lint

.github/workflows/build.yml

@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2027.0.0
+  IMAGE_VERSION: v2026.1.3
 
 jobs:
 
@@ -21,116 +21,102 @@ 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:
-  #       - name: Checkout code
-  #         uses: actions/checkout@v6
-  #         with:
-  #           fetch-depth: 0
-  #       - name: Fetch tags
-  #         run: git fetch --tags --force
-  #       - uses: actions/setup-java@v5
-  #         with:
-  #           java-version: 25
-  #           distribution: temurin
-  #       - name: Install SystemCore Toolchain
-  #         run: ./gradlew installSystemCoreToolchain
-  #       - name: Delete duplicate toolchains
-  #         run: |
-  #           find ~/.gradle/cache/ -name *bookworm* -exec rm -rf {} +
-  #           du -h . | sort -h
-  #         if: matrix.os == 'ubuntu-24.04'
-  #       # Download prebuilt photonlib artifacts
-  #       - uses: actions/download-artifact@v7
-  #         with:
-  #           name: maven-${{ matrix.artifact-name }}
-  #       - uses: actions/download-artifact@v7
-  #         with:
-  #           name: maven-SystemCore
-  #       - name: Move to maven local
-  #         run: |
-  #           mkdir -p ~/.m2/repository/
-  #           mv maven/org ~/.m2/repository/
-  #       - name: Copy vendordeps
-  #         shell: bash
-  #         run: |
-  #           for vendordep_folder in photonlib-*-examples/*/; do
-  #           # Remove trailing slash for cross-platform compatibility
-  #             vendordep_folder="${vendordep_folder%/}"
-
-  #             # Filter for projects only
-  #             if [ -e "$vendordep_folder/build.gradle" ]; then
-  #               mkdir -p "$vendordep_folder/vendordeps/"
-  #               cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
-  #             fi
-  #           done
-  #       - name: Build Java examples
-  #         working-directory: photonlib-java-examples
-  #         run: |
-  #           ./gradlew build
-  #           ./gradlew clean
-  #       - name: Build C++ examples
-  #         working-directory: photonlib-cpp-examples
-  #         run: |
-  #           ./gradlew build
-  #           ./gradlew clean
-
-  typecheck-client:
-    name: "Typecheck Client"
-    runs-on: ubuntu-24.04
     steps:
       - name: Checkout code
         uses: actions/checkout@v6
-      - name: Install pnpm
-        uses: pnpm/action-setup@v5
         with:
-          version: 11
+          fetch-depth: 0
-      - name: Setup Node.js
+      - name: Fetch tags
-        uses: actions/setup-node@v6
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v5
         with:
-          node-version: 24
+          java-version: 17
-          cache: pnpm
+          distribution: temurin
-          cache-dependency-path: photon-client/pnpm-lock.yaml
+      - name: Install RoboRIO Toolchain
-      - name: Typecheck Client
+        run: ./gradlew installRoboRioToolchain
-        working-directory: photon-client
+      - name: Delete duplicate toolchains
         run: |
-          pnpm install --frozen-lockfile
+          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
-          pnpm type-check
+          du -h . | sort -h
+        if: matrix.os == 'ubuntu-24.04'
+      # Download prebuilt photonlib artifacts
+      - uses: actions/download-artifact@v7
+        with:
+          name: maven-${{ matrix.artifact-name }}
+      - uses: actions/download-artifact@v7
+        with:
+          name: maven-Athena
+      - name: Move to maven local
+        run: |
+          mkdir -p ~/.m2/repository/
+          mv maven/org ~/.m2/repository/
+      - name: Copy vendordeps
+        shell: bash
+        run: |
+          for vendordep_folder in photonlib-*-examples/*/; do
+          # Remove trailing slash for cross-platform compatibility
+            vendordep_folder="${vendordep_folder%/}"
+
+            # Filter for projects only
+            if [ -e "$vendordep_folder/build.gradle" ]; then
+              mkdir -p "$vendordep_folder/vendordeps/"
+              cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
+            fi
+          done
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          ./gradlew build
+          ./gradlew clean
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          ./gradlew build
+          ./gradlew clean
+
   playwright-tests:
     name: "Playwright E2E tests"
     runs-on: ubuntu-24.04
     needs: [validation]
     steps:
+      # Checkout code.
       - name: Checkout code
         uses: actions/checkout@v6
-      - uses: actions/setup-java@v5
         with:
-          java-version: 25
+          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
-      - uses: pnpm/action-setup@v5
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
         with:
-          version: 11
+          version: 10
-      - uses: actions/setup-node@v6
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
         with:
-          cache: pnpm
+          node-version: 22
-          cache-dependency-path: photon-client/pnpm-lock.yaml
-          node-version: 24
       - name: Setup tests
         working-directory: photon-client
         run: |
@@ -141,10 +127,10 @@ jobs:
       - name: Run Playwright tests
         working-directory: photon-client
         run: pnpm test
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
         if: ${{ !cancelled() }}
         with:
-          name: "Playwright Report"
+          name: playwright-report
           path: photon-client/playwright-report/
           retention-days: 30
   build-gradle:
@@ -152,24 +138,26 @@ 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
-      - uses: actions/setup-java@v5
+      - name: Install Java 17
+        uses: actions/setup-java@v5
         with:
-          java-version: 25
+          java-version: 17
           distribution: temurin
-      - uses: pnpm/action-setup@v5
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
         with:
-          version: 11
+          version: 10
-      - uses: actions/setup-node@v6
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
         with:
-          cache: pnpm
+          node-version: 22
-          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
@@ -196,7 +184,7 @@ jobs:
         working-directory: docs
         run: |
           make html
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
         with:
           name: built-docs
           path: docs/build/html
@@ -210,9 +198,10 @@ jobs:
         with:
           fetch-depth: 0
 
-      - uses: actions/setup-java@v5
+      - name: Install Java 17
+        uses: actions/setup-java@v5
         with:
-          java-version: 25
+          java-version: 17
           distribution: temurin
 
       # grab all tags
@@ -225,9 +214,9 @@ 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@v7
+      - uses: actions/upload-artifact@v6
         with:
-          archive: false
+          name: photonlib-vendor-json
           path: photon-lib/build/generated/vendordeps/photonlib-*.json
 
   build-photonlib-host:
@@ -237,12 +226,12 @@ 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 }}
@@ -251,21 +240,22 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v5
+      - name: Install Java 17
+        uses: actions/setup-java@v5
         with:
-          java-version: 25
+          java-version: 17
           distribution: temurin
       - run: git fetch --tags --force
       - run: ./gradlew photon-targeting:build photon-lib:build
         name: Build with Gradle
-      - run: ./gradlew photon-lib:publish photon-targeting:publish
+      # - run: ./gradlew photon-lib:publish photon-targeting:publish
-        name: Publish
+      #   name: Publish
-        env:
+      #   env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+      #     ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+      #   if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -275,13 +265,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+          - container: wpilib/roborio-cross-ubuntu:2025-24.04
-            artifact-name: SystemCore
+            artifact-name: Athena
-            build-options: "-Ponlylinuxsystemcore"
+            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
 
@@ -299,14 +289,14 @@ jobs:
       - name: Build PhotonLib
         # We don't need to run tests, since we specify only non-native platforms
         run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
-      - name: Publish
+      # - name: Publish
-        run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
+      #   run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
-        env:
+      #   env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+      #     ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+      #   if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -321,7 +311,7 @@ jobs:
           fetch-depth: 0
       - run: git fetch --tags --force
       # download all maven-* artifacts to outputs/
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
           path: output
@@ -331,7 +321,7 @@ jobs:
         name: ZIP stuff up
         working-directory: output
       - run: ls output
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
         with:
           name: photonlib-offline
           path: output/*.zip
@@ -345,7 +335,7 @@ jobs:
         include:
           - os: ubuntu-24.04
             artifact-name: Linux
-            arch-override: linuxx86-64
+            arch-override: linuxx64
           - os: ubuntu-24.04
             artifact-name: LinuxArm64
             arch-override: linuxarm64
@@ -357,22 +347,25 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v5
+      - name: Install Java 17
+        uses: actions/setup-java@v5
         with:
-          java-version: 25
+          java-version: 17
           distribution: temurin
-      - uses: pnpm/action-setup@v5
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
         with:
-          version: 11
+          version: 10
-      - uses: actions/setup-node@v6
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
         with:
-          node-version: 24
+          node-version: 22
           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@v8
+      - uses: actions/download-artifact@v7
         with:
           name: built-docs
           path: photon-server/src/main/resources/web/docs
@@ -380,11 +373,11 @@ jobs:
         if: ${{ (matrix.arch-override != 'none') }}
       - run: ./gradlew photon-server:shadowJar
         if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
         with:
-          archive: false
+          name: jar-${{ matrix.artifact-name }}
           path: photon-server/build/libs
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
         with:
           name: photon-targeting_jar-${{ matrix.artifact-name }}
           path: photon-targeting/build/libs
@@ -401,7 +394,7 @@ jobs:
             arch-override: macarm64
           - os: macos-latest
             artifact-name: macOS
-            arch-override: macx86-64
+            arch-override: macx64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
@@ -415,9 +408,9 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2022
+          - os: windows-latest
-            artifact-name: Win
+            artifact-name: Win64
-            arch-override: winx86-64
+            arch-override: winx64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
@@ -432,26 +425,24 @@ jobs:
       matrix:
         include:
           - os: ubuntu-24.04
-            artifact-name: photonvision-*-linuxx86-64.jar
+            artifact-name: jar-Linux
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-          - os: windows-2022
+          - os: windows-latest
-            artifact-name: photonvision-*-winx86-64.jar
+            artifact-name: jar-Win64
           - os: macos-latest
-            artifact-name: photonvision-*-macarm64.jar
+            artifact-name: jar-macOS
-          - os: ubuntu-24.04-arm
-            artifact-name: photonvision-*-linuxarm64.jar
-
 
     runs-on: ${{ matrix.os }}
 
     steps:
-      - uses: actions/setup-java@v5
+      - name: Install Java 17
+        uses: actions/setup-java@v5
         with:
-          java-version: 25
+          java-version: 17
           distribution: temurin
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
         with:
-          pattern: ${{ matrix.artifact-name }}
+          name: ${{ matrix.artifact-name }}
       # The jar is run twice to exercise different code paths.
       - run: |
           echo "=== First run ==="
@@ -474,11 +465,11 @@ jobs:
           fi
           echo "=== Second run ==="
           java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-        if: ${{ (matrix.os) != 'windows-2022' }}
+        if: ${{ (matrix.os) != 'windows-latest' }}
       - run: |
           ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
           ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
-        if: ${{ (matrix.os) == 'windows-2022' }}
+        if: ${{ (matrix.os) == 'windows-latest' }}
 
   build-image:
     needs: [build-package-linux]
@@ -488,68 +479,86 @@ 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/$IMAGE_VERSION/photonvision_opi6plus.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            artifact-name: LinuxArm64
             image_suffix: rubikpi3
-            cache: 'yes'
             plat_override: LINUX_QCS6490
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz
             minimum_free_mb: 1024
@@ -564,15 +573,14 @@ jobs:
         uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
         with:
-          pattern: photonvision-*-linuxarm64.jar
+          name: jar-${{ matrix.artifact-name }}
-      - uses: photonvision/photon-image-runner@v2.0.0
+      - uses: photonvision/photon-image-runner@HEAD
         name: Generate image
         id: generate_image
         with:
           image_url: ${{ matrix.image_url }}
-          use_cache: ${{ matrix.cache || 'no' }}
           minimum_free_mb: ${{ matrix.minimum_free_mb }}
           root_location: ${{ matrix.root_location || 'partition=2' }}
           shrink_image: ${{ matrix.shrink_image || 'yes' }}
@@ -603,9 +611,10 @@ jobs:
           # Point smoketest to the old image
           echo "smoketest_image_loc=${{ steps.generate_image.outputs.image }}" >> $GITHUB_ENV
 
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v6
+        name: Upload image
         with:
-          archive: false
+          name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
 
         # This is done after uploading the image to avoid contaminating the image with logs, caches, etc.
@@ -634,32 +643,30 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       # Download all fat JARs
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
-          pattern: photonvision-*.jar
+          pattern: jar-*
       # Download offline photonlib
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
           pattern: photonlib-offline
       # Download vendor json
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
-        with:
-          pattern: photonlib-*.json
-      # Download all images
-      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
-          pattern: photonvision-*.xz
+          pattern: photonlib-vendor-json
+      # Download all images
+      - uses: actions/download-artifact@v7
+        with:
+          merge-multiple: true
+          pattern: image-*
 
