name: 'None' },
+          { value: ContourIntersection.Up, name: 'Up' },
+          { value: ContourIntersection.Down, name: 'Down' },
+          { value: ContourIntersection.Left, name: 'Left' },
+          { value: ContourIntersection.Right, name: 'Right' }
+        ]"
         :disabled="useCameraSettingsStore().currentPipelineSettings.contourGroupingMode === 0"
         @update:modelValue="
           (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourIntersection: value }, false)
@@ -189,7 +218,12 @@ const interactiveCols = computed(() =>
         label="Target Shape"
         tooltip="The shape of targets to look for"
         :select-cols="interactiveCols"
-        :items="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
+        :items="[
+          { value: ContourShape.Circle, name: 'Circle' },
+          { value: ContourShape.Polygon, name: 'Polygon' },
+          { value: ContourShape.Triangle, name: 'Triangle' },
+          { value: ContourShape.Quadrilateral, name: 'Quadrilateral' }
+        ]"
         @update:modelValue="
           (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourShape: value }, false)
         "

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

@@ -30,11 +30,11 @@ const getFilteredStreamDivisors = (): number[] => {
 };
 const getNumberOfSkippedDivisors = () => streamDivisors.length - getFilteredStreamDivisors().length;
 
-const cameraResolutions = computed(() =>
+const cameraResolutions = (): { name: string; value: number }[] =>
-  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map(
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map<{ name: string; value: number }>((f) => ({
-    (f) => `${getResolutionString(f.resolution)} at ${f.fps} FPS, ${f.pixelFormat}`
+    name: `${getResolutionString(f.resolution)} at ${f.fps} FPS, ${f.pixelFormat}`,
-  )
+    value: f.index || 0 // Index won't ever be undefined
-);
+  }));
 const handleResolutionChange = (value: number) => {
   useCameraSettingsStore().changeCurrentPipelineSetting({ cameraVideoModeIndex: value }, false);
 
@@ -49,20 +49,23 @@ const handleResolutionChange = (value: number) => {
 const streamResolutions = computed(() => {
   const streamDivisors = getFilteredStreamDivisors();
   const currentResolution = useCameraSettingsStore().currentVideoFormat.resolution;
-  return streamDivisors.map(
+  return streamDivisors.map((x, i) => ({
-    (x) =>
+    name: `${Math.floor(currentResolution.width / x)}x${Math.floor(currentResolution.height / x)}`,
-      `${getResolutionString({
+    value: i
-        width: Math.floor(currentResolution.width / x),
+  }));
-        height: Math.floor(currentResolution.height / x)
+});
-      })}`
+const currentStreamResolutionIndex = computed<number>({
-  );
+  get: () => {
+    const stored = useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor;
+    const skipped = getNumberOfSkippedDivisors();
+    return stored - skipped;
+  },
+  set: (index) => {
+    useCameraSettingsStore().changeCurrentPipelineSetting({
+      streamingFrameDivisor: index + getNumberOfSkippedDivisors()
+    });
+  }
 });
-const handleStreamResolutionChange = (value: number) => {
-  useCameraSettingsStore().changeCurrentPipelineSetting(
-    { streamingFrameDivisor: value + getNumberOfSkippedDivisors() },
-    false
-  );
-};
 const { mdAndDown } = useDisplay();
 
 const interactiveCols = computed(() =>
@@ -160,7 +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."
@@ -182,17 +185,16 @@ const interactiveCols = computed(() =>
       v-model="useCameraSettingsStore().currentPipelineSettings.cameraVideoModeIndex"
       label="Resolution"
       tooltip="Resolution and FPS the camera should directly capture at"
-      :items="cameraResolutions"
+      :items="cameraResolutions()"
       :select-cols="interactiveCols"
       @update:modelValue="(args) => handleResolutionChange(args)"
     />
     <pv-select
-      v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
+      v-model="currentStreamResolutionIndex"
       label="Stream Resolution"
       tooltip="Resolution to which camera frames are downscaled for streaming to the dashboard"
       :items="streamResolutions"
       :select-cols="interactiveCols"
-      @update:modelValue="(args) => handleStreamResolutionChange(args)"
     />
     <pv-switch
       v-if="useCameraSettingsStore().isDriverMode"

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

@@ -1,8 +1,13 @@
 <script setup lang="ts">
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { type ObjectDetectionPipelineSettings, PipelineType } from "@/types/PipelineTypes";
+import {
+  type ObjectDetectionPipelineSettings,
+  PipelineType,
+  ContourSortMode,
+  ContourTargetOrientation
+} from "@/types/PipelineTypes";
 import PvSlider from "@/components/common/pv-slider.vue";
-import PvSelect from "@/components/common/pv-select.vue";
+import PvSelect, { type SelectItem } from "@/components/common/pv-select.vue";
 import PvRangeSlider from "@/components/common/pv-range-slider.vue";
 import { computed } from "vue";
 import { useStateStore } from "@/stores/StateStore";
@@ -44,19 +49,19 @@ const supportedModels = computed<ObjectDetectionModelProperties[]>(() => {
   return availableModels.filter(isSupported);
 });
 
-const selectedModel = computed({
+const modelWrapper = computed<SelectItem<string>[]>(() =>
-  get: () => {
+  supportedModels.value.map((model) => ({
-    const currentModel = currentPipelineSettings.value.model;
+    name: model.nickname,
-    if (!currentModel) return undefined;
+    value: model.modelPath
+  }))
+);
 
-    const index = supportedModels.value.findIndex((model) => model.modelPath === currentModel.modelPath);
+const selectedModel = computed<string>({
-    return index === -1 ? undefined : index;
+  get: () => currentPipelineSettings.value.model?.modelPath ?? "",
-  },
+  set: (value) => {
-
+    const model = supportedModels.value.find((supportedModel) => supportedModel.modelPath === value);
-  set: (v) => {
+    if (model) {
-    if (v !== undefined && v >= 0 && v < supportedModels.value.length) {
+      useCameraSettingsStore().changeCurrentPipelineSetting({ model }, true);
-      const newModel = supportedModels.value[v];
-      useCameraSettingsStore().changeCurrentPipelineSetting({ model: newModel }, true);
     }
   }
 });
@@ -69,7 +74,7 @@ const selectedModel = computed({
       label="Model"
       tooltip="The model used to detect objects in the camera feed"
       :select-cols="interactiveCols"
-      :items="supportedModels.map((model) => model.nickname)"
+      :items="modelWrapper"
     />
 
     <pv-slider
@@ -123,14 +128,13 @@ const selectedModel = computed({
       v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
       label="Target Orientation"
       tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
-      :items="['Portrait', 'Landscape']"
+      :items="[
+        { value: ContourTargetOrientation.Portrait, name: 'Portrait' },
+        { value: ContourTargetOrientation.Landscape, name: 'Landscape' }
+      ]"
       :select-cols="interactiveCols"
       @update:modelValue="
-        (value) =>
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
-          useCameraSettingsStore().changeCurrentPipelineSetting(
-            { contourTargetOrientation: typeof value === 'string' ? Number(value) : value },
-            false
-          )
       "
     />
     <pv-select
@@ -138,13 +142,17 @@ const selectedModel = computed({
       label="Target Sort"
       tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
       :select-cols="interactiveCols"
-      :items="['Largest', 'Smallest', 'Highest', 'Lowest', 'Rightmost', 'Leftmost', 'Centermost']"
+      :items="[
+        { value: ContourSortMode.Largest, name: 'Largest' },
+        { value: ContourSortMode.Smallest, name: 'Smallest' },
+        { value: ContourSortMode.Highest, name: 'Highest' },
+        { value: ContourSortMode.Lowest, name: 'Lowest' },
+        { value: ContourSortMode.Rightmost, name: 'Rightmost' },
+        { value: ContourSortMode.Leftmost, name: 'Leftmost' },
+        { value: ContourSortMode.Centermost, name: 'Centermost' }
+      ]"
       @update:modelValue="
-        (value) =>
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSortMode: value }, false)
-          useCameraSettingsStore().changeCurrentPipelineSetting(
-            { contourSortMode: typeof value === 'string' ? Number(value) : value },
-            false
-          )
       "
     />
   </div>