       - run: find
-      # Push to dev release
       - uses: pyTooling/Actions/releaser@r6
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
           snapshots: false
           files: |
             **/*.xz
@@ -667,13 +674,13 @@ jobs:
             **/*win*.jar
             **/photonlib*.json
             **/photonlib*.zip
-        if: github.event_name == 'push'
+        if: startsWith(github.ref, 'refs/tags/v')
-      - name: Create Vendor JSON Repo PR
+      # - name: Create Vendor JSON Repo PR
-        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
+      #   uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
-        with:
+      #   with:
-          repo: PhotonVision/vendor-json-repo
+      #     repo: PhotonVision/vendor-json-repo
-          token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
+      #     token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
-          vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
+      #     vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
-          pr_title: Update photonlib to ${{ github.ref_name }}
+      #     pr_title: Update photonlib to ${{ github.ref_name }}
-          pr_branch: photonlib-${{ github.ref_name }}
+      #     pr_branch: photonlib-${{ github.ref_name }}
-        if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')
+      #   if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')

.github/workflows/dependency-submission.yml

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

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

@@ -30,19 +30,21 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v6
-      - uses: pnpm/action-setup@v5
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
         with:
           version: 10
-      - uses: actions/setup-node@v6
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
         with:
-          node-version: 24
+          node-version: 22
           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@v7
+      - uses: actions/upload-artifact@v6
         with:
           name: built-demo
           path: photon-client/dist/
@@ -58,15 +60,16 @@ jobs:
         fetch-depth: 0
     - name: Fetch tags
       run: git fetch --tags --force
-    - uses: actions/setup-java@v5
+    - name: Install Java 17
+      uses: actions/setup-java@v5
       with:
-        java-version: 25
+        java-version: 17
         distribution: temurin
     - name: Build javadocs/doxygen
       run: |
         chmod +x gradlew
         ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
-    - uses: actions/upload-artifact@v7
+    - uses: actions/upload-artifact@v6
       with:
         name: docs-java-cpp
         path: photon-docs/build/docs
@@ -77,38 +80,37 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       # Download docs artifact
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
         with:
           pattern: docs-*
       - run: find .
-      - name: Publish Docs To Development
+      # - name: Publish Docs To Development
-        if: github.ref == 'refs/heads/main'
+      #   if: github.ref == 'refs/heads/main'
-        uses: up9cloud/action-rsync@v1.4
+      #   uses: up9cloud/action-rsync@v1.4
-        env:
+      #   env:
-          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+      #     HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
-          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+      #     USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
-          KEY: ${{secrets.WEBMASTER_SSH_KEY}}
+      #     KEY: ${{secrets.WEBMASTER_SSH_KEY}}
-          TARGET: /var/www/html/photonvision-docs/development/
+      #     TARGET: /var/www/html/photonvision-docs/development/
-      - name: Publish Docs To Release
+      # - name: Publish Docs To Release
-        if: startsWith(github.ref, 'refs/tags/v')
+      #   if: startsWith(github.ref, 'refs/tags/v')
-        uses: up9cloud/action-rsync@v1.4
+      #   uses: up9cloud/action-rsync@v1.4
-        env:
+      #   env:
-          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+      #     HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
-          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+      #     USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
-          KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
+      #     KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
-          TARGET: /var/www/html/photonvision-docs/release/
+      #     TARGET: /var/www/html/photonvision-docs/release/
 
   publish_demo:
       name: Publish PhotonClient Demo
       needs: [build_demo]
       runs-on: ubuntu-24.04
       steps:
-      - uses: actions/download-artifact@v8
+      - uses: actions/download-artifact@v7
         with:
           name: built-demo
       - run: find .
       - name: Publish demo
-        if: github.ref == 'refs/heads/main'
         uses: up9cloud/action-rsync@v1.4
         env:
           HOST: ${{ secrets.WEBMASTER_SSH_HOST }}

.github/workflows/python.yml

@@ -36,7 +36,7 @@ jobs:
         run: python setup.py sdist bdist_wheel
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v7
+        uses: actions/upload-artifact@v6
         with:
           name: dist
           path: ./photon-lib/py/dist/
@@ -62,7 +62,7 @@ jobs:
           pip install pytest mypy
 
       - name: Download artifacts
-        uses: actions/download-artifact@v8
+        uses: actions/download-artifact@v6
         with:
           name: dist
           path: dist/
@@ -100,10 +100,9 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          python -m pip install mypy
 
       - name: Download artifacts
-        uses: actions/download-artifact@v8
+        uses: actions/download-artifact@v6
         with:
           name: dist
           path: ./photon-lib/py/dist/
@@ -121,26 +120,26 @@ jobs:
           for folder in */;
           do
             echo $folder
-            ./test.sh $folder
+            ./run.sh $folder
           done
 
-  deploy:
+  # deploy:
-    needs: [test-py, build-python-examples]
+  #   needs: [test-py, build-python-examples]
-    runs-on: ubuntu-24.04
+  #   runs-on: ubuntu-24.04
-    # Only upload on tags
+  #   # Only upload on tags
-    if: startsWith(github.ref, 'refs/tags/v')
+  #   if: startsWith(github.ref, 'refs/tags/v')
 
-    steps:
+  #   steps:
-      - name: Download artifacts
+  #     - name: Download artifacts
-        uses: actions/download-artifact@v8
+  #       uses: actions/download-artifact@v6
-        with:
+  #       with:
-          name: dist
+  #         name: dist
-          path: dist/
+  #         path: dist/
 
-      - name: Publish package distributions to PyPI
+  #     - name: Publish package distributions to PyPI
-        uses: pypa/gh-action-pypi-publish@release/v1
+  #       uses: pypa/gh-action-pypi-publish@release/v1
-        with:
+  #       with:
-          packages-dir: ./dist/
+  #         packages-dir: ./dist/
 
-    permissions:
+  #   permissions:
-      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+  #     id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing

.github/workflows/website.yml

@@ -11,12 +11,13 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v5
+        uses: pnpm/action-setup@v4
         with:
           version: 10
-      - uses: actions/setup-node@v6
+      - name: Setup Node
+        uses: actions/setup-node@v6
         with:
-          node-version: 24
+          node-version: 22
           cache: pnpm
           cache-dependency-path: website/pnpm-lock.yaml
       - name: Install packages
@@ -36,27 +37,22 @@ jobs:
 
   format-check:
     name: Check Formatting
-    defaults:
-      run:
-        working-directory: website
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v6
-      - uses: pnpm/action-setup@v5
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
         with:
           version: 10
-      - uses: actions/setup-node@v6
+      - name: Setup Node
+        uses: actions/setup-node@v6
         with:
-          node-version: 24
+          node-version: 22
           cache: pnpm
           cache-dependency-path: website/pnpm-lock.yaml
       - name: Install Packages
         run: pnpm i --frozen-lockfile
-      - run: |
+        working-directory: website
-          set +e
+      - name: Run Formatting Check
-          pnpm run format-ci
+        run: pnpm prettier -c .
-          exit_code=$?
+        working-directory: website
-          if test "$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

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

.wpiformat

@@ -2,7 +2,7 @@ cppHeaderFileInclude {
   \.h$
 }
 
-generatedFileExclude {
+modifiableFileExclude {
   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:
-    * winx86-64
+    * winx64
     * winarm64
-    * macx86-64
+    * macx64
     * macarm64
-    * linuxx86-64
+    * linuxx64
     * 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 installSystemCoreToolchain`
+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`
 
 ## 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)
-* [Avaje](https://avaje.io) - Specifically [jsonb](https://avaje.io/jsonb/)
+* [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
 * [MessagePack for Java](https://github.com/msgpack/msgpack-java)
 * [OSHI](https://github.com/oshi/oshi)
 * [QuickBuffers](https://github.com/HebiRobotics/QuickBuffers)

build.gradle

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

docs/requirements.txt

@@ -36,6 +36,7 @@ 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", "attrs_inline"]
+myst_enable_extensions = ["colon_fence", "substitution"]

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

@@ -1,17 +1,19 @@
 # NetworkTables API
 
-## Usage
+## About
 
 :::{warning}
-PhotonVision's NetworkTables API is not designed for robot consumption, only internal at-a-glance debugging.**
+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!**
 :::
 
-**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
@@ -62,3 +64,9 @@ 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

@@ -3,8 +3,5 @@
   "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

@@ -2,8 +2,5 @@
   "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 Linuxx86-64.jar file.
+If your coprocessor has an 64 bit x86 based CPU architecture (Mini PC, laptop, etc.), download the Linuxx64.jar file.
 :::
 
 :::{warning}

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

@@ -1,9 +1,53 @@
-# MacOS Installation
+# Mac OS Installation
 
-## Builds
+:::{warning}
+Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, the PhotonVision server backend may have issues running macOS.
+:::
 
-Builds for macOS are currently generated in CI for testing compatibility. This allows us to ensure that macOS remains a viable development platform.
+:::{note}
+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).
+:::
 
-## Use as a coprocessor
+VERY Limited macOS support is available.
 
-This is not a recommended path. MacOS is not officially supported, and your mileage may vary.
+## Installing Java
+
+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 winx86-64.jar file.
+Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx64.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>` 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).
+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).
 
 ```{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()) {
-          wpi::math::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
+          frc::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}
-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.
+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.
 :::
 
 :::{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) 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).
+ 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).
 
 **Node JS:**
 
- 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/).
+ 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/).
 
 **pnpm:**
 
@@ -47,30 +47,6 @@ 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.getMonotonicTimestamp();
+            var t1 = Timer.getFPGATimestamp();
             light.set(true);
-            var t2 = Timer.getMonotonicTimestamp();
+            var t2 = Timer.getFPGATimestamp();
 
 
             for (int i = 0; i < 100; i++) {

docs/source/docs/contributing/linting.md

@@ -34,16 +34,10 @@ 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 && pnpm -C website format'
+alias pvLint='wpiformat -v && ./gradlew spotlessApply && pnpm -C photon-client lint && pnpm -C photon-client format && doc8 docs'
 ```

docs/source/docs/hardware/customhardware.md

@@ -19,18 +19,14 @@ When running on Linux, PhotonVision can use [diozero](https://www.diozero.com) t
         "ledsCanDim" : true,
         "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "statusLEDType": "RGB",
+        "statusRGBPins" : [ ],
-        "statusLEDPins" : [ ],
+        "statusRGBActiveHigh" : false,
-        "statusLEDActiveHigh" : false,
       }
 ```
 
-There are currently two types of status LEDs supported:
+:::{note}
-
+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
 
@@ -138,9 +134,8 @@ Here is a complete example `hardwareConfig.json`:
         "ledsCanDim" : true,
         "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "statusLEDType": "RGB",
+        "statusRGBPins" : [ ],
-        "statusLEDPins" : [ ],
+        "statusRGBActiveHigh" : false,
-        "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 24.04 LTS or Windows 10/11
+- Ubuntu 22.04 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

@@ -8,8 +8,6 @@ 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

@@ -8,8 +8,6 @@ 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.
-      wpi::units::second_t latency = result.GetLatency();
+      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.
-      std::span<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
+      wpi::ArrayRef<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();
-      wpi::math::Transform2d pose = target.GetCameraToTarget();
+      frc::Transform2d pose = target.GetCameraToTarget();
-      wpi::util::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
+      wpi::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();
-      wpi::math::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
+      frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
-      wpi::math::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
+      frc::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
-      wpi::math::Pose2d robotPose = photonlib::EstimateFieldToRobot(
+      frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
-        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())), wpi::math::Rotation2d(wpi::units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
+        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(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.
-      wpi::math::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
+      frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
-        distance, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())));
+        distance, frc::Rotation2d(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::net::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
+        wpi::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
 
     .. code-block:: python
 

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

@@ -1,10 +0,0 @@
-<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

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

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

@@ -1,101 +0,0 @@
----
-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 photon@hostname
+ssh pi@hostname
 ```
 
-For PhotonVision images, the username will be `photon` and the password will be `vision`.
+For PhotonVision, the username will be `pi` and the password will be `raspberry`.
 
 ### ip
 

gradle/wrapper/gradle-wrapper.properties

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

photon-client/env.d.ts

@@ -1,3 +1 @@
 /// <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.recommendedTypeChecked,
+  vueTsConfigs.recommended,
   skipFormattingConfig,
   {
     ignores: ["**/dist/**", "playwright-report"]
@@ -42,13 +42,10 @@ 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-empty-object-type": "error",
+      "@typescript-eslint/no-explicit-any": "off",
-      "@typescript-eslint/no-explicit-any": "error",
       "vue/valid-v-slot": ["error", { allowModifiers: true }]
     }
   }

photon-client/package.json

@@ -3,9 +3,6 @@
   "version": "0.0.0",
   "private": true,
   "type": "module",
-  "engines": {
-    "node": "24.x"
-  },
   "scripts": {
     "dev": "vite",
     "preview": "vite preview --port 4173",
@@ -17,11 +14,10 @@
     "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": {
-    "@adam-rocska/units-and-measurement": "^1.2.0",
     "@fontsource/prompt": "^5.2.6",
     "@mdi/font": "^7.4.47",
     "@msgpack/msgpack": "^3.1.2",
@@ -38,10 +34,9 @@
   "devDependencies": {
     "@eslint/js": "^9.31.0",
     "@playwright/test": "^1.56.1",
-    "@types/node": "^24.0.0",
+    "@types/node": "^22.15.14",
     "@types/three": "^0.178.0",
-    "@vitejs/plugin-vue": "^6.0.6",
+    "@vitejs/plugin-vue": "^6.0.0",
-    "vue-tsc": "^3.2.5",
     "@vue/eslint-config-prettier": "^10.2.0",
     "@vue/eslint-config-typescript": "^14.5.0",
     "@vue/tsconfig": "^0.7.0",
@@ -50,7 +45,7 @@
     "prettier": "^3.6.2",
     "sass": "^1.89.2",
     "typescript": "^5.8.3",
-    "vite": "^8.0.10",
+    "vite": "^8.0.2",
     "vite-plugin-vuetify": "^2.1.1"
   }
 }

photon-client/pnpm-lock.yaml

@@ -8,9 +8,6 @@ importers:
 
   .:
     dependencies:
-      '@adam-rocska/units-and-measurement':
-        specifier: ^1.2.0
-        version: 1.2.0
       '@fontsource/prompt':
         specifier: ^5.2.6
         version: 5.2.6
@@ -55,14 +52,14 @@ importers:
         specifier: ^1.56.1
         version: 1.56.1
       '@types/node':
-        specifier: ^24.0.0
+        specifier: ^22.15.14
-        version: 24.12.2
+        version: 22.15.14
       '@types/three':
         specifier: ^0.178.0
         version: 0.178.1
       '@vitejs/plugin-vue':
-        specifier: ^6.0.6
+        specifier: ^6.0.0
-        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))
+        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))
       '@vue/eslint-config-prettier':
         specifier: ^10.2.0
         version: 10.2.0(eslint@9.31.0)(prettier@3.6.2)
@@ -88,21 +85,14 @@ importers:
         specifier: ^5.8.3
         version: 5.8.3
       vite:
-        specifier: ^8.0.10
+        specifier: ^8.0.2
-        version: 8.0.10(@types/node@24.12.2)(sass@1.89.2)
+        version: 8.0.2(@types/node@22.15.14)(sass@1.89.2)
       vite-plugin-vuetify:
         specifier: ^2.1.1
-        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)
+        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)
-      vue-tsc:
-        specifier: ^3.2.5
-        version: 3.2.5(typescript@5.8.3)
 
 packages:
 
-  '@adam-rocska/units-and-measurement@1.2.0':
-    resolution: {integrity: sha512-mBnZ8/STbztVec+Mz9DH932z0gny52SebtSJ/y3n+IVtuF7KqbtQ3t1u1lpFSkLFU1msaNGzFgqsW7Emj0lrXA==}
-    engines: {node: '>=20.0.0'}
-
   '@babel/helper-string-parser@7.27.1':
     resolution: {integrity: sha512-qMlSxKbpRlAridDExk92nSobyDdpPijUq2DW6oDnUqd0iOGxmQjyqhMIihI9+zv4LPyZdRje2cavWPbCbWm3eA==}
     engines: {node: '>=6.9.0'}
@@ -127,14 +117,14 @@ packages:
   '@dimforge/rapier3d-compat@0.12.0':
     resolution: {integrity: sha512-uekIGetywIgopfD97oDL5PfeezkFpNhwlzlaEYNOA0N6ghdsOvh/HYjSMek5Q2O1PYvRSDFcqFVJl4r4ZBwOow==}
 
-  '@emnapi/core@1.10.0':
+  '@emnapi/core@1.9.1':
-    resolution: {integrity: sha512-yq6OkJ4p82CAfPl0u9mQebQHKPJkY7WrIuk205cTYnYe+k2Z8YBh11FrbRG/H6ihirqcacOgl2BIO8oyMQLeXw==}
+    resolution: {integrity: sha512-mukuNALVsoix/w1BJwFzwXBN/dHeejQtuVzcDsfOEsdpCumXb/E9j8w11h5S54tT1xhifGfbbSm/ICrObRb3KA==}
 
-  '@emnapi/runtime@1.10.0':
+  '@emnapi/runtime@1.9.1':
-    resolution: {integrity: sha512-ewvYlk86xUoGI0zQRNq/mC+16R1QeDlKQy21Ki3oSYXNgLb45GV1P6A0M+/s6nyCuNDqe5VpaY84BzXGwVbwFA==}
+    resolution: {integrity: sha512-VYi5+ZVLhpgK4hQ0TAjiQiZ6ol0oe4mBx7mVv7IflsiEp0OWoVsp/+f9Vc1hOhE0TtkORVrI1GvzyreqpgWtkA==}
 
-  '@emnapi/wasi-threads@1.2.1':
+  '@emnapi/wasi-threads@1.2.0':
-    resolution: {integrity: sha512-uTII7OYF+/Mes/MrcIOYp5yOtSMLBWSIoLPpcgwipoiKbli6k322tcoFsxoIIxPDqW01SQGAgko4EzZi2BNv2w==}
+    resolution: {integrity: sha512-N10dEJNSsUx41Z6pZsXU8FjPjpBEplgH24sfkmITrBED1/U2Esum9F3lfLrMjKHHjmi557zQn7kR9R+XWXu5Rg==}
 
   '@eslint-community/eslint-utils@4.7.0':
     resolution: {integrity: sha512-dyybb3AcajC7uha6CvhdVRJqaKyn7w2YKqKyAN37NKYgZT36w+iRb0Dymmc5qEJ549c/S31cMMSFd75bteCpCw==}
@@ -207,11 +197,8 @@ packages:
     resolution: {integrity: sha512-JEW4DEtBzfe8HvUYecLU9e6+XJnKDlUAIve8FvPzF3Kzs6Xo/KuZkZJsDH0wJXl/qEZbeeE7edxDNY3kMs39hQ==}
     engines: {node: '>= 18'}
 
-  '@napi-rs/wasm-runtime@1.1.4':
+  '@napi-rs/wasm-runtime@1.1.1':
-    resolution: {integrity: sha512-3NQNNgA1YSlJb/kMH1ildASP9HW7/7kYnRI2szWJaofaS1hWmbGI4H+d3+22aGzXXN9IJ+n+GiFVcGipJP18ow==}
+    resolution: {integrity: sha512-p64ah1M1ld8xjWv3qbvFwHiFVWrq1yFvV4f7w+mzaqiR4IlSgkqhcRdHwsGgomwzBH51sRY4NEowLxnaBjcW/A==}
-    peerDependencies:
-      '@emnapi/core': ^1.7.1
-      '@emnapi/runtime': ^1.7.1
 
   '@nodelib/fs.scandir@2.1.5':
     resolution: {integrity: sha512-vq24Bq3ym5HEQm2NKCr3yXDwjc7vTsEThRDnkp2DK9p1uqLR+DHurm/NOTo0KG7HYHU7eppKZj3MyqYuMBf62g==}
@@ -225,8 +212,8 @@ packages:
     resolution: {integrity: sha512-oGB+UxlgWcgQkgwo8GcEGwemoTFt3FIO9ababBmaGwXIoBKZ+GTy0pP185beGg7Llih/NSHSV2XAs1lnznocSg==}
     engines: {node: '>= 8'}
 
-  '@oxc-project/types@0.127.0':
+  '@oxc-project/types@0.122.0':
-    resolution: {integrity: sha512-aIYXQBo4lCbO4z0R3FHeucQHpF46l2LbMdxRvqvuRuW2OxdnSkcng5B8+K12spgLDj93rtN3+J2Vac/TIO+ciQ==}
+    resolution: {integrity: sha512-oLAl5kBpV4w69UtFZ9xqcmTi+GENWOcPF7FCrczTiBbmC0ibXxCwyvZGbO39rCVEuLGAZM84DH0pUIyyv/YJzA==}
 
   '@parcel/watcher-android-arm64@2.5.1':
     resolution: {integrity: sha512-KF8+j9nNbUN8vzOFDpRMsaKBHZ/mcjEjMToVMJOhTozkDonQFFrRcfdLWn6yWKCmJKmdVxSgHiYvTCef4/qcBA==}
@@ -319,100 +306,100 @@ packages:
     engines: {node: '>=18'}
     hasBin: true
 
-  '@rolldown/binding-android-arm64@1.0.0-rc.17':
+  '@rolldown/binding-android-arm64@1.0.0-rc.11':
-    resolution: {integrity: sha512-s70pVGhw4zqGeFnXWvAzJDlvxhlRollagdCCKRgOsgUOH3N1l0LIxf83AtGzmb5SiVM4Hjl5HyarMRfdfj3DaQ==}
+    resolution: {integrity: sha512-SJ+/g+xNnOh6NqYxD0V3uVN4W3VfnrGsC9/hoglicgTNfABFG9JjISvkkU0dNY84MNHLWyOgxP9v9Y9pX4S7+A==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [android]
 
-  '@rolldown/binding-darwin-arm64@1.0.0-rc.17':
+  '@rolldown/binding-darwin-arm64@1.0.0-rc.11':
-    resolution: {integrity: sha512-4ksWc9n0mhlZpZ9PMZgTGjeOPRu8MB1Z3Tz0Mo02eWfWCHMW1zN82Qz/pL/rC+yQa+8ZnutMF0JjJe7PjwasYw==}
+    resolution: {integrity: sha512-7WQgR8SfOPwmDZGFkThUvsmd/nwAWv91oCO4I5LS7RKrssPZmOt7jONN0cW17ydGC1n/+puol1IpoieKqQidmg==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [darwin]
 
-  '@rolldown/binding-darwin-x64@1.0.0-rc.17':
+  '@rolldown/binding-darwin-x64@1.0.0-rc.11':
-    resolution: {integrity: sha512-SUSDOI6WwUVNcWxd02QEBjLdY1VPHvlEkw6T/8nYG322iYWCTxRb1vzk4E+mWWYehTp7ERibq54LSJGjmouOsw==}
+    resolution: {integrity: sha512-39Ks6UvIHq4rEogIfQBoBRusj0Q0nPVWIvqmwBLaT6aqQGIakHdESBVOPRRLacy4WwUPIx4ZKzfZ9PMW+IeyUQ==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [darwin]
 
-  '@rolldown/binding-freebsd-x64@1.0.0-rc.17':
+  '@rolldown/binding-freebsd-x64@1.0.0-rc.11':
-    resolution: {integrity: sha512-hwnz3nw9dbJ05EDO/PvcjaaewqqDy7Y1rn1UO81l8iIK1GjenME75dl16ajbvSSMfv66WXSRCYKIqfgq2KCfxw==}
+    resolution: {integrity: sha512-jfsm0ZHfhiqrvWjJAmzsqiIFPz5e7mAoCOPBNTcNgkiid/LaFKiq92+0ojH+nmJmKYkre4t71BWXUZDNp7vsag==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [freebsd]
 
-  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.17':
+  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.11':
-    resolution: {integrity: sha512-IS+W7epTcwANmFSQFrS1SivEXHtl1JtuQA9wlxrZTcNi6mx+FDOYrakGevvvTwgj2JvWiK8B29/qD9BELZPyXQ==}
+    resolution: {integrity: sha512-zjQaUtSyq1nVe3nxmlSCuR96T1LPlpvmJ0SZy0WJFEsV4kFbXcq2u68L4E6O0XeFj4aex9bEauqjW8UQBeAvfQ==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm]
     os: [linux]
 
-  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.11':
-    resolution: {integrity: sha512-e6usGaHKW5BMNZOymS1UcEYGowQMWcgZ71Z17Sl/h2+ZziNJ1a9n3Zvcz6LdRyIW5572wBCTH/Z+bKuZouGk9Q==}
+    resolution: {integrity: sha512-WMW1yE6IOnehTcFE9eipFkm3XN63zypWlrJQ2iF7NrQ9b2LDRjumFoOGJE8RJJTJCTBAdmLMnJ8uVitACUUo1Q==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [linux]
 