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

@@ -1,7 +1,13 @@
 <script setup lang="ts">
 import PvSelect from "@/components/common/pv-select.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { type ActivePipelineSettings, PipelineType, RobotOffsetPointMode } from "@/types/PipelineTypes";
+import {
+  type ActivePipelineSettings,
+  PipelineType,
+  RobotOffsetPointMode,
+  ContourTargetOrientation,
+  ContourTargetOffsetPointEdge
+} from "@/types/PipelineTypes";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import PvSlider from "@/components/common/pv-slider.vue";
 import { computed } from "vue";
@@ -108,7 +114,13 @@ const interactiveCols = computed(() =>
       v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOffsetPointEdge"
       label="Target Offset Point"
       tooltip="Changes where the 'center' of the target is (used for calculating e.g. pitch and yaw)"
-      :items="['Center', 'Top', 'Bottom', 'Left', 'Right']"
+      :items="[
+        { value: ContourTargetOffsetPointEdge.Center, name: 'Center' },
+        { value: ContourTargetOffsetPointEdge.Top, name: 'Top' },
+        { value: ContourTargetOffsetPointEdge.Bottom, name: 'Bottom' },
+        { value: ContourTargetOffsetPointEdge.Left, name: 'Left' },
+        { value: ContourTargetOffsetPointEdge.Right, name: 'Right' }
+      ]"
       :select-cols="interactiveCols"
       @update:modelValue="
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOffsetPointEdge: value }, false)
@@ -119,7 +131,10 @@ const interactiveCols = computed(() =>
       v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
       label="Target Orientation"
       tooltip="Used to determine how to calculate target landmarks (e.g. the top, left, or bottom of the target)"
-      :items="['Portrait', 'Landscape']"
+      :items="[
+        { value: ContourTargetOrientation.Portrait, name: 'Portrait' },
+        { value: ContourTargetOrientation.Landscape, name: 'Landscape' }
+      ]"
       :select-cols="interactiveCols"
       @update:modelValue="
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
@@ -129,7 +144,11 @@ const interactiveCols = computed(() =>
       v-model="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode"
       label="Robot Offset Mode"
       tooltip="Used to add an arbitrary offset to the location of the targeting crosshair"
-      :items="['None', 'Single Point', 'Dual Point']"
+      :items="[
+        { value: RobotOffsetPointMode.None, name: 'None' },
+        { value: RobotOffsetPointMode.Single, name: 'Single Point' },
+        { value: RobotOffsetPointMode.Dual, name: 'Dual Point' }
+      ]"
       :select-cols="interactiveCols"
       @update:modelValue="
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ offsetRobotOffsetMode: value }, false)

photon-client/src/components/settings/DeviceCard.vue

@@ -1,6 +1,5 @@
-@ -0,0 +1,565 @@
 <script setup lang="ts">
-import { inject, computed, ref, watch } from "vue";
+import { inject, computed, ref, watch, useTemplateRef } from "vue";
 import { useStateStore } from "@/stores/StateStore";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import PvSelect from "@/components/common/pv-select.vue";
@@ -15,20 +14,20 @@ const theme = useTheme();
 
 const restartProgram = async () => {
   if (await axiosPost("/utils/restartProgram", "restart PhotonVision")) {
-    forceReloadPage();
+    await forceReloadPage();
   }
 };
 const restartDevice = async () => {
   if (await axiosPost("/utils/restartDevice", "restart the device")) {
-    forceReloadPage();
+    await forceReloadPage();
   }
 };
 
 const address = inject<string>("backendHost");
 
-const offlineUpdate = ref();
+const offlineUpdate = useTemplateRef("offlineUpdate");
 const openOfflineUpdatePrompt = () => {
-  offlineUpdate.value.click();
+  offlineUpdate.value?.click();
 };
 
 const offlineUpdateRegex = new RegExp("photonvision-((?:dev-)?v[\\w.-]+)-((?:linux|win|mac)\\w+)\\.jar");
@@ -37,8 +36,8 @@ const majorVersionRegex = new RegExp("(?:dev-)?(\\d+)\\.\\d+\\.\\d+");
 const offlineUpdateDialog = ref({ show: false, confirmString: "" });
 
 const handleOfflineUpdateRequest = async () => {
-  const files = offlineUpdate.value.files;
+  const files = offlineUpdate.value?.files;
-  if (files.length === 0) return;
+  if (!files?.length) return;
 
   const match = files[0].name.match(offlineUpdateRegex);
   if (!match) {
@@ -68,7 +67,7 @@ const handleOfflineUpdateRequest = async () => {
     });
     return;
   } else if (versionMatch && !dev) {
-    handleOfflineUpdate(files[0]);
+    await handleOfflineUpdate(files[0]);
   } else if (!versionMatch && !dev) {
     offlineUpdateDialog.value = {
       show: true,
@@ -99,7 +98,7 @@ const handleOfflineUpdate = async (file: File) => {
   if (
     await axiosPost("/utils/offlineUpdate", "upload new software", formData, {
       headers: { "Content-Type": "multipart/form-data" },
-      onUploadProgress: ({ progress }) => {
+      onUploadProgress: ({ progress }: { progress?: number }) => {
         const uploadPercentage = (progress || 0) * 100.0;
         if (uploadPercentage < 99.5) {
           useStateStore().showSnackbarMessage({
@@ -118,18 +117,18 @@ const handleOfflineUpdate = async (file: File) => {
       color: "secondary",
       timeout: -1
     });
-    forceReloadPage();
+    await forceReloadPage();
   }
 };
 
-const exportLogFile = ref();
+const exportLogFile = useTemplateRef("exportLogFile");
 const openExportLogsPrompt = () => {
-  exportLogFile.value.click();
+  exportLogFile.value?.click();
 };
 
-const exportSettings = ref();
+const exportSettings = useTemplateRef("exportSettings");
 const openExportSettingsPrompt = () => {
-  exportSettings.value.click();
+  exportSettings.value?.click();
 };
 
 enum ImportType {
@@ -141,10 +140,10 @@ enum ImportType {
 }
 
 const showImportDialog = ref(false);
-const importType = ref<ImportType | undefined>(undefined);
+const importType = ref<ImportType>(ImportType.AllSettings);
 const importFile = ref<File | null>(null);
 
-const handleSettingsImport = () => {
+const handleSettingsImport = async () => {
   if (importType.value === undefined || importFile.value === null) return;
   const formData = new FormData();
   formData.append("data", importFile.value);
@@ -167,18 +166,18 @@ const handleSettingsImport = () => {
       settingsEndpoint = "";
       break;
   }
-  axiosPost(`/settings${settingsEndpoint}`, "import settings", formData, {
+  await axiosPost(`/settings${settingsEndpoint}`, "import settings", formData, {
     headers: { "Content-Type": "multipart/form-data" }
   });
   showImportDialog.value = false;
-  importType.value = undefined;
+  importType.value = ImportType.AllSettings;
   importFile.value = null;
 };
 
 const showFactoryReset = ref(false);
 const nukePhotonConfigDirectory = async () => {
   if (await axiosPost("/utils/nukeConfigDirectory", "delete the config directory")) {
-    forceReloadPage();
+    await forceReloadPage();
   }
 };
 
@@ -503,7 +502,7 @@ watch(metricsHistorySnapshot, () => {
     width="600"
     @update:modelValue="
       () => {
-        importType = undefined;
+        importType = ImportType.AllSettings;
         importFile = null;
       }
     "
@@ -517,7 +516,13 @@ watch(metricsHistorySnapshot, () => {
             v-model="importType"
             label="Type"
             tooltip="Select the type of settings file you are trying to upload"
-            :items="['All Settings', 'Hardware Config', 'Hardware Settings', 'Network Config', 'Apriltag Layout']"
+            :items="[
+              { value: ImportType.AllSettings, name: 'All Settings' },
+              { value: ImportType.HardwareConfig, name: 'Hardware Config' },
+              { value: ImportType.HardwareSettings, name: 'Hardware Settings' },
+              { value: ImportType.NetworkConfig, name: 'Network Config' },
+              { value: ImportType.ApriltagFieldLayout, name: 'AprilTag Field Layout' }
+            ]"
             :select-cols="10"
             style="width: 100%"
           />
@@ -558,7 +563,9 @@ watch(metricsHistorySnapshot, () => {
               :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="
                 offlineUpdateDialog.show = false;
-                handleOfflineUpdate(offlineUpdate.files[0]);
+                if (offlineUpdate?.files?.length) {
+                  handleOfflineUpdate(offlineUpdate.files[0]);
+                }
               "
             >
               <v-icon start class="open-icon" size="large"> mdi-upload </v-icon>

photon-client/src/components/settings/GlobalSettingsCard.vue

@@ -106,6 +106,7 @@ const saveGeneralSettings = async () => {
 
     // Update the local settings cause the backend checked their validity. Assign is to deref value
     useSettingsStore().network = { ...useSettingsStore().network, ...Object.assign({}, tempSettingsStruct.value) };
+    // eslint-disable-next-line @typescript-eslint/no-explicit-any
   } catch (error: any) {
     resetTempSettingsStruct();
     if (error.response) {
@@ -150,14 +151,11 @@ const saveGeneralSettings = async () => {
   }
 };
 
-const currentNetworkInterfaceIndex = computed<number | undefined>({
+const currentNetworkInterface = computed<string>({
-  get: () => {
+  get: () => useSettingsStore().network.networkManagerIface || "",
-    const index = useSettingsStore().networkInterfaceNames.indexOf(
+  set: (v) => {
-      useSettingsStore().network.networkManagerIface || ""
+    tempSettingsStruct.value.networkManagerIface = v;
-    );
+  }
-    return index === -1 ? undefined : index;
-  },
-  set: (v) => v && (tempSettingsStruct.value.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
 });
 
 watchEffect(() => {
@@ -256,7 +254,7 @@ watchEffect(() => {
         />
         <pv-select
           v-show="!useSettingsStore().network.networkingDisabled"
-          v-model="currentNetworkInterfaceIndex"
+          v-model="currentNetworkInterface"
           label="NetworkManager interface"
           :disabled="
             !tempSettingsStruct.shouldManage ||

photon-client/src/components/settings/MetricsChart.vue

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { onMounted, ref, onBeforeUnmount, watch } from "vue";
+import { onMounted, onBeforeUnmount, watch, useTemplateRef } from "vue";
 import { useTheme } from "vuetify";
 