-  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.17':
+  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.11':
-    resolution: {integrity: sha512-b/CgbwAJpmrRLp02RPfhbudf5tZnN9nsPWK82znefso832etkem8H7FSZwxrOI9djcdTP7U6YfNhbRnh7djErg==}
+    resolution: {integrity: sha512-jfndI9tsfm4APzjNt6QdBkYwre5lRPUgHeDHoI7ydKUuJvz3lZeCfMsI56BZj+7BYqiKsJm7cfd/6KYV7ubrBg==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [linux]
 
-  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.11':
-    resolution: {integrity: sha512-4EII1iNGRUN5WwGbF/kOh/EIkoDN9HsupgLQoXfY+D1oyJm7/F4t5PYU5n8SWZgG0FEwakyM8pGgwcBYruGTlA==}
+    resolution: {integrity: sha512-ZlFgw46NOAGMgcdvdYwAGu2Q+SLFA9LzbJLW+iyMOJyhj5wk6P3KEE9Gct4xWwSzFoPI7JCdYmYMzVtlgQ+zfw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [ppc64]
     os: [linux]
 
-  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.11':
-    resolution: {integrity: sha512-AH8oq3XqQo4IibpVXvPeLDI5pzkpYn0WiZAfT05kFzoJ6tQNzwRdDYQ45M8I/gslbodRZwW8uxLhbSBbkv96rA==}
+    resolution: {integrity: sha512-hIOYmuT6ofM4K04XAZd3OzMySEO4K0/nc9+jmNcxNAxRi6c5UWpqfw3KMFV4MVFWL+jQsSh+bGw2VqmaPMTLyw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [s390x]
     os: [linux]
 
-  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.11':
-    resolution: {integrity: sha512-cLnjV3xfo7KslbU41Z7z8BH/E1y5mzUYzAqih1d1MDaIGZRCMqTijqLv76/P7fyHuvUcfGsIpqCdddbxLLK9rA==}
+    resolution: {integrity: sha512-qXBQQO9OvkjjQPLdUVr7Nr2t3QTZI7s4KZtfw7HzBgjbmAPSFwSv4rmET9lLSgq3rH/ndA3ngv3Qb8l2njoPNA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [linux]
 
-  '@rolldown/binding-linux-x64-musl@1.0.0-rc.17':
+  '@rolldown/binding-linux-x64-musl@1.0.0-rc.11':
-    resolution: {integrity: sha512-0phclDw1spsL7dUB37sIARuis2tAgomCJXAHZlpt8PXZ4Ba0dRP1e+66lsRqrfhISeN9bEGNjQs+T/Fbd7oYGw==}
+    resolution: {integrity: sha512-/tpFfoSTzUkH9LPY+cYbqZBDyyX62w5fICq9qzsHLL8uTI6BHip3Q9Uzft0wylk/i8OOwKik8OxW+QAhDmzwmg==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [linux]
 
-  '@rolldown/binding-openharmony-arm64@1.0.0-rc.17':
+  '@rolldown/binding-openharmony-arm64@1.0.0-rc.11':
-    resolution: {integrity: sha512-0ag/hEgXOwgw4t8QyQvUCxvEg+V0KBcA6YuOx9g0r02MprutRF5dyljgm3EmR02O292UX7UeS6HzWHAl6KgyhA==}
+    resolution: {integrity: sha512-mcp3Rio2w72IvdZG0oQ4bM2c2oumtwHfUfKncUM6zGgz0KgPz4YmDPQfnXEiY5t3+KD/i8HG2rOB/LxdmieK2g==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [openharmony]
 
-  '@rolldown/binding-wasm32-wasi@1.0.0-rc.17':
+  '@rolldown/binding-wasm32-wasi@1.0.0-rc.11':
-    resolution: {integrity: sha512-LEXei6vo0E5wTGwpkJ4KoT3OZJRnglwldt5ziLzOlc6qqb55z4tWNq2A+PFqCJuvWWdP53CVhG1Z9NtToDPJrA==}
+    resolution: {integrity: sha512-LXk5Hii1Ph9asuGRjBuz8TUxdc1lWzB7nyfdoRgI0WGPZKmCxvlKk8KfYysqtr4MfGElu/f/pEQRh8fcEgkrWw==}
-    engines: {node: ^20.19.0 || >=22.12.0}
+    engines: {node: '>=14.0.0'}
     cpu: [wasm32]
 
-  '@rolldown/binding-win32-arm64-msvc@1.0.0-rc.17':
+  '@rolldown/binding-win32-arm64-msvc@1.0.0-rc.11':
-    resolution: {integrity: sha512-gUmyzBl3SPMa6hrqFUth9sVfcLBlYsbMzBx5PlexMroZStgzGqlZ26pYG89rBb45Mnia+oil6YAIFeEWGWhoZA==}
+    resolution: {integrity: sha512-dDwf5otnx0XgRY1yqxOC4ITizcdzS/8cQ3goOWv3jFAo4F+xQYni+hnMuO6+LssHHdJW7+OCVL3CoU4ycnh35Q==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [win32]
 
-  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.17':
+  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.11':
-    resolution: {integrity: sha512-3hkiolcUAvPB9FLb3UZdfjVVNWherN1f/skkGWJP/fgSQhYUZpSIRr0/I8ZK9TkF3F7kxvJAk0+IcKvPHk9qQg==}
+    resolution: {integrity: sha512-LN4/skhSggybX71ews7dAj6r2geaMJfm3kMbK2KhFMg9B10AZXnKoLCVVgzhMHL0S+aKtr4p8QbAW8k+w95bAA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [win32]
 
-  '@rolldown/pluginutils@1.0.0-rc.13':
+  '@rolldown/pluginutils@1.0.0-beta.19':
-    resolution: {integrity: sha512-3ngTAv6F/Py35BsYbeeLeecvhMKdsKm4AoOETVhAA+Qc8nrA2I0kF7oa93mE9qnIurngOSpMnQ0x2nQY2FPviA==}
+    resolution: {integrity: sha512-3FL3mnMbPu0muGOCaKAhhFEYmqv9eTfPSJRJmANrCwtgK8VuxpsZDGK+m0LYAGoyO8+0j5uRe4PeyPDK1yA/hA==}
 
-  '@rolldown/pluginutils@1.0.0-rc.17':
+  '@rolldown/pluginutils@1.0.0-rc.11':
-    resolution: {integrity: sha512-n8iosDOt6Ig1UhJ2AYqoIhHWh/isz0xpicHTzpKBeotdVsTEcxsSA/i3EVM7gQAj0rU27OLAxCjzlj15IWY7bg==}
+    resolution: {integrity: sha512-xQO9vbwBecJRv9EUcQ/y0dzSTJgA7Q6UVN7xp6B81+tBGSLVAK03yJ9NkJaUA7JFD91kbjxRSC/mDnmvXzbHoQ==}
 
   '@tweenjs/tween.js@23.1.3':
     resolution: {integrity: sha512-vJmvvwFxYuGnF2axRtPYocag6Clbb5YS7kLL+SO/TeVFzHqDIWrNKYtcsPMibjDx9O+bu+psAy9NKfWklassUA==}
@@ -426,8 +413,8 @@ packages:
   '@types/json-schema@7.0.15':
     resolution: {integrity: sha512-5+fP8P8MFNC+AyZCDxrB2pkZFPGzqQWUzpSeuuVLvm8VMcorNYavBqoFcxK8bQz4Qsbn4oUEEem4wDLfcysGHA==}
 
-  '@types/node@24.12.2':
+  '@types/node@22.15.14':
-    resolution: {integrity: sha512-A1sre26ke7HDIuY/M23nd9gfB+nrmhtYyMINbjI1zHJxYteKR6qSMX56FsmjMcDb3SMcjJg5BiRRgOCC/yBD0g==}
+    resolution: {integrity: sha512-BL1eyu/XWsFGTtDWOYULQEs4KR0qdtYfCxYAUYRoB7JP7h9ETYLgQTww6kH8Sj2C0pFGgrpM0XKv6/kbIzYJ1g==}
 
   '@types/raf@3.4.3':
     resolution: {integrity: sha512-c4YAvMedbPZ5tEyxzQdMoOhhJ4RD3rngZIdwC2/qDN3d7JpEhB6fiBRKVY1lg5B7Wk+uPBjn5f39j1/2MY1oOw==}
@@ -491,22 +478,13 @@ packages:
     resolution: {integrity: sha512-1rYQTCLFFzOI5Nl0c8LUpJT8HxpwVRn9E4CkMsYfuN6ctmQqExjSTzzSk0Tz2apmXy7WU6/6fyaZVVA/thPN+w==}
     engines: {node: ^18.18.0 || ^20.9.0 || >=21.1.0}
 
-  '@vitejs/plugin-vue@6.0.6':
+  '@vitejs/plugin-vue@6.0.0':
-    resolution: {integrity: sha512-u9HHgfrq3AjXlysn0eINFnWQOJQLO9WN6VprZ8FXl7A2bYisv3Hui9Ij+7QZ41F/WYWarHjwBbXtD7dKg3uxbg==}
+    resolution: {integrity: sha512-iAliE72WsdhjzTOp2DtvKThq1VBC4REhwRcaA+zPAAph6I+OQhUXv+Xu2KS7ElxYtb7Zc/3R30Hwv1DxEo7NXQ==}
     engines: {node: ^20.19.0 || >=22.12.0}
     peerDependencies:
-      vite: ^5.0.0 || ^6.0.0 || ^7.0.0 || ^8.0.0
+      vite: ^5.0.0 || ^6.0.0 || ^7.0.0
       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==}
 
@@ -548,9 +526,6 @@ 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==}
 
@@ -606,9 +581,6 @@ 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'}
@@ -1163,9 +1135,6 @@ 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}
@@ -1196,9 +1165,6 @@ 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'}
@@ -1247,14 +1213,14 @@ packages:
     resolution: {integrity: sha512-orRsuYpJVw8LdAwqqLykBj9ecS5/cRHlI5+nvTo8LcCKmzDmqVORXtOIYEEQuL9D4BxtA1lm5isAqzQZCoQ6Eg==}
     engines: {node: '>=4'}
 
-  postcss@8.5.13:
-    resolution: {integrity: sha512-qif0+jGGZoLWdHey3UFHHWP0H7Gbmsk8T5VEqyYFbWqPr1XqvLGBbk/sl8V5exGmcYJklJOhOQq1pV9IcsiFag==}
-    engines: {node: ^10 || ^12 || >=14}
-
   postcss@8.5.3:
     resolution: {integrity: sha512-dle9A3yYxlBSrt8Fu+IpjGT8SY8hN0mlaA6GY8t0P5PjIOZemULz/E2Bnm/2dcUOena75OTNkHI76uZBNUUq3A==}
     engines: {node: ^10 || ^12 || >=14}
 
+  postcss@8.5.8:
+    resolution: {integrity: sha512-OW/rX8O/jXnm82Ey1k44pObPtdblfiuWnrd8X7GJ7emImCOstunGbXUpp7HdBrFQX6rJzn3sPT397Wp5aCwCHg==}
+    engines: {node: ^10 || ^12 || >=14}
+
   prelude-ls@1.2.1:
     resolution: {integrity: sha512-vkcDPrRZo1QZLbn5RLGPpg/WmIQ65qoWWhcGKf/b5eplkkarX0m9z8ppCat4mlOqUsWpyNuYgO3VRyrYHSzX5g==}
     engines: {node: '>= 0.8.0'}
@@ -1303,8 +1269,8 @@ packages:
     resolution: {integrity: sha512-9aZLIrhRaD97sgVhtJOW6ckOEh6/GnvQtdVNfdZ6s67+3/XwLS9lBcQYzEEhYVeUowN7pRzMLsyGhK2i/xvWbw==}
     engines: {node: '>= 0.8.15'}
 
-  rolldown@1.0.0-rc.17:
+  rolldown@1.0.0-rc.11:
-    resolution: {integrity: sha512-ZrT53oAKrtA4+YtBWPQbtPOxIbVDbxT0orcYERKd63VJTF13zPcgXTvD4843L8pcsI7M6MErt8QtON6lrB9tyA==}
+    resolution: {integrity: sha512-NRjoKMusSjfRbSYiH3VSumlkgFe7kYAa3pzVOsVYVFY3zb5d7nS+a3KGQ7hJKXuYWbzJKPVQ9Wxq2UvyK+ENpw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     hasBin: true
 
@@ -1367,8 +1333,8 @@ packages:
   three@0.178.0:
     resolution: {integrity: sha512-ybFIB0+x8mz0wnZgSGy2MO/WCO6xZhQSZnmfytSPyNpM0sBafGRVhdaj+erYh5U+RhQOAg/eXqw5uVDiM2BjhQ==}
 
-  tinyglobby@0.2.16:
+  tinyglobby@0.2.15:
-    resolution: {integrity: sha512-pn99VhoACYR8nFHhxqix+uvsbXineAasWm5ojXoN8xEwK5Kd3/TrhNn1wByuD52UxWRLy8pu+kRMniEi6Eq9Zg==}
+    resolution: {integrity: sha512-j2Zq4NyQYG5XMST4cbs02Ak8iJUdxRM0XI5QyxXuZOzKOINmWurp3smXu3y5wDcJrptwpSjgXHzIQxR0omXljQ==}
     engines: {node: '>=12.0.0'}
 
   to-regex-range@5.0.1:
@@ -1403,8 +1369,8 @@ packages:
     engines: {node: '>=14.17'}
     hasBin: true
 
-  undici-types@7.16.0:
+  undici-types@6.21.0:
-    resolution: {integrity: sha512-Zz+aZWSj8LE6zoxD+xrjh4VfkIG8Ya6LvYkZqtUQGJPZjYl53ypCaUwWqo7eI0x66KBGeRo+mlBEkMSeSZ38Nw==}
+    resolution: {integrity: sha512-iwDZqg0QAGrg9Rav5H4n0M64c3mkR59cJ6wQp+7C4nI0gsmExaedaYLNO44eT4AtBBwjbTiGPMlt2Md0T9H9JQ==}
 
   upath@2.0.1:
     resolution: {integrity: sha512-1uEe95xksV1O0CYKXo8vQvN1JEbtJp7lb7C5U9HMsIp6IVwntkH/oNUzyVNQSd4S1sYk2FpSSW44FqMc8qee5w==}
@@ -1427,14 +1393,14 @@ packages:
       vue: ^3.0.0
       vuetify: ^3.0.0
 
-  vite@8.0.10:
+  vite@8.0.2:
-    resolution: {integrity: sha512-rZuUu9j6J5uotLDs+cAA4O5H4K1SfPliUlQwqa6YEwSrWDZzP4rhm00oJR5snMewjxF5V/K3D4kctsUTsIU9Mw==}
+    resolution: {integrity: sha512-1gFhNi+bHhRE/qKZOJXACm6tX4bA3Isy9KuKF15AgSRuRazNBOJfdDemPBU16/mpMxApDPrWvZ08DcLPEoRnuA==}
     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 || ^0.28.0
+      esbuild: ^0.27.0
       jiti: '>=1.21.0'
       less: ^4.0.0
       sass: ^1.70.0
@@ -1470,9 +1436,6 @@ 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}
@@ -1484,12 +1447,6 @@ 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:
@@ -1541,8 +1498,6 @@ packages:
 
 snapshots:
 
-  '@adam-rocska/units-and-measurement@1.2.0': {}
-
   '@babel/helper-string-parser@7.27.1': {}
 
   '@babel/helper-validator-identifier@7.27.1': {}
@@ -1560,18 +1515,18 @@ snapshots:
 
   '@dimforge/rapier3d-compat@0.12.0': {}
 
-  '@emnapi/core@1.10.0':
+  '@emnapi/core@1.9.1':
     dependencies:
-      '@emnapi/wasi-threads': 1.2.1
+      '@emnapi/wasi-threads': 1.2.0
       tslib: 2.8.1
     optional: true
 
-  '@emnapi/runtime@1.10.0':
+  '@emnapi/runtime@1.9.1':
     dependencies:
       tslib: 2.8.1
     optional: true
 
-  '@emnapi/wasi-threads@1.2.1':
+  '@emnapi/wasi-threads@1.2.0':
     dependencies:
       tslib: 2.8.1
     optional: true
@@ -1641,10 +1596,10 @@ snapshots:
 
   '@msgpack/msgpack@3.1.2': {}
 
-  '@napi-rs/wasm-runtime@1.1.4(@emnapi/core@1.10.0)(@emnapi/runtime@1.10.0)':
+  '@napi-rs/wasm-runtime@1.1.1':
     dependencies:
-      '@emnapi/core': 1.10.0
+      '@emnapi/core': 1.9.1
-      '@emnapi/runtime': 1.10.0
+      '@emnapi/runtime': 1.9.1
       '@tybys/wasm-util': 0.10.1
     optional: true
 
@@ -1660,7 +1615,7 @@ snapshots:
       '@nodelib/fs.scandir': 2.1.5
       fastq: 1.19.1
 
-  '@oxc-project/types@0.127.0': {}
+  '@oxc-project/types@0.122.0': {}
 
   '@parcel/watcher-android-arm64@2.5.1':
     optional: true
@@ -1729,58 +1684,56 @@ snapshots:
     dependencies:
       playwright: 1.56.1
 
-  '@rolldown/binding-android-arm64@1.0.0-rc.17':
+  '@rolldown/binding-android-arm64@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-darwin-arm64@1.0.0-rc.17':
+  '@rolldown/binding-darwin-arm64@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-darwin-x64@1.0.0-rc.17':
+  '@rolldown/binding-darwin-x64@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-freebsd-x64@1.0.0-rc.17':
+  '@rolldown/binding-freebsd-x64@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.17':
+  '@rolldown/binding-linux-arm-gnueabihf@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-arm64-gnu@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.17':
+  '@rolldown/binding-linux-arm64-musl@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.17':
+  '@rolldown/binding-linux-x64-gnu@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-linux-x64-musl@1.0.0-rc.17':
+  '@rolldown/binding-linux-x64-musl@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-openharmony-arm64@1.0.0-rc.17':
+  '@rolldown/binding-openharmony-arm64@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-wasm32-wasi@1.0.0-rc.17':
+  '@rolldown/binding-wasm32-wasi@1.0.0-rc.11':
     dependencies:
-      '@emnapi/core': 1.10.0
+      '@napi-rs/wasm-runtime': 1.1.1
-      '@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.17':
+  '@rolldown/binding-win32-arm64-msvc@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.17':
+  '@rolldown/binding-win32-x64-msvc@1.0.0-rc.11':
     optional: true
 
-  '@rolldown/pluginutils@1.0.0-rc.13': {}
+  '@rolldown/pluginutils@1.0.0-beta.19': {}
 
-  '@rolldown/pluginutils@1.0.0-rc.17': {}
+  '@rolldown/pluginutils@1.0.0-rc.11': {}
 
   '@tweenjs/tween.js@23.1.3': {}
 
@@ -1793,9 +1746,9 @@ snapshots:
 
   '@types/json-schema@7.0.15': {}
 
-  '@types/node@24.12.2':
+  '@types/node@22.15.14':
     dependencies:
-      undici-types: 7.16.0
+      undici-types: 6.21.0
 
   '@types/raf@3.4.3':
     optional: true
@@ -1894,24 +1847,12 @@ snapshots:
       '@typescript-eslint/types': 8.32.0
       eslint-visitor-keys: 4.2.0
 
-  '@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))':
+  '@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))':
     dependencies:
-      '@rolldown/pluginutils': 1.0.0-rc.13
+      '@rolldown/pluginutils': 1.0.0-beta.19
-      vite: 8.0.10(@types/node@24.12.2)(sass@1.89.2)
+      vite: 8.0.2(@types/node@22.15.14)(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
@@ -1984,16 +1925,6 @@ 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
@@ -2050,8 +1981,6 @@ 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
@@ -2572,8 +2501,6 @@ snapshots:
 
   ms@2.1.3: {}
 
-  muggle-string@0.4.1: {}
-
   nanoid@3.3.11: {}
 
   natural-compare@1.4.0: {}
@@ -2606,8 +2533,6 @@ snapshots:
     dependencies:
       callsites: 3.1.0
 
-  path-browserify@1.0.1: {}
-
   path-exists@4.0.0: {}
 
   path-key@3.1.1: {}
@@ -2643,13 +2568,13 @@ snapshots:
       cssesc: 3.0.0
       util-deprecate: 1.0.2
 
-  postcss@8.5.13:
+  postcss@8.5.3:
     dependencies:
       nanoid: 3.3.11
       picocolors: 1.1.1
       source-map-js: 1.2.1
 
-  postcss@8.5.3:
+  postcss@8.5.8:
     dependencies:
       nanoid: 3.3.11
       picocolors: 1.1.1
@@ -2688,26 +2613,26 @@ snapshots:
   rgbcolor@1.0.1:
     optional: true
 
-  rolldown@1.0.0-rc.17:
+  rolldown@1.0.0-rc.11:
     dependencies:
-      '@oxc-project/types': 0.127.0
+      '@oxc-project/types': 0.122.0
-      '@rolldown/pluginutils': 1.0.0-rc.17
+      '@rolldown/pluginutils': 1.0.0-rc.11
     optionalDependencies:
-      '@rolldown/binding-android-arm64': 1.0.0-rc.17
+      '@rolldown/binding-android-arm64': 1.0.0-rc.11
-      '@rolldown/binding-darwin-arm64': 1.0.0-rc.17
+      '@rolldown/binding-darwin-arm64': 1.0.0-rc.11
-      '@rolldown/binding-darwin-x64': 1.0.0-rc.17
+      '@rolldown/binding-darwin-x64': 1.0.0-rc.11
-      '@rolldown/binding-freebsd-x64': 1.0.0-rc.17
+      '@rolldown/binding-freebsd-x64': 1.0.0-rc.11
-      '@rolldown/binding-linux-arm-gnueabihf': 1.0.0-rc.17
+      '@rolldown/binding-linux-arm-gnueabihf': 1.0.0-rc.11
-      '@rolldown/binding-linux-arm64-gnu': 1.0.0-rc.17
+      '@rolldown/binding-linux-arm64-gnu': 1.0.0-rc.11
-      '@rolldown/binding-linux-arm64-musl': 1.0.0-rc.17
+      '@rolldown/binding-linux-arm64-musl': 1.0.0-rc.11
-      '@rolldown/binding-linux-ppc64-gnu': 1.0.0-rc.17
+      '@rolldown/binding-linux-ppc64-gnu': 1.0.0-rc.11
-      '@rolldown/binding-linux-s390x-gnu': 1.0.0-rc.17
+      '@rolldown/binding-linux-s390x-gnu': 1.0.0-rc.11
-      '@rolldown/binding-linux-x64-gnu': 1.0.0-rc.17
+      '@rolldown/binding-linux-x64-gnu': 1.0.0-rc.11
-      '@rolldown/binding-linux-x64-musl': 1.0.0-rc.17
+      '@rolldown/binding-linux-x64-musl': 1.0.0-rc.11
-      '@rolldown/binding-openharmony-arm64': 1.0.0-rc.17
+      '@rolldown/binding-openharmony-arm64': 1.0.0-rc.11
-      '@rolldown/binding-wasm32-wasi': 1.0.0-rc.17
+      '@rolldown/binding-wasm32-wasi': 1.0.0-rc.11
-      '@rolldown/binding-win32-arm64-msvc': 1.0.0-rc.17
+      '@rolldown/binding-win32-arm64-msvc': 1.0.0-rc.11
-      '@rolldown/binding-win32-x64-msvc': 1.0.0-rc.17
+      '@rolldown/binding-win32-x64-msvc': 1.0.0-rc.11
 
   run-parallel@1.2.0:
     dependencies:
@@ -2761,7 +2686,7 @@ snapshots:
 
   three@0.178.0: {}
 
-  tinyglobby@0.2.16:
+  tinyglobby@0.2.15:
     dependencies:
       fdir: 6.5.0(picomatch@4.0.4)
       picomatch: 4.0.4
@@ -2794,7 +2719,7 @@ snapshots:
 
   typescript@5.8.3: {}
 
-  undici-types@7.16.0: {}
+  undici-types@6.21.0: {}
 
   upath@2.0.1: {}
 
@@ -2809,31 +2734,29 @@ snapshots:
       base64-arraybuffer: 1.0.2
     optional: true
 
-  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):
+  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):
     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: 8.0.10(@types/node@24.12.2)(sass@1.89.2)
+      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(typescript@5.8.3)(vite-plugin-vuetify@2.1.1)(vue@3.5.13(typescript@5.8.3))
     transitivePeerDependencies:
       - supports-color
 