 // Color  -  original        (adjusted)
@@ -8,14 +8,14 @@ import { useTheme } from "vuetify";
 // green  -   65, 181, 127   (r:  75, g: 209, b: 147)
 // red    -  238, 102, 102   (r: 238, g: 102, b: 102)
 const colors = {
-  "blue-LightTheme": { r: 255, g: 216, b: 67 },
+  "blue-light": { r: 255, g: 216, b: 67 },
-  "blue-DarkTheme": { r: 92, g: 154, b: 255 },
+  "blue-dark": { r: 92, g: 154, b: 255 },
-  "purple-LightTheme": { r: 255, g: 216, b: 67 },
+  "purple-light": { r: 255, g: 216, b: 67 },
-  "purple-DarkTheme": { r: 167, g: 104, b: 196 },
+  "purple-dark": { r: 167, g: 104, b: 196 },
-  "red-LightTheme": { r: 255, g: 216, b: 67 },
+  "red-light": { r: 255, g: 216, b: 67 },
-  "red-DarkTheme": { r: 238, g: 102, b: 102 },
+  "red-dark": { r: 238, g: 102, b: 102 },
-  "green-LightTheme": { r: 255, g: 216, b: 67 },
+  "green-light": { r: 255, g: 216, b: 67 },
-  "green-DarkTheme": { r: 75, g: 209, b: 147 }
+  "green-dark": { r: 75, g: 209, b: 147 }
 };
 const DEFAULT_COLOR = "blue";
 
@@ -26,9 +26,13 @@ const typeLabels = {
 };
 
 const theme = useTheme();
-const chartRef = ref(null);
+const chartRef = useTemplateRef("chartRef");
 let chart: echarts.ECharts | null = null;
 
+interface TooltipSeriesParam {
+  value: [number, number];
+}
+
 const getOptions = (data: ChartData[] = []) => {
   const now = Date.now();
   return {
@@ -37,7 +41,7 @@ const getOptions = (data: ChartData[] = []) => {
     },
     tooltip: {
       trigger: "axis",
-      formatter: (params: any) => {
+      formatter: (params: TooltipSeriesParam[]) => {
         const p = params[0];
         const append = typeLabels[props.type];
         const fmsLimitLabel = "FMS Limit - 7.000 Mb/s";
@@ -80,12 +84,12 @@ const getOptions = (data: ChartData[] = []) => {
       min: now - 55 * 1000,
       axisLine: {
         lineStyle: {
-          color: theme.global.name.value === "LightTheme" ? "#aaa" : "#777"
+          color: theme.global.current.value.dark ? "#777" : "#aaa"
         }
       },
       axisLabel: {
         align: "left",
-        color: theme.global.name.value === "LightTheme" ? "#fff" : "#ddd",
+        color: theme.global.current.value.dark ? "#ddd" : "#fff",
         formatter: (value: number) => {
           const date = new Date(value);
           return date.toLocaleTimeString([], {
@@ -102,12 +106,12 @@ const getOptions = (data: ChartData[] = []) => {
       position: "right",
       min:
         props.min ??
-        function (value) {
+        function (value: { min: number; max: number }) {
           return Math.max(0, (value.min - 10) | 0);
         },
       max:
         props.max ??
-        function (value) {
+        function (value: { min: number; max: number }) {
           return (value.max + 10) | 0;
         },
       splitNumber: 2,
@@ -118,7 +122,7 @@ const getOptions = (data: ChartData[] = []) => {
         }
       },
       axisLabel: {
-        color: theme.global.name.value === "LightTheme" ? "#fff" : "#ddd"
+        color: theme.global.current.value.dark ? "#ddd" : "#fff"
       }
     },
     series: getSeries(data),
@@ -127,7 +131,7 @@ const getOptions = (data: ChartData[] = []) => {
 };
 
 const getSeries = (data: ChartData[] = []) => {
-  const color = colors[`${props.color ?? DEFAULT_COLOR}-${theme.global.name.value}`];
+  const color = colors[`${props.color ?? DEFAULT_COLOR}-${theme.global.current.value.dark ? "dark" : "light"}`];
   return [
     {
       type: "line",
@@ -188,10 +192,10 @@ interface ChartData {
 // Type options: "percentage", "temperature", "mb"
 const props = defineProps<{
   data: ChartData[];
-  type: string;
+  type: keyof typeof typeLabels;
   min?: number;
   max?: number;
-  color?: string;
+  color?: "red" | "green" | "blue" | "purple";
 }>();
 
 onMounted(async () => {

photon-client/src/components/settings/ObjectDetectionCard.vue

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { ref, computed, inject } from "vue";
+import { ref, computed, inject, useTemplateRef } from "vue";
 import { useStateStore } from "@/stores/StateStore";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { type ObjectDetectionModelProperties } from "@/types/SettingTypes";
@@ -46,7 +46,7 @@ const handleImport = async () => {
   if (
     await axiosPost("/objectdetection/import", "import an object detection model", formData, {
       headers: { "Content-Type": "multipart/form-data" },
-      onUploadProgress: ({ progress }) => {
+      onUploadProgress: ({ progress }: { progress?: number }) => {
         const uploadPercentage = (progress || 0) * 100.0;
         if (uploadPercentage < 99.5) {
           useStateStore().showSnackbarMessage({
@@ -74,20 +74,20 @@ const handleImport = async () => {
   importVersion.value = null;
 };
 
-const deleteModel = (model: ObjectDetectionModelProperties) => {
+const deleteModel = async (model: ObjectDetectionModelProperties) => {
-  axiosPost("/objectdetection/delete", "delete an object detection model", {
+  await axiosPost("/objectdetection/delete", "delete an object detection model", {
     modelPath: model.modelPath
   });
 };
 
-const renameModel = (model: ObjectDetectionModelProperties, newName: string) => {
+const renameModel = async (model: ObjectDetectionModelProperties, newName: string) => {
   useStateStore().showSnackbarMessage({
     message: "Renaming Object Detection Model...",
     color: "secondary",
     timeout: -1
   });
 
-  axiosPost("/objectdetection/rename", "rename an object detection model", {
+  await axiosPost("/objectdetection/rename", "rename an object detection model", {
     modelPath: model.modelPath,
     newName: newName
   });
@@ -97,7 +97,7 @@ const renameModel = (model: ObjectDetectionModelProperties, newName: string) =>
 // Filters out models that are not supported by the current backend, and returns a flattened list.
 const supportedModels = computed(() => {
   const { availableModels, supportedBackends } = useSettingsStore().general;
-  const isSupported = (model: any) => {
+  const isSupported = (model: ObjectDetectionModelProperties) => {
     // Check if model's family is in the list of supported backends
     return supportedBackends.some((backend: string) => backend.toLowerCase() === model.family.toLowerCase());
   };
@@ -106,19 +106,19 @@ const supportedModels = computed(() => {
   return availableModels.filter(isSupported);
 });
 
-const exportModels = ref();
+const exportModels = useTemplateRef("exportModels");
 const openExportPrompt = () => {
-  exportModels.value.click();
+  exportModels.value?.click();
 };
 
-const exportIndividualModel = ref();
+const exportIndividualModel = useTemplateRef("exportIndividualModel");
 const openExportIndividualModelPrompt = () => {
-  exportIndividualModel.value.click();
+  exportIndividualModel.value?.click();
 };
 
 const showNukeDialog = ref(false);
-const nukeModels = () => {
+const nukeModels = async () => {
-  axiosPost("/objectdetection/nuke", "clear and reset object detection models");
+  await axiosPost("/objectdetection/nuke", "clear and reset object detection models");
 };
 
 const showBulkImportDialog = ref(false);
@@ -132,7 +132,7 @@ const handleBulkImport = async () => {
   if (
     await axiosPost("/objectdetection/bulkimport", "import object detection models", formData, {
       headers: { "Content-Type": "multipart/form-data" },
-      onUploadProgress: ({ progress }) => {
+      onUploadProgress: ({ progress }: { progress?: number }) => {
         const uploadPercentage = (progress || 0) * 100.0;
         if (uploadPercentage < 99.5) {
           useStateStore().showSnackbarMessage({

photon-client/src/lib/AutoReconnectingWebsocket.ts

@@ -40,18 +40,13 @@ export class AutoReconnectingWebsocket {
    * Send data over the websocket. This is a no-op if the websocket is not in the OPEN state.
    *
    * @param data data to send
-   * @param encodeData whether or not to encode the data using msgpack (defaults to true)
    * @see isConnected
    *
    */
-  send(data, encodeData = true) {
+  send(data: unknown) {
     // Only send data if the websocket is open
     if (this.isConnected()) {
-      if (encodeData) {
+      this.websocket?.send(encode(data));
-        this.websocket?.send(encode(data));
-      } else {
-        this.websocket?.send(data);
-      }
     }
   }
 

photon-client/src/lib/PhotonUtils.ts

@@ -1,6 +1,6 @@
 import { useStateStore } from "@/stores/StateStore";
 import type { Resolution } from "@/types/SettingTypes";
-import axios from "axios";
+import axios, { type AxiosRequestConfig } from "axios";
 
 export const resolutionsAreEqual = (a: Resolution, b: Resolution) => {
   return a.height === b.height && a.width === b.width;
@@ -51,15 +51,16 @@ export const forceReloadPage = async () => {
 
 export const getResolutionString = (resolution: Resolution): string => `${resolution.width}x${resolution.height}`;
 