-  vite@8.0.10(@types/node@24.12.2)(sass@1.89.2):
+  vite@8.0.2(@types/node@22.15.14)(sass@1.89.2):
     dependencies:
       lightningcss: 1.32.0
       picomatch: 4.0.4
-      postcss: 8.5.13
+      postcss: 8.5.8
-      rolldown: 1.0.0-rc.17
+      rolldown: 1.0.0-rc.11
-      tinyglobby: 0.2.16
+      tinyglobby: 0.2.15
     optionalDependencies:
-      '@types/node': 24.12.2
+      '@types/node': 22.15.14
       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
@@ -2852,12 +2775,6 @@ 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)
@@ -2877,7 +2794,7 @@ snapshots:
       vue: 3.5.13(typescript@5.8.3)
     optionalDependencies:
       typescript: 5.8.3
-      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)
+      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)
 
   which@2.0.2:
     dependencies:

photon-client/pnpm-workspace.yaml

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

photon-client/src/App.vue

@@ -11,10 +11,9 @@ 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://${backendHost}/websocket_data`,
+    `ws://${inject("backendHost")}/websocket_data`,
     () => {
       useStateStore().$patch({ backendConnected: true });
     },
@@ -76,6 +75,36 @@ onBeforeMount(() => {
     <photon-log-view />
     <photon-error-snackbar />
   </v-app>
+
+  <!-- Quarky overlay -->
+  <div class="quarky-overlay">
+    <div id="quarkyContainer" class="quarky-container" style="left: calc(100vw - 550px); top: calc(100vh - 550px)">
+      <img id="quarkyImage" src="" alt="Quarky" />
+      <div
+        id="quarkySpeechBubble"
+        style="
+          display: none;
+          position: absolute;
+          left: 50%;
+          top: 0;
+          transform: translateX(-50%);
+          min-width: 120px;
+          max-width: 320px;
+          padding: 16px 24px;
+          background: #fff;
+          color: #222;
+          border-radius: 16px;
+          box-shadow: 0 4px 16px rgba(0, 0, 0, 0.15);
+          font-size: 1.2em;
+          font-family: sans-serif;
+          opacity: 0;
+          transition: opacity 0.7s;
+          pointer-events: none;
+          z-index: 10;
+        "
+      ></div>
+    </div>
+  </div>
 </template>
 
 <style lang="scss">
@@ -118,4 +147,33 @@ onBeforeMount(() => {
 div.v-layout {
   overflow: unset !important;
 }
+
+/* Overlay container for Quarky */
+.quarky-overlay {
+  position: fixed;
+  top: 0;
+  left: 0;
+  width: 100%;
+  height: 100%;
+  pointer-events: none;
+  z-index: 1000;
+}
+
+/* Quarky animation container */
+.quarky-container {
+  position: absolute;
+  width: 500px;
+  height: 500px;
+  background-color: transparent;
+  transition:
+    left 1s cubic-bezier(0.42, 0, 0.58, 1),
+    top 1s cubic-bezier(0.42, 0, 0.58, 1);
+}
+
+.quarky-container img {
+  width: 100%;
+  height: 100%;
+  object-fit: contain;
+  display: block;
+}
 </style>

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.js";
+import type { TrackballControls } from "three/examples/jsm/controls/TrackballControls";
 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.js");
+const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls");
 
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { createPerspectiveCamera } from "@/lib/ThreeUtils";
@@ -213,14 +213,14 @@ onMounted(async () => {
     renderer.render(scene, camera);
   };
 
-  await drawTargets(props.targets);
+  drawTargets(props.targets);
   animate();
 });
 onBeforeUnmount(() => {
   window.removeEventListener("resize", onWindowResize);
 });
 watchEffect(() => {
-  void drawTargets(props.targets);
+  drawTargets(props.targets);
 });
 </script>
 

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

@@ -1,13 +1,5 @@
 <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,
@@ -24,7 +16,7 @@ const {
   SphereGeometry,
   WebGLRenderer
 } = await import("three");
-const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls.js");
+const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls");
 import type { BoardObservation, CameraCalibrationResult } from "@/types/SettingTypes";
 import axios from "axios";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
@@ -39,12 +31,12 @@ const props = defineProps<{
   title: string;
 }>();
 
-let scene: SceneType | undefined;
+let scene: Scene | undefined;
-let camera: PerspectiveCameraType | undefined;
+let camera: PerspectiveCamera | undefined;
-let renderer: WebGLRendererType | undefined;
+let renderer: WebGLRenderer | undefined;
-let controls: TrackballControlsType | undefined;
+let controls: TrackballControls | undefined;
 
-const createChessboard = (obs: BoardObservation, cal: CameraCalibrationResult): GroupType => {
+const createChessboard = (obs: BoardObservation, cal: CameraCalibrationResult): Group => {
   const group = new Group();
 
   if (obs.locationInImageSpace.length === 0) return group;
@@ -202,6 +194,9 @@ 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);
 
@@ -261,10 +256,6 @@ 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;
@@ -327,7 +318,7 @@ if (import.meta.hot) {
 }
 
 watchEffect(() => {
-  void drawCalibration(calibrationData.value);
+  drawCalibration(calibrationData.value);
 });
 
 watch(
@@ -337,9 +328,9 @@ watch(
     props.resolution.height,
     useCameraSettingsStore().getCalibrationCoeffs(props.resolution)
   ],
-  async () => {
+  () => {
     console.log("Camera or resolution changed, refetching calibration");
-    await fetchCalibrationData();
+    fetchCalibrationData();
   }
 );
 </script>

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

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, inject, onBeforeUnmount, useTemplateRef } from "vue";
+import { computed, inject, ref, onBeforeUnmount } from "vue";
 import { useStateStore } from "@/stores/StateStore";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import type { StyleValue } from "vue";
@@ -13,7 +13,6 @@ 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"];
@@ -22,7 +21,7 @@ const streamSrc = computed<string>(() => {
     return emptyStreamSrc;
   }
 
-  return `http://${backendHostname}:${port}/stream.mjpg`;
+  return `http://${inject("backendHostname")}:${port}/stream.mjpg`;
 });
 const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
 const streamStyle = computed<StyleValue>(() => {
@@ -68,26 +67,26 @@ const handleCaptureClick = () => {
 const handlePopoutClick = () => {
   window.open(streamSrc.value);
 };
-const handleFullscreenRequest = async () => {
+const handleFullscreenRequest = () => {
   const stream = document.getElementById(props.id);
   if (!stream) return;
-  await stream.requestFullscreen();
+  stream.requestFullscreen();
 };
 
-const mjpgStream = useTemplateRef("mjpgStream");
+const mjpgStream: any = ref(null);
 
 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, useTemplateRef, watch } from "vue";
+import { computed, inject, ref, 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 = useTemplateRef<InstanceType<typeof VirtualList>>("logList"); // this needs to be typed in the definition since vue has trouble inferring it
+const logList = ref();
 const logKeeps = ref(40);
-const exportLogFile = useTemplateRef("exportLogFile");
+const exportLogFile = ref();
-const selectedLogLevels = ref<Record<number, boolean>>({
+const selectedLogLevels = ref({
   [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

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, ref, watch, watchEffect } from "vue";
+import { computed, ref, watchEffect } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { CalibrationBoardTypes, CalibrationTagFamilies, type VideoFormat } from "@/types/SettingTypes";
 import MonoLogo from "@/assets/images/logoMono.png";
@@ -15,7 +15,6 @@ import CameraCalibrationInfoCard from "@/components/cameras/CameraCalibrationInf
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useTheme } from "vuetify";
 import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
-import { length } from "@adam-rocska/units-and-measurement/length";
 
 const PromptRegular = import("@/assets/fonts/PromptRegular");
 const jspdf = import("jspdf");
@@ -39,11 +38,6 @@ 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
@@ -66,10 +60,7 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
           ) *
           (180 / Math.PI);
       }
-
+      uniqueResolutions.push(format);
-      if (resArea >= minPixelCount) {
-        uniqueResolutions.push(format);
-      }
     }
   });
   uniqueResolutions.sort(
@@ -90,28 +81,20 @@ const calibrationDivisors = computed(() =>
   })
 );
 
-const uniqueVideoResolutionIndex = ref(getUniqueVideoResolutionStrings()?.[0]?.value);
+const uniqueVideoResolutionString = ref("");
 
 // 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)
   );
-  const currentFormatIndex = useCameraSettingsStore().currentVideoFormat.index ?? 0;
+  uniqueVideoResolutionString.value = names[currentIndex] ?? names[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 squareSize = ref(30);
+const markerSizeIn = ref(0.75);
-const markerSize = ref(22);
 const patternWidth = ref(8);
 const patternHeight = ref(8);
 const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
@@ -119,13 +102,6 @@ const useOldPattern = ref(false);
 const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
 const requestedVideoFormatIndex = ref(0);
 
-watch(dimensionUnit, (value, oldValue) => {
-  squareSize.value = length[oldValue](squareSize.value)[value].value;
-  markerSize.value = length[oldValue](markerSize.value)[value].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
@@ -146,31 +122,25 @@ const downloadCalibBoard = async () => {
 
   switch (boardType.value) {
     case CalibrationBoardTypes.Chessboard:
-      const squareSizeIn = length[dimensionUnit.value](squareSize.value).in.value;
+      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn.value) / 2;
-      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn) / 2;
 
-      const chessboardStartY = (paperHeight - patternHeight.value * squareSizeIn) / 2;
+      const chessboardStartY = (paperHeight - patternWidth.value * squareSizeIn.value) / 2;
 
       for (let squareY = 0; squareY < patternHeight.value; squareY++) {
         for (let squareX = 0; squareX < patternWidth.value; squareX++) {
-          const xPos = chessboardStartX + squareX * squareSizeIn;
+          const xPos = chessboardStartX + squareX * squareSizeIn.value;
-          const yPos = chessboardStartY + squareY * squareSizeIn;
+          const yPos = chessboardStartY + squareY * squareSizeIn.value;
 
           // Only draw the odd squares to create the chessboard pattern
           if (squareY % 2 !== squareX % 2) {
-            doc.rect(xPos, yPos, squareSizeIn, squareSizeIn, "F");
+            doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
           }
         }
       }
-      doc.text(
+      doc.text(`${patternWidth.value} x ${patternHeight.value} | ${squareSizeIn.value}in`, paperWidth - 1, 1.0, {
-        `${patternWidth.value} x ${patternHeight.value} | ${squareSize.value}${dimensionUnit.value}`,
+        maxWidth: (paperWidth - 2.0) / 2,
-        paperWidth - 1,
+        align: "right"
-        1.0,
+      });
-        {
-          maxWidth: (paperWidth - 2.0) / 2,
-          align: "right"
-        }
-      );
       break;
 
     case CalibrationBoardTypes.Charuco:
@@ -206,13 +176,13 @@ const downloadCalibBoard = async () => {
 };
 
 const isCalibrating = computed(
-  () => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d.valueOf()
+  () => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d
 );
 
 const startCalibration = () => {
   useCameraSettingsStore().startPnPCalibration({
-    squareSizeMeters: length[dimensionUnit.value](squareSize.value).m.value,
+    squareSizeIn: squareSizeIn.value,
-    markerSizeMeters: length[dimensionUnit.value](markerSize.value).m.value,
+    markerSizeIn: markerSizeIn.value,
     patternHeight: patternHeight.value,
     patternWidth: patternWidth.value,
     boardType: boardType.value,
@@ -233,7 +203,7 @@ const endCalibration = () => {
   calibSuccess.value = undefined;
   calibEndpointFail.value = false;
 
-  if (!hasEnoughImages.value) {
+  if (!useStateStore().calibrationData.hasEnoughImages) {
     calibCanceled.value = true;
   }
 
@@ -261,10 +231,6 @@ 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) => {
@@ -329,23 +295,23 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           >
           <v-form v-model="settingsValid">
             <pv-select
-              v-model="uniqueVideoResolutionIndex"
+              v-model="uniqueVideoResolutionString"
               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="(value) => (useStateStore().calibrationData.videoFormatIndex = value)"
+              @update:model-value="
+                useStateStore().calibrationData.videoFormatIndex =
+                  getUniqueVideoResolutionStrings().find((v) => v.value === $event)?.value || 0
+              "
             />
             <pv-select
               v-model="boardType"
               label="Board Type"
               tooltip="Calibration board pattern to use"
               :select-cols="8"
-              :items="[
+              :items="['Chessboard', 'ChArUco']"
-                { value: CalibrationBoardTypes.Charuco, name: 'ChArUco' },
-                { value: CalibrationBoardTypes.Chessboard, name: 'Chessboard' }
-              ]"
               :disabled="isCalibrating"
             />
             <v-alert
@@ -375,43 +341,25 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               label="Tag Family"
               tooltip="Dictionary of ArUco markers on the ChArUco board"
               :select-cols="8"
-              :items="[
+              :items="['Dict_4X4_1000', 'Dict_5X5_1000', 'Dict_6X6_1000', 'Dict_7X7_1000']"
-                { value: CalibrationTagFamilies.Dict_4X4_1000, name: 'Dict_4X4_1000' },
-                { value: CalibrationTagFamilies.Dict_5X5_1000, name: 'Dict_5X5_1000' },
-                { value: CalibrationTagFamilies.Dict_6X6_1000, name: 'Dict_6X6_1000' },
-                { value: CalibrationTagFamilies.Dict_7X7_1000, name: 'Dict_7X7_1000' }
-              ]"
-              :disabled="isCalibrating"
-            />
-            <pv-select
-              v-model="dimensionUnit"
-              label="Dimension Unit"
-              tooltip="Units used for pattern spacing and marker size inputs"
-              :select-cols="8"
-              :items="[
-                { value: 'in', name: 'Inches' },
-                { value: 'mm', name: 'Millimeters' }
-              ]"
               :disabled="isCalibrating"
             />
             <pv-number-input
-              v-model="squareSize"
+              v-model="squareSizeIn"
-              :label="`Pattern Spacing (${dimensionUnit})`"
+              label="Pattern Spacing (in)"
-              :tooltip="`Spacing between pattern features in ${dimensionUnit === 'mm' ? 'millimeters' : 'inches'}`"
+              tooltip="Spacing between pattern features in inches"
               :disabled="isCalibrating"
               :rules="[(v) => v > 0 || 'Size must be positive']"
               :label-cols="4"
-              :step="dimensionStep"
             />
             <pv-number-input
               v-if="boardType === CalibrationBoardTypes.Charuco"
-              v-model="markerSize"
+              v-model="markerSizeIn"
-              :label="`Marker Size (${dimensionUnit})`"
+              label="Marker Size (in)"
-              :tooltip="`Size of the tag markers in ${dimensionUnit === 'mm' ? 'millimeters' : 'inches'}; must be smaller than pattern spacing`"
+              tooltip="Size of the tag markers in 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"
@@ -535,22 +483,11 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           <v-chip
             :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
             label
-            :color="hasEnoughImages ? 'buttonPassive' : 'light-grey'"
+            :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonPassive' : 'light-grey'"
           >
             Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
-            {{ minCount }}
+            {{ useStateStore().calibrationData.minimumImageCount }}
           </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
@@ -595,14 +532,16 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               size="small"
               block
               :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
-              :color="hasEnoughImages ? 'buttonActive' : 'error'"
+              :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonActive' : 'error'"
               :disabled="!isCalibrating || !settingsValid"
               @click="endCalibration"
             >
               <v-icon start class="calib-btn-icon" size="large">
-                {{ hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
+                {{ useStateStore().calibrationData.hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
               </v-icon>
-              <span class="calib-btn-label">{{ hasEnoughImages ? "Finish Calibration" : "Cancel Calibration" }}</span>
+              <span class="calib-btn-label">{{
+                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, useTemplateRef } from "vue";
+import { computed, inject, ref } 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 });
+const confirmRemoveDialog = ref({ show: false, vf: props.videoFormat as VideoFormat });
 
-const removeCalibration = async (vf: VideoFormat) => {
+const removeCalibration = (vf: VideoFormat) => {
-  await axiosPost("/calibration/remove", "delete a camera calibration", {
+  axiosPost("/calibration/remove", "delete a camera calibration", {
     cameraUniqueName: useCameraSettingsStore().currentCameraSettings.uniqueName,
     width: vf.resolution.width,
     height: vf.resolution.height
   });
 };
 
-const exportCalibration = useTemplateRef("exportCalibration");
+const exportCalibration = ref();
 const openExportCalibrationPrompt = () => {
-  exportCalibration.value?.click();
+  exportCalibration.value.click();
 };
 
-const importCalibrationFromPhotonJson = useTemplateRef("importCalibrationFromPhotonJson");
+const importCalibrationFromPhotonJson = ref();
 const openUploadPhotonCalibJsonPrompt = () => {
-  importCalibrationFromPhotonJson.value?.click();
+  importCalibrationFromPhotonJson.value.click();
 };
 const importCalibration = async () => {
-  const files = importCalibrationFromPhotonJson.value?.files;
+  const files = importCalibrationFromPhotonJson.value.files;
-  if (!files?.length) return;
+  if (files.length === 0) 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: number) => {
+        (snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index) => {
           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' : 'elevated'"
+        :variant="theme.global.current.value.dark ? 'outlined' : 'tonal'"
         @click="fetchSnapshots"
       >
         <v-icon start class="open-icon" size="large"> mdi-folder </v-icon>

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

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

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

@@ -6,7 +6,6 @@ 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();
 
@@ -16,7 +15,7 @@ const driverMode = computed<boolean>({
   get: () => useCameraSettingsStore().isDriverMode,
   set: (v) =>
     useCameraSettingsStore().changeCurrentPipelineIndex(
-      v ? WebsocketPipelineType.DriverMode : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
       true
     )
 });

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

@@ -1,51 +1,69 @@
 <script setup lang="ts">
-import type { PVCameraInfo } from "@/types/SettingTypes";
+import { PVCameraInfo } from "@/types/SettingTypes";
 
-const { camera } = defineProps<{ camera: PVCameraInfo }>();
+const { camera } = defineProps({
+  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="'dev' in camera && camera.dev !== null">
+        <tr v-if="cameraInfoFor(camera).dev !== undefined && cameraInfoFor(camera).dev !== null">
           <td>Device Number:</td>
-          <td>{{ camera.dev }}</td>
+          <td>{{ cameraInfoFor(camera).dev }}</td>
         </tr>
-        <tr v-if="'name' in camera && camera.name !== null">
+        <tr v-if="cameraInfoFor(camera).name !== undefined && cameraInfoFor(camera).name !== null">
           <td>Name:</td>
-          <td>{{ camera.name }}</td>
+          <td>{{ cameraInfoFor(camera).name }}</td>
         </tr>
         <tr>
           <td>Type:</td>
-          <td v-if="camera.type === 'PVUsbCameraInfo'" class="mb-3">USB Camera</td>
+          <td v-if="camera.PVUsbCameraInfo" class="mb-3">USB Camera</td>
-          <td v-else-if="camera.type === 'PVCSICameraInfo'" class="mb-3">CSI Camera</td>
+          <td v-else-if="camera.PVCSICameraInfo" class="mb-3">CSI Camera</td>
-          <td v-else-if="camera.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
+          <td v-else-if="camera.PVFileCameraInfo" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
-        <tr v-if="'baseName' in camera && camera.baseName !== null">
+        <tr v-if="cameraInfoFor(camera).baseName !== undefined && cameraInfoFor(camera).baseName !== null">
           <td>Base Name:</td>
-          <td>{{ camera.baseName }}</td>
+          <td>{{ cameraInfoFor(camera).baseName }}</td>
         </tr>
-        <tr v-if="'vendorId' in camera && camera.vendorId !== null">
+        <tr v-if="cameraInfoFor(camera).vendorId !== undefined && cameraInfoFor(camera).vendorId !== null">
           <td>Vendor ID:</td>
-          <td>{{ camera.vendorId }}</td>
+          <td>{{ cameraInfoFor(camera).vendorId }}</td>
         </tr>
-        <tr v-if="'productId' in camera && camera.productId !== null">
+        <tr v-if="cameraInfoFor(camera).productId !== undefined && cameraInfoFor(camera).productId !== null">
           <td>Product ID:</td>
-          <td>{{ camera.productId }}</td>
+          <td>{{ cameraInfoFor(camera).productId }}</td>
         </tr>
-        <tr v-if="'path' in camera && camera.path !== null">
+        <tr v-if="cameraInfoFor(camera).path !== undefined && cameraInfoFor(camera).path !== null">
           <td>Path:</td>
-          <td style="word-break: break-all">{{ camera.path }}</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(camera).path }}</td>
         </tr>
-        <tr v-if="'uniquePath' in camera && camera.uniquePath !== null">
+        <tr v-if="cameraInfoFor(camera).uniquePath !== undefined && cameraInfoFor(camera).uniquePath !== null">
           <td>Unique Path:</td>
-          <td style="word-break: break-all">{{ camera.uniquePath }}</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(camera).uniquePath }}</td>
         </tr>
-        <tr v-if="'otherPaths' in camera && camera.otherPaths !== null">
+        <tr v-if="cameraInfoFor(camera).otherPaths !== undefined && cameraInfoFor(camera).otherPaths !== null">
           <td>Other Paths:</td>
-          <td>{{ camera.otherPaths }}</td>
+          <td>{{ cameraInfoFor(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 type { PVCameraInfo } from "@/types/SettingTypes";
+import { PVCameraInfo } from "@/types/SettingTypes";
 
 function isEqual<T>(a: T, b: T): boolean {
   if (a === b) {
@@ -15,7 +15,29 @@ function isEqual<T>(a: T, b: T): boolean {
   );
 }
 
-const { saved, current } = defineProps<{ saved: PVCameraInfo; current: PVCameraInfo }>();
+const { saved, current } = defineProps({
+  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>
@@ -28,70 +50,79 @@ const { saved, current } = defineProps<{ saved: PVCameraInfo; current: PVCameraI
           <th>Current</th>
         </tr>
         <tr
-          v-if="'dev' in saved && 'dev' in current && saved.dev !== null"
+          v-if="cameraInfoFor(saved).dev !== undefined && cameraInfoFor(saved).dev !== null"
-          :class="saved.dev !== current.dev ? 'mismatch' : ''"
+          :class="cameraInfoFor(saved).dev !== cameraInfoFor(current).dev ? 'mismatch' : ''"
         >
           <td>Device Number:</td>
-          <td>{{ saved.dev }}</td>
+          <td>{{ cameraInfoFor(saved).dev }}</td>
-          <td>{{ current.dev }}</td>
+          <td>{{ cameraInfoFor(current).dev }}</td>
-        </tr>
-        <tr v-if="saved.name !== null" :class="saved.name !== current.name ? 'mismatch' : ''">
-          <td>Name:</td>
-          <td>{{ saved.name }}</td>
-          <td>{{ current.name }}</td>
         </tr>
         <tr
-          v-if="'baseName' in saved && 'baseName' in current && saved.baseName !== null"
+          v-if="cameraInfoFor(saved).name !== undefined && cameraInfoFor(saved).name !== null"
-          :class="saved.baseName !== current.baseName ? 'mismatch' : ''"
+          :class="cameraInfoFor(saved).name !== cameraInfoFor(current).name ? 'mismatch' : ''"
+        >
+          <td>Name:</td>
+          <td>{{ cameraInfoFor(saved).name }}</td>
+          <td>{{ cameraInfoFor(current).name }}</td>
+        </tr>
+        <tr
+          v-if="cameraInfoFor(saved).baseName !== undefined && cameraInfoFor(saved).baseName !== null"
+          :class="cameraInfoFor(saved).baseName !== cameraInfoFor(current).baseName ? 'mismatch' : ''"
         >
           <td>Base Name:</td>
-          <td>{{ saved.baseName }}</td>
+          <td>{{ cameraInfoFor(saved).baseName }}</td>
-          <td>{{ current.baseName }}</td>
+          <td>{{ cameraInfoFor(current).baseName }}</td>
         </tr>
         <tr>
           <td>Type:</td>
-          <td v-if="saved.type === 'PVUsbCameraInfo'" class="mb-3">USB Camera</td>
+          <td v-if="saved.PVUsbCameraInfo" class="mb-3">USB Camera</td>
-          <td v-else-if="saved.type === 'PVCSICameraInfo'" class="mb-3">CSI Camera</td>
+          <td v-else-if="saved.PVCSICameraInfo" class="mb-3">CSI Camera</td>
-          <td v-else-if="saved.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
+          <td v-else-if="saved.PVFileCameraInfo" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
-          <td v-if="current.type === 'PVUsbCameraInfo'" class="mb-3">USB Camera</td>
+          <td v-if="current.PVUsbCameraInfo" class="mb-3">USB Camera</td>
-          <td v-else-if="current.type === 'PVCSICameraInfo'" class="mb-3">CSI Camera</td>
+          <td v-else-if="current.PVCSICameraInfo" class="mb-3">CSI Camera</td>
-          <td v-else-if="current.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
+          <td v-else-if="current.PVFileCameraInfo" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
         <tr
-          v-if="'vendorId' in saved && 'vendorId' in current && saved.vendorId !== null"
+          v-if="cameraInfoFor(saved).vendorId !== undefined && cameraInfoFor(saved).vendorId !== null"
-          :class="saved.vendorId !== current.vendorId ? 'mismatch' : ''"
+          :class="cameraInfoFor(saved).vendorId !== cameraInfoFor(current).vendorId ? 'mismatch' : ''"
         >
           <td>Vendor ID:</td>
-          <td>{{ saved.vendorId }}</td>
+          <td>{{ cameraInfoFor(saved).vendorId }}</td>
-          <td>{{ current.vendorId }}</td>
+          <td>{{ cameraInfoFor(current).vendorId }}</td>
         </tr>
         <tr
-          v-if="'productId' in saved && 'productId' in current && saved.productId !== null"
+          v-if="cameraInfoFor(saved).productId !== undefined && cameraInfoFor(saved).productId !== null"
-          :class="saved.productId !== current.productId ? 'mismatch' : ''"
+          :class="cameraInfoFor(saved).productId !== cameraInfoFor(current).productId ? 'mismatch' : ''"
         >
           <td>Product ID:</td>
-          <td>{{ saved.productId }}</td>
+          <td>{{ cameraInfoFor(saved).productId }}</td>
-          <td>{{ current.productId }}</td>
+          <td>{{ cameraInfoFor(current).productId }}</td>
-        </tr>
-        <tr v-if="saved.path !== null" :class="saved.path !== current.path ? 'mismatch' : ''">
-          <td>Path:</td>
-          <td style="word-break: break-all">{{ saved.path }}</td>
-          <td style="word-break: break-all">{{ current.path }}</td>
-        </tr>
-        <tr v-if="saved.uniquePath !== null" :class="saved.uniquePath !== current.uniquePath ? 'mismatch' : ''">
-          <td>Unique Path:</td>
-          <td style="word-break: break-all">{{ saved.uniquePath }}</td>
-          <td style="word-break: break-all">{{ current.uniquePath }}</td>
         </tr>
         <tr
-          v-if="'otherPaths' in saved && 'otherPaths' in current && saved.otherPaths !== null"
+          v-if="cameraInfoFor(saved).path !== undefined && cameraInfoFor(saved).path !== null"
-          :class="isEqual(saved.otherPaths, current.otherPaths) ? '' : 'mismatch'"
+          :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">{{ cameraInfoFor(current).path }}</td>
+        </tr>
+        <tr
+          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">{{ cameraInfoFor(current).uniquePath }}</td>
+        </tr>
+        <tr
+          v-if="cameraInfoFor(saved).otherPaths !== undefined && cameraInfoFor(saved).otherPaths !== null"
+          :class="isEqual(cameraInfoFor(saved).otherPaths, cameraInfoFor(current).otherPaths) ? '' : 'mismatch'"
         >
           <td>Other Paths:</td>
-          <td>{{ saved.otherPaths }}</td>
+          <td>{{ cameraInfoFor(saved).otherPaths }}</td>
-          <td>{{ current.otherPaths }}</td>
+          <td>{{ cameraInfoFor(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 }: KeyboardEvent) => {
+const handleKeydown = ({ key }) => {
   switch (key) {
     case "Enter":
       // Explicitly check that all rule props return true