+// eslint-disable-next-line @typescript-eslint/no-explicit-any
 export const parseJsonFile = async <T extends Record<string, any>>(file: File): Promise<T> => {
   return new Promise((resolve, reject) => {
     const fileReader = new FileReader();
     fileReader.onload = (event) => {
       const target: FileReader | null = event.target;
-      if (target === null) reject();
+      if (target === null) reject(new Error("FileReader event target is null"));
       else resolve(JSON.parse(target.result as string) as T);
     };
-    fileReader.onerror = (error) => reject(error);
+    fileReader.onerror = () => reject(new Error("Error reading file"));
     fileReader.readAsText(file);
   });
 };
@@ -73,7 +74,13 @@ export const parseJsonFile = async <T extends Record<string, any>>(file: File):
  * @param config Optional axios request configuration
  * @returns A promise that resolves to true if the POST request is successful, or false if an error occurs.
  */
-export const axiosPost = async (url: string, description: string, data?: any, config?: any): Promise<boolean> => {
+export const axiosPost = async (
+  url: string,
+  description: string,
+  // eslint-disable-next-line @typescript-eslint/no-explicit-any
+  data?: any,
+  config?: AxiosRequestConfig
+): Promise<boolean> => {
   try {
     await axios.post(url, data, config);
     useStateStore().showSnackbarMessage({
@@ -81,6 +88,7 @@ export const axiosPost = async (url: string, description: string, data?: any, co
       color: "success"
     });
     return true;
+    // eslint-disable-next-line @typescript-eslint/no-explicit-any
   } catch (error: any) {
     if (error.response) {
       useStateStore().showSnackbarMessage({

photon-client/src/main.ts

@@ -11,7 +11,7 @@ const runtimeMode: PhotonClientRuntimeMode = process.env.NODE_ENV as PhotonClien
 
 let backendHost: string;
 let backendHostname: string;
-switch (runtimeMode as PhotonClientRuntimeMode) {
+switch (runtimeMode) {
   case "development":
     backendHost = `${location.hostname}:5800`;
     backendHostname = location.hostname;

photon-client/src/plugins/vuetify.ts

@@ -1,6 +1,6 @@
 import "vuetify/styles";
-import("@mdi/font/css/materialdesignicons.css");
+void import("@mdi/font/css/materialdesignicons.css");
-import type { ThemeDefinition } from "vuetify/lib/composables/theme";
+import type { ThemeDefinition } from "vuetify";
 import { createVuetify } from "vuetify";
 
 const CommonColors = {

photon-client/src/stores/StateStore.ts

@@ -31,7 +31,8 @@ interface StateStore {
   currentCameraUniqueName: string;
   networkUsageHistory: NetworkUsageEntry[];
 
-  backendResults: Record<number, PipelineResult>;
+  // Key is a string, although often used as an index, because we need to reference using the camera unique name at times.
+  backendResults: Record<string, PipelineResult>;
   multitagResultBuffer: Record<string, MultitagResult[]>;
 
   colorPickingMode: boolean;
@@ -39,8 +40,6 @@ interface StateStore {
   calibrationData: {
     imageCount: number;
     videoFormatIndex: number;
-    minimumImageCount: number;
-    hasEnoughImages: boolean;
   };
 
   snackbarData: {
@@ -88,9 +87,7 @@ export const useStateStore = defineStore("state", {
 
       calibrationData: {
         imageCount: 0,
-        videoFormatIndex: 0,
+        videoFormatIndex: 0
-        minimumImageCount: 12,
-        hasEnoughImages: false
       },
 
       snackbarData: {
@@ -161,9 +158,7 @@ export const useStateStore = defineStore("state", {
     updateCalibrationStateValuesFromWebsocket(data: WebsocketCalibrationData) {
       this.calibrationData = {
         imageCount: data.count,
-        videoFormatIndex: data.videoModeIndex,
+        videoFormatIndex: data.videoModeIndex
-        minimumImageCount: data.minCount,
-        hasEnoughImages: data.hasEnough
       };
     },
     updateDiscoveredCameras(data: VsmState) {

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

@@ -64,17 +64,14 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     pipelineNames(): string[] {
       return this.currentCameraSettings.pipelineNicknames;
     },
-    currentPipelineName(): string {
-      return this.pipelineNames[useStateStore().currentCameraUniqueName];
-    },
     isDriverMode(): boolean {
-      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.DriverMode;
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.DriverMode.valueOf();
     },
     isCalibrationMode(): boolean {
-      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d;
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d.valueOf();
     },
     isFocusMode(): boolean {
-      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.FocusCamera;
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.FocusCamera.valueOf();
     },
     isCSICamera(): boolean {
       return this.currentCameraSettings.isCSICamera;
@@ -94,6 +91,9 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     fpsLimit(): number {
       return this.currentCameraSettings.fpsLimit;
     },
+    isEnabled(): boolean {
+      return this.currentCameraSettings.isEnabled;
+    },
     isConnected(): boolean {
       return this.currentCameraSettings.isConnected;
     },
@@ -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,
@@ -145,6 +142,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           maxWhiteBalanceTemp: d.maxWhiteBalanceTemp,
           matchedCameraInfo: d.matchedCameraInfo,
           fpsLimit: d.fpsLimit,
+          isEnabled: d.isEnabled,
           isConnected: d.isConnected,
           hasConnected: d.hasConnected,
           mismatch: d.mismatch
@@ -196,7 +194,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         addNewPipeline: [newPipelineName, pipelineType],
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Modify the settings of the currently selected pipeline of the provided camera.
@@ -220,15 +218,13 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       if (updateStore) {
         this.changePipelineSettingsInStore(settings, cameraUniqueName);
       }
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     changePipelineSettingsInStore(
       settings: Partial<ActivePipelineSettings>,
       cameraUniqueName: string = useStateStore().currentCameraUniqueName
     ) {
-      Object.entries(settings).forEach(([k, v]) => {
+      Object.assign(this.cameras[cameraUniqueName].pipelineSettings, settings);
-        this.cameras[cameraUniqueName].pipelineSettings[k] = v;
-      });
     },
     /**
      * Change the nickname of the currently selected pipeline of the provided camera.
@@ -249,7 +245,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       if (updateStore) {
         this.cameras[cameraUniqueName].pipelineSettings.pipelineNickname = newName;
       }
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Modify the Pipeline type of the currently selected pipeline of the provided camera. This overwrites the current pipeline's settings when the backend resets the current pipeline settings.
@@ -265,7 +261,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         pipelineType: type,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Change the index of the pipeline of the currently selected camera.
@@ -285,21 +281,22 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       };
       if (updateStore) {
         if (
-          this.cameras[cameraUniqueName].currentPipelineIndex !== -1 &&
+          this.cameras[cameraUniqueName].currentPipelineIndex !== WebsocketPipelineType.DriverMode.valueOf() &&
-          this.cameras[cameraUniqueName].currentPipelineIndex !== -2
+          this.cameras[cameraUniqueName].currentPipelineIndex !== WebsocketPipelineType.Calib3d.valueOf() &&
+          this.cameras[cameraUniqueName].currentPipelineIndex !== WebsocketPipelineType.FocusCamera.valueOf()
         ) {
           this.cameras[cameraUniqueName].lastPipelineIndex = this.cameras[cameraUniqueName].currentPipelineIndex;
         }
         this.cameras[cameraUniqueName].currentPipelineIndex = index;
       }
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     setDriverMode(isDriverMode: boolean, cameraUniqueName: string = useStateStore().currentCameraUniqueName) {
       const payload = {
         driverMode: isDriverMode,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Change the currently selected pipeline of the provided camera.
@@ -311,7 +308,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         deleteCurrentPipeline: {},
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Duplicate the pipeline at the provided index.
@@ -324,7 +321,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         duplicatePipeline: pipelineIndex,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Change the currently set camera
@@ -339,7 +336,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       if (updateStore) {
         useStateStore().currentCameraUniqueName = cameraUniqueName;
       }
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Change the nickname of the provided camera.
@@ -385,14 +382,12 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       const payload = {
         startPnpCalibration: {
           count: stateCalibData.imageCount,
-          minCount: stateCalibData.minimumImageCount,
-          hasEnough: stateCalibData.hasEnoughImages,
           videoModeIndex: stateCalibData.videoFormatIndex,
           ...calibrationInitData
         },
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * End the 3D calibration process for the provided camera.
@@ -424,7 +419,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         takeCalibrationSnapshot: true,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Save a snapshot of the input frame of the camera.
@@ -436,7 +431,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         saveInputSnapshot: true,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Save a snapshot of the output frame of the camera.
@@ -448,7 +443,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         saveOutputSnapshot: true,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     /**
      * Set the robot offset mode type.
@@ -461,7 +456,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         robotOffsetPoint: type,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     },
     getCalibrationCoeffs(
       resolution: Resolution,

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

@@ -10,6 +10,7 @@ import { NetworkConnectionType } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 import axios from "axios";
 import type { WebsocketSettingsUpdate } from "@/types/WebsocketDataTypes";
+import type { AprilTagFieldLayout } from "@/types/PhotonTrackingTypes";
 import { ref } from "vue";
 
 interface GeneralSettingsStore {
@@ -17,7 +18,7 @@ interface GeneralSettingsStore {
   network: NetworkSettings;
   lighting: LightingSettings;
   metrics: MetricData;
-  currentFieldLayout;
+  currentFieldLayout: AprilTagFieldLayout;
 }
 
 interface MetricsEntry {
@@ -184,7 +185,7 @@ export const useSettingsStore = defineStore("settings", {
       const payload = {
         enabledLEDPercentage: brightness
       };
-      useStateStore().websocket?.send(payload, true);
+      useStateStore().websocket?.send(payload);
     }
   }
 });

photon-client/src/types/PipelineTypes.ts

@@ -5,6 +5,7 @@ import type { ObjectDetectionModelProperties } from "@/types/SettingTypes";
  * The on-wire form of PipelineType.java (the enum is serialized with `ordinal()`)
  */
 export enum PipelineType {
+  Calibration3d = 1,
   DriverMode = 2,
   Reflective = 3,
   ColoredShape = 4,
@@ -35,18 +36,62 @@ export enum TargetModel {
   ReefscapeAlgae = 7
 }
 
+export enum ContourSortMode {
+  Largest = 0,
+  Smallest = 1,
+  Highest = 2,
+  Lowest = 3,
+  Leftmost = 4,
+  Rightmost = 5,
+  Centermost = 6
+}
+
+export enum ContourTargetOrientation {
+  Portrait = 0,
+  Landscape = 1
+}
+
+export enum ContourGroupingMode {
+  Single = 0,
+  Dual = 1,
+  TwoOrMore = 2
+}
+
+export enum ContourIntersection {
+  None = 0,
+  Up = 1,
+  Down = 2,
+  Left = 3,
+  Right = 4
+}
+
+export enum ContourShape {
+  Circle = 0,
+  Polygon = 1,
+  Triangle = 2,
+  Quadrilateral = 3
+}
+
+export enum ContourTargetOffsetPointEdge {
+  Center = 0,
+  Top = 1,
+  Bottom = 2,
+  Left = 3,
+  Right = 4
+}
+
 export interface PipelineSettings {
   offsetRobotOffsetMode: RobotOffsetPointMode;
   streamingFrameDivisor: number;
   offsetDualPointBArea: number;
-  contourGroupingMode: number;
+  contourGroupingMode: ContourGroupingMode;
   hsvValue: WebsocketNumberPair | [number, number];
   cameraGain: number;
   cameraBlueGain: number;
   cameraRedGain: number;
   cornerDetectionSideCount: number;
   contourRatio: WebsocketNumberPair | [number, number];
-  contourTargetOffsetPointEdge: number;
+  contourTargetOffsetPointEdge: ContourTargetOffsetPointEdge;
   pipelineNickname: string;
   inputImageRotationMode: number;
   contourArea: WebsocketNumberPair | [number, number];
@@ -56,7 +101,7 @@ export interface PipelineSettings {
   inputShouldShow: boolean;
   cameraAutoExposure: boolean;
   contourSpecklePercentage: number;
-  contourTargetOrientation: number;
+  contourTargetOrientation: ContourTargetOrientation;
   targetModel: TargetModel;
   cornerDetectionUseConvexHulls: boolean;
   outputShouldShow: boolean;
@@ -67,7 +112,7 @@ export interface PipelineSettings {
   ledMode: boolean;
   hueInverted: boolean;
   outputMaximumTargets: number;
-  contourSortMode: number;
+  contourSortMode: ContourSortMode;
   cameraExposureRaw: number;
   cameraMinExposureRaw: number;
   cameraMaxExposureRaw: number;
@@ -80,11 +125,13 @@ export interface PipelineSettings {
   cornerDetectionAccuracyPercentage: number;
   hsvSaturation: WebsocketNumberPair | [number, number];
   pipelineType: PipelineType;
-  contourIntersection: number;
+  contourIntersection: ContourIntersection;
 
   cameraAutoWhiteBalance: boolean;
   cameraWhiteBalanceTemp: number;
 
+  crosshair: boolean;
+
   blockForFrames: boolean;
 }
 export type ConfigurablePipelineSettings = Partial<
@@ -113,13 +160,13 @@ export const DefaultPipelineSettings: Omit<
   offsetRobotOffsetMode: RobotOffsetPointMode.None,
   streamingFrameDivisor: 0,
   offsetDualPointBArea: 0,
-  contourGroupingMode: 0,
+  contourGroupingMode: ContourGroupingMode.Single,
   hsvValue: { first: 50, second: 255 },
   cameraBlueGain: 20,
   cameraRedGain: 11,
   cornerDetectionSideCount: 4,
   contourRatio: { first: 0, second: 20 },
-  contourTargetOffsetPointEdge: 0,
+  contourTargetOffsetPointEdge: ContourTargetOffsetPointEdge.Center,
   pipelineNickname: "Placeholder Pipeline",
   inputImageRotationMode: 0,
   contourArea: { first: 0, second: 100 },
@@ -129,7 +176,7 @@ export const DefaultPipelineSettings: Omit<
   inputShouldShow: false,
   cameraAutoExposure: false,
   contourSpecklePercentage: 5,
-  contourTargetOrientation: 1,
+  contourTargetOrientation: ContourTargetOrientation.Landscape,
   cornerDetectionUseConvexHulls: true,
   outputShouldShow: true,
   outputShouldDraw: true,
@@ -138,7 +185,7 @@ export const DefaultPipelineSettings: Omit<
   hsvHue: { first: 50, second: 180 },
   hueInverted: false,
   outputMaximumTargets: 20,
-  contourSortMode: 0,
+  contourSortMode: ContourSortMode.Largest,
   offsetSinglePoint: { x: 0, y: 0 },
   cameraBrightness: 50,
   offsetDualPointAArea: 0,
@@ -147,11 +194,12 @@ export const DefaultPipelineSettings: Omit<
   cornerDetectionStrategy: 0,
   cornerDetectionAccuracyPercentage: 10,
   hsvSaturation: { first: 50, second: 255 },
-  contourIntersection: 1,
+  contourIntersection: ContourIntersection.Up,
   cameraAutoWhiteBalance: false,
   cameraWhiteBalanceTemp: 4000,
   cameraMinExposureRaw: 1,
   cameraMaxExposureRaw: 2,
+  crosshair: true,
   blockForFrames: true
 };
 
@@ -184,7 +232,7 @@ export interface ColoredShapePipelineSettings extends PipelineSettings {
   contourRadius: WebsocketNumberPair | [number, number];
   circleDetectThreshold: number;
   accuracyPercentage: number;
-  contourShape: number;
+  contourShape: ContourShape;
   contourPerimeter: WebsocketNumberPair | [number, number];
   minDist: number;
   maxCannyThresh: number;
@@ -209,7 +257,7 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
   contourRadius: { first: 0, second: 100 },
   circleDetectThreshold: 5,
   accuracyPercentage: 10,
-  contourShape: 2,
+  contourShape: ContourShape.Triangle,
   contourPerimeter: { first: 0, second: 1.7976931348623157e308 },
   minDist: 20,
   maxCannyThresh: 90
@@ -324,13 +372,14 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
 };
 
 export interface Calibration3dPipelineSettings extends PipelineSettings {
+  pipelineType: PipelineType.Calibration3d;
   drawAllSnapshots: boolean;
 }
 export type ConfigurableCalibration3dPipelineSettings = Partial<Omit<Calibration3dPipelineSettings, "pipelineType">> &
   ConfigurablePipelineSettings;
 export const DefaultCalibration3dPipelineSettings: Calibration3dPipelineSettings = {
   ...DefaultPipelineSettings,
-  pipelineType: PipelineType.ObjectDetection,
+  pipelineType: PipelineType.Calibration3d,
   cameraGain: 20,
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,

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[];
@@ -276,6 +259,7 @@ export interface UiCameraConfiguration {
   maxWhiteBalanceTemp: number;
 
   fpsLimit: number;
+  isEnabled: boolean;
 
   matchedCameraInfo: PVCameraInfo;
   isConnected: boolean;
@@ -438,15 +422,13 @@ 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,
   isConnected: true,
   hasConnected: true,
   mismatch: false

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 {
@@ -68,6 +65,7 @@ export interface WebsocketCameraSettingsUpdate {
   maxWhiteBalanceTemp: number;
   matchedCameraInfo: PVCameraInfo;
   fpsLimit: number;
+  isEnabled: boolean;
   isConnected: boolean;
   hasConnected: boolean;
   mismatch: boolean;

photon-client/src/views/CameraMatchingView.vue

@@ -2,13 +2,7 @@
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { computed, inject, ref } from "vue";
 import { useStateStore } from "@/stores/StateStore";
-import {
+import { PlaceholderCameraSettings, type PVCameraInfo } from "@/types/SettingTypes";
-  PlaceholderCameraSettings,
-  PVCameraInfo,
-  type PVCSICameraInfo,
-  type PVFileCameraInfo,
-  type PVUsbCameraInfo
-} from "@/types/SettingTypes";
 import { axiosPost, getResolutionString } from "@/lib/PhotonUtils";
 import PhotonCameraStream from "@/components/app/photon-camera-stream.vue";
 import PvDeleteModal from "@/components/common/pv-delete-modal.vue";
@@ -18,20 +12,22 @@ import { useTheme } from "vuetify";
 
 const theme = useTheme();
 
-const formatUrl = (port) => `http://${inject("backendHostname")}:${port}/stream.mjpg`;
+const backendHostname = inject<string>("backendHostname");
+const formatUrl = (port: number) => `http://${backendHostname}:${port}/stream.mjpg`;
 
 const activatingModule = ref(false);
-const activateModule = (moduleUniqueName: string) => {
+const activateModule = async (moduleUniqueName: string) => {
   if (activatingModule.value) return;
   activatingModule.value = true;
 
-  axiosPost("/utils/activateMatchedCamera", "activate a matched camera", {
+  await axiosPost("/utils/activateMatchedCamera", "activate a matched camera", {
     cameraUniqueName: moduleUniqueName
-  }).finally(() => (activatingModule.value = false));
+  });
+  activatingModule.value = false;
 };
 
 const assigningCamera = ref(false);
-const assignCamera = (cameraInfo: PVCameraInfo) => {
+const assignCamera = async (cameraInfo: PVCameraInfo) => {
   if (assigningCamera.value) return;
   assigningCamera.value = true;
 
@@ -39,48 +35,39 @@ const assignCamera = (cameraInfo: PVCameraInfo) => {
     cameraInfo: cameraInfo
   };
 
-  axiosPost("/utils/assignUnmatchedCamera", "assign an unmatched camera", payload).finally(
+  await axiosPost("/utils/assignUnmatchedCamera", "assign an unmatched camera", payload);
-    () => (assigningCamera.value = false)
+  assigningCamera.value = false;
-  );
 };
 
 const deactivatingModule = ref(false);
-const deactivateModule = (cameraUniqueName: string) => {
+const deactivateModule = async (cameraUniqueName: string) => {
   if (deactivatingModule.value) return;
   deactivatingModule.value = true;
-  axiosPost("/utils/unassignCamera", "unassign a camera", { cameraUniqueName: cameraUniqueName }).finally(
+  await axiosPost("/utils/unassignCamera", "unassign a camera", { cameraUniqueName: cameraUniqueName });
-    () => (deactivatingModule.value = false)
+  deactivatingModule.value = false;
-  );
 };
 
 const confirmDeleteDialog = ref({ show: false, nickname: "", cameraUniqueName: "" });
 const deletingCamera = ref<string | null>(null);
 
-const deleteThisCamera = (cameraUniqueName: string) => {
+const deleteThisCamera = async (cameraUniqueName: string) => {
   if (deletingCamera.value) return;
   deletingCamera.value = cameraUniqueName;
-  axiosPost("/utils/nukeOneCamera", "delete a camera", { cameraUniqueName: cameraUniqueName }).finally(() => {
+  await axiosPost("/utils/nukeOneCamera", "delete a camera", { cameraUniqueName: cameraUniqueName });
-    deletingCamera.value = null;
+  deletingCamera.value = null;
-  });
 };
 
-const cameraConnected = (uniquePath: string): boolean => {
+const cameraConnected = (uniquePath: string | undefined): boolean => {
-  return (
+  if (!uniquePath) return false;
-    useStateStore().vsmState.allConnectedCameras.find((it) => cameraInfoFor(it).uniquePath === uniquePath) !== undefined
+  return useStateStore().vsmState.allConnectedCameras.find((it) => 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)
   );
 });
 
@@ -91,8 +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)
     )
 );
 
@@ -105,41 +92,24 @@ const setCameraView = (camera: PVCameraInfo | null, isConnected: boolean | null)
   viewingCamera.value = [camera, isConnected];
 };
 
-/**
- * Get the connection-type-specific camera info from the given PVCameraInfo object.
- */
-const cameraInfoFor = (camera: PVCameraInfo | null): PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo | any => {
-  if (!camera) return null;
-  if (camera.PVUsbCameraInfo) {
-    return camera.PVUsbCameraInfo;
-  }
-  if (camera.PVCSICameraInfo) {
-    return camera.PVCSICameraInfo;
-  }
-  if (camera.PVFileCameraInfo) {
-    return camera.PVFileCameraInfo;
-  }
-  return {};
-};
-
 /**
  * Find the PVCameraInfo currently occupying the same uniquePath as the the given module
  */
 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
     }
   );
 };
@@ -158,12 +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>
@@ -172,7 +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]
                   "
                 >
@@ -214,7 +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"
@@ -233,12 +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>
@@ -315,7 +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>
@@ -327,12 +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>
@@ -377,15 +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>
@@ -436,7 +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>
@@ -446,9 +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-client/src/views/DashboardView.vue

@@ -77,8 +77,18 @@ const conflictingCameraShown = computed<boolean>(() => {
   return useSettingsStore().general.conflictingCameras.length > 0;
 });
 
-const fpsLimitWarningShown = computed<boolean>(() => {
+const fpsLimitedCameras = computed<string>(() => {
-  return Object.values(useCameraSettingsStore().cameras).some((c) => c.fpsLimit > 0);
+  return Object.values(useCameraSettingsStore().cameras)
+    .filter((c) => c.fpsLimit > 0)
+    .map((c) => c.nickname)
+    .join(", ");
+});
+
+const disabledCameras = computed<string>(() => {
+  return Object.values(useCameraSettingsStore().cameras)
+    .filter((c) => !c.isEnabled)
+    .map((c) => c.nickname)
+    .join(", ");
 });
 
 const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfiguration);
@@ -111,7 +121,7 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
       </span>
     </v-alert>
     <v-alert
-      v-if="fpsLimitWarningShown"
+      v-if="fpsLimitedCameras"
       class="mb-3"
       color="error"
       density="compact"
@@ -119,10 +129,22 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
       :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
     >
       <span
-        >One or more cameras have an FPS limit set! This may cause performance issues. Check your logs for more
+        >{{ fpsLimitedCameras }} have an FPS limit set! This may cause performance issues. Check your logs for more
         information.
       </span>
     </v-alert>
+    <v-alert
+      v-if="disabledCameras"
+      class="mb-3"
+      color="error"
+      density="compact"
+      icon="mdi-alert-circle-outline"
+      :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
+    >
+      <span
+        >{{ disabledCameras }} are disabled! This may cause performance issues. Check your logs for more information.
+      </span>
+    </v-alert>
     <v-alert
       v-if="conflictingCameraShown"
       class="mb-3"

photon-client/src/views/DocsView.vue

@@ -1,5 +1,6 @@
 <script setup lang="ts">
 const devMode = process.env.NODE_ENV === "development";
+const docsSrc = import.meta.env.MODE === "demo" ? "https://docs.photonvision.org" : "docs/index.html";
 </script>
 <template>
   <div style="overflow: hidden; height: 100vh; width: 100%">
@@ -21,7 +22,7 @@ const devMode = process.env.NODE_ENV === "development";
     </div>
     <div v-else style="width: 100%; height: 100%">
       <!--suppress HtmlUnknownTarget -->
-      <iframe src="docs/index.html" style="overflow: hidden; height: 100%; width: 100%; border: 0" />
+      <iframe :src="docsSrc" style="overflow: hidden; height: 100%; width: 100%; border: 0" />
     </div>
   </div>
 </template>

photon-client/tsconfig.config.json

@@ -1,8 +0,0 @@
-{
-  "extends": "@vue/tsconfig/tsconfig.json",
-  "include": ["vite.config.*"],
-  "compilerOptions": {
-    "composite": true,
-    "types": ["node"]
-  }
-}

photon-client/tsconfig.json

@@ -1,9 +1,10 @@
 {
   "extends": "@vue/tsconfig/tsconfig.dom.json",
-  "include": ["env.d.ts", "src/**/*", "src/**/*.vue"],
+  "include": ["env.d.ts", "vite.config.ts", "playwright.config.ts", "src/**/*", "src/**/*.vue", "tests/**/*"],
   "compilerOptions": {
-    "moduleResolution": "node",
+    "lib": ["ES2022", "DOM", "DOM.Iterable"],
-    "noImplicitAny": false,
+    "moduleResolution": "bundler",
+    "noImplicitAny": true,
     "strict": true,
     "removeComments": true,
     "sourceMap": true,
@@ -14,9 +15,4 @@
       "@/*": ["./src/*"]
     }
   },
-  "references": [
-    {
-      "path": "./tsconfig.config.json"
-    }
-  ]
 }

photon-core/build.gradle

@@ -6,7 +6,7 @@ ext.licenseFile = file("$rootDir/LICENSE")
 ext.externalLicensesFolder = file("$rootDir/ExternalLicenses")
 apply from: "${rootDir}/shared/common.gradle"
 
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+wpilibTools.deps.wpilibVersion = wpilibVersion
 
 def nativeConfigName = 'wpilibNatives'
 configurations {
@@ -23,11 +23,12 @@ dependencies {
     wpilibNatives wpilibTools.deps.wpilib("wpimath")
     wpilibNatives wpilibTools.deps.wpilib("wpinet")
     wpilibNatives wpilibTools.deps.wpilib("wpiutil")
+    wpilibNatives wpilibTools.deps.wpilib("datalog")
     wpilibNatives wpilibTools.deps.wpilib("ntcore")
     wpilibNatives wpilibTools.deps.wpilib("cscore")
     wpilibNatives wpilibTools.deps.wpilib("apriltag")
     wpilibNatives wpilibTools.deps.wpilib("hal")
-    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
+    wpilibNatives wpilibTools.deps.wpilibOpenCv(openCVversion)
 
     // These stay as implementation dependencies since they don't have native code that gets packaged
     implementation 'org.zeroturnaround:zt-zip:1.14'
@@ -40,7 +41,7 @@ dependencies {
         wpilibNatives("org.photonvision:rknn_jni-jni:$rknnVersion:$jniPlatform") {
             transitive = false
         }
-        wpilibNatives("org.photonvision:rubik_jni-jni:$rubikVersion:$jniPlatform") {
+        wpilibNatives("org.photonvision:tflite_jni-jni:$tfliteVersion:$jniPlatform") {
             transitive = false
         }
         wpilibNatives("org.photonvision:photon-libcamera-gl-driver-jni:$libcameraDriverVersion:$jniPlatform") {
@@ -48,11 +49,17 @@ dependencies {
         }
     }
 
+    if (jniPlatform == "linuxx86-64") {
+        wpilibNatives("org.photonvision:tflite_jni-jni:$tfliteVersion:$jniPlatform") {
+            transitive = false
+        }
+    }
+
     implementation("org.photonvision:rknn_jni-java:$rknnVersion") {
         transitive = false
     }
 
-    implementation("org.photonvision:rubik_jni-java:$rubikVersion") {
+    implementation("org.photonvision:tflite_jni-java:$tfliteVersion") {
         transitive = false
     }
 

photon-core/src/main/java/org/photonvision/common/LoadJNI.java

@@ -26,7 +26,7 @@ public class LoadJNI {
     private static HashMap<JNITypes, Boolean> loadedMap = new HashMap<>();
 
     public enum JNITypes {
-        RUBIK_DETECTOR("tensorflowlite", "tensorflowlite_c", "external_delegate", "rubik_jni"),
+        RUBIK_DETECTOR("tflite_jni"),
         RKNN_DETECTOR("rga", "rknnrt", "rknn_jni"),
         MRCAL("mrcal_jni"),
         LIBCAMERA("photonlibcamera");

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

@@ -17,10 +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 edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.UUID;
@@ -35,7 +32,9 @@ import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 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

@@ -17,40 +17,50 @@
 
 package org.photonvision.common.configuration;
 
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import io.avaje.jsonb.Json;
 import java.util.ArrayList;
+import java.util.List;
+import org.photonvision.common.hardware.statusLED.StatusLEDType;
 
-@JsonIgnoreProperties(ignoreUnknown = true)
+@Json
 public class HardwareConfig {
-    public final String deviceName;
+    public String deviceName;
 
     // LED control
-    public final ArrayList<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 ArrayList<Integer> statusRGBPins;
+    public StatusLEDType statusLEDType;
-    public final boolean statusRGBActiveHigh;
+
+    // MIGRATION: 2026
+    @Json.Alias("statusRGBPins")
+    public List<Integer> statusLEDPins;
+
+    // MIGRATION: 2026
+    @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,
-            ArrayList<Integer> statusRGBPins,
+            StatusLEDType statusLEDType,
-            boolean statusRGBActiveHigh,
+            List<Integer> statusLEDPins,
+            boolean statusLEDActiveHigh,
             String getGPIOCommand,
             String setGPIOCommand,
             String setPWMCommand,
@@ -63,8 +73,9 @@ public class HardwareConfig {
         this.ledsCanDim = ledsCanDim;
         this.ledBrightnessRange = ledBrightnessRange;
         this.ledPWMFrequency = ledPwmFrequency;
-        this.statusRGBPins = statusRGBPins;
+        this.statusLEDType = statusLEDType;
-        this.statusRGBActiveHigh = statusRGBActiveHigh;
+        this.statusLEDPins = statusLEDPins;
+        this.statusLEDActiveHigh = statusLEDActiveHigh;
         this.getGPIOCommand = getGPIOCommand;
         this.setGPIOCommand = setGPIOCommand;
         this.setPWMCommand = setPWMCommand;
@@ -80,8 +91,9 @@ public class HardwareConfig {
         ledsCanDim = false;
         ledBrightnessRange = new ArrayList<>();
         ledPWMFrequency = 0;
-        statusRGBPins = new ArrayList<>();
+        statusLEDType = StatusLEDType.RGB;
-        statusRGBActiveHigh = false;
+        statusLEDPins = new ArrayList<>();
+        statusLEDActiveHigh = false;
         getGPIOCommand = "";
         setGPIOCommand = "";
         setPWMCommand = "";
@@ -121,10 +133,12 @@ public class HardwareConfig {
                 + ledBrightnessRange
                 + ", ledPWMFrequency="
                 + ledPWMFrequency
-                + ", statusRGBPins="
+                + ", statusLEDType="
-                + statusRGBPins
+                + statusLEDType
-                + ", statusRGBActiveHigh"
+                + ", statusLEDPins="
-                + statusRGBActiveHigh
+                + statusLEDPins
+                + ", statusLEDActiveHigh"
+                + statusLEDActiveHigh
                 + ", getGPIOCommand="
                 + getGPIOCommand
                 + ", setGPIOCommand="

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

@@ -17,10 +17,11 @@
 
 package org.photonvision.common.configuration;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.json.JsonException;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import io.avaje.jsonb.Jsonb;
-import edu.wpi.first.apriltag.AprilTagFields;
 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;
@@ -36,10 +37,9 @@ 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;
 import org.zeroturnaround.zip.ZipUtil;
 
 class LegacyConfigProvider extends ConfigProvider {
@@ -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 edu.wpi.first.apriltag.AprilTagFieldLayout;
+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

@@ -17,29 +17,32 @@
 
 package org.photonvision.common.configuration;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import io.avaje.json.JsonException;
-import edu.wpi.first.apriltag.AprilTagFields;
+import io.avaje.jsonb.JsonType;
-import edu.wpi.first.cscore.UsbCameraInfo;
+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;
+import org.wpilib.vision.apriltag.AprilTagFields;
+import org.wpilib.vision.camera.UsbCameraInfo;
 
 /**
  * Saves settings in a SQLite database file (called photon.sqlite).
@@ -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/NTDataChangeListener.java

@@ -17,11 +17,11 @@
 
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.networktables.NetworkTableEvent;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.Subscriber;
 import java.util.EnumSet;
 import java.util.function.Consumer;
+import org.wpilib.networktables.NetworkTableEvent;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.networktables.Subscriber;
 
 public class NTDataChangeListener {
     private final NetworkTableInstance instance;
@@ -36,7 +36,7 @@ public class NTDataChangeListener {
         this.instance = instance;
         listenerID =
                 this.instance.addListener(
-                        watchedEntry, EnumSet.of(NetworkTableEvent.Kind.kValueAll), dataChangeConsumer);
+                        watchedEntry, EnumSet.of(NetworkTableEvent.Kind.VALUE_ALL), dataChangeConsumer);
     }
 
     public void remove() {

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -17,10 +17,6 @@
 
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEvent;
-import edu.wpi.first.networktables.NetworkTablesJNI;
 import java.util.List;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
@@ -35,6 +31,10 @@ import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.pipeline.result.CalibrationPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.networktables.NetworkTable;
+import org.wpilib.networktables.NetworkTableEvent;
+import org.wpilib.networktables.NetworkTablesJNI;
 
 public class NTDataPublisher implements CVPipelineResultConsumer {
     private final Logger logger = new Logger(NTDataPublisher.class, LogGroup.General);
@@ -55,6 +55,10 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
     private final Consumer<Integer> fpsLimitConsumer;
     private final Supplier<Integer> fpsLimitSupplier;
 
+    NTDataChangeListener isEnabledListener;
+    private final Consumer<Boolean> isEnabledConsumer;
+    private final BooleanSupplier enabledSupplier;
+
     public NTDataPublisher(
             String cameraNickname,
             Supplier<Integer> pipelineIndexSupplier,
@@ -62,13 +66,17 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
             BooleanSupplier driverModeSupplier,
             Consumer<Boolean> driverModeConsumer,
             Supplier<Integer> fpsLimitSupplier,
-            Consumer<Integer> fpsLimitConsumer) {
+            Consumer<Integer> fpsLimitConsumer,
+            BooleanSupplier enabledSupplier,
+            Consumer<Boolean> isEnabledConsumer) {
         this.pipelineIndexSupplier = pipelineIndexSupplier;
         this.pipelineIndexConsumer = pipelineIndexConsumer;
         this.driverModeSupplier = driverModeSupplier;
         this.driverModeConsumer = driverModeConsumer;
         this.fpsLimitSupplier = fpsLimitSupplier;
         this.fpsLimitConsumer = fpsLimitConsumer;
+        this.enabledSupplier = enabledSupplier;
+        this.isEnabledConsumer = isEnabledConsumer;
 
         updateCameraNickname(cameraNickname);
         updateEntries();
@@ -124,6 +132,19 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
         logger.debug("Set FPS limit to " + newFPSLimit);
     }
 
+    private void onEnabledChange(NetworkTableEvent entryNotification) {
+        var newEnabled = entryNotification.valueData.value.getBoolean();
+        var originalEnabled = enabledSupplier.getAsBoolean();
+
+        if (newEnabled == originalEnabled) {
+            logger.debug("Enabled value is already " + newEnabled);
+            return;
+        }
+
+        isEnabledConsumer.accept(newEnabled);
+        logger.debug("Set is enabled to " + newEnabled);
+    }
+
     private void removeEntries() {
         if (pipelineIndexListener != null) pipelineIndexListener.remove();
         if (driverModeListener != null) driverModeListener.remove();
@@ -148,6 +169,10 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
         fpsLimitListener =
                 new NTDataChangeListener(
                         ts.subTable.getInstance(), ts.fpsLimitSubscriber, this::onFPSLimitChange);
+
+        isEnabledListener =
+                new NTDataChangeListener(
+                        ts.subTable.getInstance(), ts.enabledSubscriber, this::onEnabledChange);
     }
 
     public void updateCameraNickname(String newCameraNickname) {
@@ -177,7 +202,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
         var offset = NetworkTablesManager.getInstance().getOffset();
 
-        // Transform the metadata timestamps from the local nt::Now timebase to the Time Sync Server's
+        // Transform the metadata timestamps from the local wpi::nt::Now timebase to the Time Sync
+        // Server's
         // timebase
         var simplified =
                 new PhotonPipelineResult(
@@ -197,6 +223,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
         ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
         ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
         ts.fpsLimitPublisher.set(fpsLimitSupplier.get());
+        ts.enabledPublisher.set(enabledSupplier.getAsBoolean());
         ts.latencyMillisEntry.set(acceptedResult.getLatencyMillis());
         ts.fpsEntry.set(acceptedResult.fps);
         ts.hasTargetEntry.set(acceptedResult.hasTargets());

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDriverStation.java

@@ -17,15 +17,15 @@
 
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.networktables.BooleanSubscriber;
-import edu.wpi.first.networktables.IntegerSubscriber;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEvent.Kind;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.StringSubscriber;
 import java.util.EnumSet;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.wpilib.networktables.BooleanSubscriber;
+import org.wpilib.networktables.IntegerSubscriber;
+import org.wpilib.networktables.NetworkTable;
+import org.wpilib.networktables.NetworkTableEvent.Kind;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.networktables.StringSubscriber;
 
 // Helper to print when the robot transitions modes
 public class NTDriverStation {
@@ -68,9 +68,9 @@ public class NTDriverStation {
 
         fmsTable.addListener(
                 "FMSControlData",
-                EnumSet.of(Kind.kValueAll),
+                EnumSet.of(Kind.VALUE_ALL),
                 (table, key, event) -> {
-                    if (event.is(Kind.kValueAll) && event.valueData.value.isInteger()) {
+                    if (event.is(Kind.VALUE_ALL) && event.valueData.value.isInteger()) {
                         // Logger totally isnt thread safe but whatevs
                         var word = NTDriverStation.getControlWord(event.valueData.value.getInteger());
 
@@ -125,7 +125,7 @@ public class NTDriverStation {
     }
 
     // Copied from
-    // https://github.com/wpilibsuite/allwpilib/blob/07192285f65321a2f7363227a2216f09b715252d/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java#L123C1-L140C4
+    // https://github.com/wpilibsuite/allwpilib/blob/07192285f65321a2f7363227a2216f09b715252d/hal/src/main/java/org/wpilib/hardware/hal/DriverStationJNI.java#L123C1-L140C4
     // TODO: upstream!
     /**
      * Gets the current control word of the driver station.

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -17,22 +17,12 @@
 
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import io.avaje.json.JsonException;
-import edu.wpi.first.cscore.CameraServerJNI;
+import io.avaje.jsonb.Jsonb;
-import edu.wpi.first.networktables.LogMessage;
-import edu.wpi.first.networktables.MultiSubscriber;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEvent;
-import edu.wpi.first.networktables.NetworkTableEvent.Kind;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.StringSubscriber;
-import edu.wpi.first.wpilibj.Alert;
-import edu.wpi.first.wpilibj.Alert.AlertType;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import java.io.IOException;
 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;
@@ -46,7 +36,18 @@ 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;
+import org.wpilib.networktables.MultiSubscriber;
+import org.wpilib.networktables.NetworkTable;
+import org.wpilib.networktables.NetworkTableEvent;
+import org.wpilib.networktables.NetworkTableEvent.Kind;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.networktables.StringSubscriber;
+import org.wpilib.smartdashboard.SmartDashboard;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.vision.camera.CameraServerJNI;
 
 public class NetworkTablesManager {
     private static final Logger logger =
@@ -66,9 +67,9 @@ public class NetworkTablesManager {
             new MultiSubscriber(ntInstance, new String[] {kRootTableName + "/" + kCoprocTableName + "/"});
 
     // Creating the alert up here since it should be persistent
-    private final Alert conflictAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert conflictAlert = new Alert("PhotonAlerts", "", Level.MEDIUM);
 
-    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", Level.MEDIUM);
 
     public boolean conflictingHostname = false;
     public String conflictingCameras = "";
@@ -85,11 +86,11 @@ public class NetworkTablesManager {
 
     private NetworkTablesManager() {
         ntInstance.addLogger(
-                LogMessage.kInfo, LogMessage.kCritical, this::logNtMessage); // to hide error messages
+                LogMessage.INFO, LogMessage.CRITICAL, this::logNtMessage); // to hide error messages
         ntInstance.addConnectionListener(true, this::checkNtConnectState); // to hide error messages
 
         ntInstance.addListener(
-                m_fieldLayoutSubscriber, EnumSet.of(Kind.kValueAll), this::onFieldLayoutChanged);
+                m_fieldLayoutSubscriber, EnumSet.of(Kind.VALUE_ALL), this::onFieldLayoutChanged);
 
         ntDriverStation = new NTDriverStation(this.getNTInst());
 
@@ -126,16 +127,16 @@ public class NetworkTablesManager {
     private void logNtMessage(NetworkTableEvent event) {
         String levelmsg = "DEBUG";
         LogLevel pvlevel = LogLevel.DEBUG;
-        if (event.logMessage.level >= LogMessage.kCritical) {
+        if (event.logMessage.level >= LogMessage.CRITICAL) {
             pvlevel = LogLevel.ERROR;
             levelmsg = "CRITICAL";
-        } else if (event.logMessage.level >= LogMessage.kError) {
+        } else if (event.logMessage.level >= LogMessage.ERROR) {
             pvlevel = LogLevel.ERROR;
             levelmsg = "ERROR";
-        } else if (event.logMessage.level >= LogMessage.kWarning) {
+        } else if (event.logMessage.level >= LogMessage.WARNING) {
             pvlevel = LogLevel.WARN;
             levelmsg = "WARNING";
-        } else if (event.logMessage.level >= LogMessage.kInfo) {
+        } else if (event.logMessage.level >= LogMessage.INFO) {
             pvlevel = LogLevel.INFO;
             levelmsg = "INFO";
         }
@@ -156,16 +157,14 @@ public class NetworkTablesManager {
     }
 
     public void checkNtConnectState(NetworkTableEvent event) {
-        var isConnEvent = event.is(Kind.kConnected);
+        var isConnEvent = event.is(Kind.CONNECTED);
-        var isDisconnEvent = event.is(Kind.kDisconnected);
+        var isDisconnEvent = event.is(Kind.DISCONNECTED);
 
         if (isDisconnEvent) {
             var msg =
                     String.format(
                             "NT lost connection to %s:%d! (NT version %d). Will retry in background.",
-                            event.connInfo.remote_ip,
+                            event.connInfo.remoteIp, event.connInfo.remotePort, event.connInfo.protocolVersion);
-                            event.connInfo.remote_port,
-                            event.connInfo.protocol_version);
             logger.error(msg);
             HardwareManager.getInstance().setNTConnected(false);
 
@@ -174,9 +173,7 @@ public class NetworkTablesManager {
             var msg =
                     String.format(
                             "NT connected to %s:%d! (NT version %d)",
-                            event.connInfo.remote_ip,
+                            event.connInfo.remoteIp, event.connInfo.remotePort, event.connInfo.protocolVersion);
-                            event.connInfo.remote_port,
-                            event.connInfo.protocol_version);
             logger.info(msg);
             HardwareManager.getInstance().setNTConnected(true);
 
@@ -199,7 +196,7 @@ 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 +204,7 @@ 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);
         }
@@ -225,7 +222,7 @@ public class NetworkTablesManager {
         if (ntInstance.isConnected()) {
             var connections = ntInstance.getConnections();
             if (connections.length > 0) {
-                subMap.put("address", connections[0].remote_ip + ":" + connections[0].remote_port);
+                subMap.put("address", connections[0].remoteIp + ":" + connections[0].remotePort);
             }
             subMap.put("clients", connections.length);
         }
@@ -270,7 +267,7 @@ public class NetworkTablesManager {
             return;
         }
 
-        HashMap<String, CameraConfiguration> cameraConfigs =
+        Map<String, CameraConfiguration> cameraConfigs =
                 ConfigManager.getInstance().getConfig().getCameraConfigurations();
         String[] cameraNames =
                 cameraConfigs.entrySet().stream()
@@ -358,7 +355,7 @@ public class NetworkTablesManager {
         ntInstance.stopClient();
         String hostname = config.shouldManage ? config.hostname : CameraServerJNI.getHostname();
         logger.debug("Starting NT Client with hostname: " + hostname);
-        ntInstance.startClient4(hostname);
+        ntInstance.startClient(hostname);
         try {
             int t = Integer.parseInt(config.ntServerAddress);
             if (!m_isRetryingConnection) logger.info("Starting NT Client, server team is " + t);

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/TimeSyncManager.java

@@ -17,16 +17,16 @@
 
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.cscore.CameraServerJNI;
-import edu.wpi.first.networktables.IntegerPublisher;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.jni.TimeSyncClient;
 import org.photonvision.jni.TimeSyncServer;
+import org.wpilib.networktables.IntegerPublisher;
+import org.wpilib.networktables.NetworkTable;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.vision.camera.CameraServerJNI;
 
 public class TimeSyncManager {
     private static final Logger logger = new Logger(TimeSyncManager.class, LogGroup.NetworkTables);
@@ -66,7 +66,7 @@ public class TimeSyncManager {
     public synchronized long getOffset() {
         // if we're a client, return the offset to server time
         if (m_client != null) return m_client.getOffset();
-        // if we're a server, our time (nt::Now) is the same as network time
+        // if we're a server, our time (wpi::nt::Now) is the same as network time
         if (m_server != null) return 0;
 
         // ????? should never hit
@@ -112,7 +112,7 @@ public class TimeSyncManager {
             var conns = ntInstance.getConnections();
 
             if (conns.length > 0) {
-                var newServer = conns[0].remote_ip;
+                var newServer = conns[0].remoteIp;
                 if (!m_client.getServer().equals(newServer)) {
                     logger.debug("Changing TimeSyncClient server to " + newServer);
                     m_client.setServer(newServer);