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

@@ -1,15 +1,13 @@
-<script setup lang="ts" generic="T extends string | number">
+<script setup lang="ts">
 import { computed } from "vue";
 import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
 
-export interface SelectItem<TValue extends string | number> {
+export interface SelectItem {
   name: string | number;
-  value: TValue;
+  value: string | number;
   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<{
@@ -17,7 +15,7 @@ const props = withDefaults(
     tooltip?: string;
     selectCols?: number;
     disabled?: boolean;
-    items: SelectItems;
+    items: string[] | number[] | SelectItem[];
   }>(),
   {
     selectCols: 9,
@@ -25,20 +23,18 @@ const props = withDefaults(
   }
 );
 
-const areSelectItems = (items: SelectItems): items is SelectItem<T>[] => typeof items[0] === "object";
-
 // Computed in case items changes
-const items = computed<SelectItem<T>[]>(() => {
+const items = computed<SelectItem[]>(() => {
   // Trivial case for empty list; we have no data
   if (!props.items.length) {
     return [];
   }
 
-  if (areSelectItems(props.items)) {
+  // Check if the prop exists on the object to infer object type
-    return props.items;
+  if ((props.items[0] as SelectItem).name) {
+    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>
 
@@ -53,7 +49,7 @@ const items = computed<SelectItem<T>[]>(() => {
         :items="items"
         item-title="name"
         item-value="value"
-        item-props
+        item-props.disabled="disabled"
         :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: number[]) => void, wait: number) {
+function debounce(func: (...args: any[]) => void, wait: number) {
   let timeout: ReturnType<typeof setTimeout>;
-  return function (...args: number[]) {
+  return function (...args: any[]) {
     clearTimeout(timeout);
-    timeout = setTimeout(() => func(...args), wait);
+    timeout = setTimeout(() => func.apply(this, args), wait);
   };
 }
 

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

@@ -13,6 +13,28 @@ 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_ \-)(.]*$/;
 
@@ -65,17 +87,17 @@ const cancelCameraNameEdit = () => {
 };
 
 // Pipeline Name Edit
-const pipelineNamesWrapper = computed(() => {
+const pipelineNamesWrapper = computed<SelectItem[]>(() => {
   const pipelineNames = useCameraSettingsStore().pipelineNames.map((name, index) => ({ name: name, value: index }));
 
   if (useCameraSettingsStore().isDriverMode) {
-    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode.valueOf() });
+    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
   }
   if (useCameraSettingsStore().isFocusMode) {
-    pipelineNames.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera.valueOf() });
+    pipelineNames.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera });
   }
   if (useCameraSettingsStore().isCalibrationMode) {
-    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d.valueOf() });
+    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
   }
 
   return pipelineNames;
@@ -218,7 +240,7 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
       break;
   }
 });
-const wrappedCameras = computed<SelectItem<string>[]>(() =>
+const wrappedCameras = computed<SelectItem[]>(() =>
   Object.keys(useCameraSettingsStore().cameras).map((cameraUniqueName) => ({
     name: useCameraSettingsStore().cameras[cameraUniqueName].nickname,
     value: cameraUniqueName
@@ -235,7 +257,7 @@ const wrappedCameras = computed<SelectItem<string>[]>(() =>
           v-model="useStateStore().currentCameraUniqueName"
           label="Camera"
           :items="wrappedCameras"
-          @update:modelValue="pipelineType = useCameraSettingsStore().currentWebsocketPipelineType"
+          @update:modelValue="changeCurrentCameraUniqueName"
         />
         <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, useTheme } from "vuetify";
+import { useDisplay } from "vuetify/lib/composables/display";
+import { useTheme } from "vuetify";
 
 const theme = useTheme();
 
@@ -106,17 +106,6 @@ 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) {
@@ -140,7 +129,7 @@ const onBeforeTabUpdate = () => {
       <v-col
         v-for="(tabGroupData, tabGroupIndex) in tabGroups"
         :key="tabGroupIndex"
-        :cols="tabGroupIndex === 1 && shouldUseWideSecondTabGroup ? 7 : ''"
+        :cols="tabGroupIndex === 1 && useCameraSettingsStore().currentPipelineSettings.doMultiTarget ? 7 : ''"
         :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
         @vue:before-update="onBeforeTabUpdate"
       >

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

@@ -1,17 +1,18 @@
 <script setup lang="ts">
-import { PipelineType, type AprilTagPipelineSettings, AprilTagFamily } from "@/types/PipelineTypes";
+import { PipelineType } 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<AprilTagPipelineSettings>(
+const currentPipelineSettings = computed<ActivePipelineSettings>(
-  () => useCameraSettingsStore().currentPipelineSettings as AprilTagPipelineSettings
+  () => useCameraSettingsStore().currentPipelineSettings
 );
 const { mdAndDown } = useDisplay();
 const interactiveCols = computed(() =>
@@ -24,10 +25,7 @@ const interactiveCols = computed(() =>
     <pv-select
       v-model="currentPipelineSettings.tagFamily"
       label="Target family"
-      :items="[
+      :items="['AprilTag 36h11 (6.5in)', 'AprilTag 16h5 (6in)']"
-        { 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 ArucoPipelineSettings, AprilTagFamily } from "@/types/PipelineTypes";
+import { PipelineType, type ActivePipelineSettings } 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<ArucoPipelineSettings>(
+const currentPipelineSettings = computed<ActivePipelineSettings>(
-  () => useCameraSettingsStore().currentPipelineSettings as ArucoPipelineSettings
+  () => useCameraSettingsStore().currentPipelineSettings
 );
 const { mdAndDown } = useDisplay();
 const interactiveCols = computed(() =>
@@ -25,10 +25,7 @@ const interactiveCols = computed(() =>
     <pv-select
       v-model="currentPipelineSettings.tagFamily"
       label="Target family"
-      :items="[
+      :items="['AprilTag Family 36h11', 'AprilTag Family 16h5']"
-        { 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

@@ -1,14 +1,6 @@
 <script setup lang="ts">
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import {
+import { type ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
-  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";
@@ -69,10 +61,7 @@ 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="[
+      :items="['Portrait', 'Landscape']"
-        { value: ContourTargetOrientation.Portrait, name: 'Portrait' },
-        { value: ContourTargetOrientation.Landscape, name: 'Landscape' }
-      ]"
       :select-cols="interactiveCols"
       @update:modelValue="
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
@@ -83,15 +72,7 @@ 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="[
+      :items="['Largest', 'Smallest', 'Highest', 'Lowest', 'Rightmost', 'Leftmost', 'Centermost']"
-        { 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)
       "
@@ -185,11 +166,7 @@ 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="[
+        :items="['Single', 'Dual', 'Two or More']"
-          { 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)
         "
@@ -199,13 +176,7 @@ 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="[
+        :items="['None', 'Up', 'Down', 'Left', 'Right']"
-          { 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)
@@ -218,12 +189,7 @@ const interactiveCols = computed(() =>
         label="Target Shape"
         tooltip="The shape of targets to look for"
         :select-cols="interactiveCols"
-        :items="[
+        :items="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
-          { 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 = (): { name: string; value: number }[] =>
+const cameraResolutions = computed(() =>
-  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map<{ name: string; value: number }>((f) => ({
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map(
-    name: `${getResolutionString(f.resolution)} at ${f.fps} FPS, ${f.pixelFormat}`,
+    (f) => `${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);
 
@@ -49,23 +49,20 @@ const handleResolutionChange = (value: number) => {
 const streamResolutions = computed(() => {
   const streamDivisors = getFilteredStreamDivisors();
   const currentResolution = useCameraSettingsStore().currentVideoFormat.resolution;
-  return streamDivisors.map((x, i) => ({
+  return streamDivisors.map(
-    name: `${Math.floor(currentResolution.width / x)}x${Math.floor(currentResolution.height / x)}`,
+    (x) =>
-    value: i
+      `${getResolutionString({
-  }));
+        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(() =>
@@ -163,7 +160,7 @@ const interactiveCols = computed(() =>
     />
     <pv-switch
       v-model="useCameraSettingsStore().currentPipelineSettings.blockForFrames"
-      :disabled="useCameraSettingsStore().currentCameraSettings.matchedCameraInfo.type !== 'PVUsbCameraInfo'"
+      :disabled="!useCameraSettingsStore().currentCameraSettings.matchedCameraInfo.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."
@@ -185,16 +182,17 @@ 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="currentStreamResolutionIndex"
+      v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
       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

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

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

@@ -1,13 +1,7 @@
 <script setup lang="ts">
 import PvSelect from "@/components/common/pv-select.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import {
+import { type ActivePipelineSettings, PipelineType, RobotOffsetPointMode } from "@/types/PipelineTypes";
-  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";
@@ -114,13 +108,7 @@ 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="[
+      :items="['Center', 'Top', 'Bottom', 'Left', 'Right']"
-        { 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)
@@ -131,10 +119,7 @@ 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="[
+      :items="['Portrait', 'Landscape']"
-        { value: ContourTargetOrientation.Portrait, name: 'Portrait' },
-        { value: ContourTargetOrientation.Landscape, name: 'Landscape' }
-      ]"
       :select-cols="interactiveCols"
       @update:modelValue="
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
@@ -144,11 +129,7 @@ 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="[
+      :items="['None', 'Single Point', 'Dual Point']"
-        { 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

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

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

@@ -106,7 +106,6 @@ 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) {
@@ -151,11 +150,14 @@ const saveGeneralSettings = async () => {
   }
 };
 
-const currentNetworkInterface = computed<string>({
+const currentNetworkInterfaceIndex = computed<number | undefined>({
-  get: () => useSettingsStore().network.networkManagerIface || "",
+  get: () => {
-  set: (v) => {
+    const index = useSettingsStore().networkInterfaceNames.indexOf(
-    tempSettingsStruct.value.networkManagerIface = v;
+      useSettingsStore().network.networkManagerIface || ""
-  }
+    );
+    return index === -1 ? undefined : index;
+  },
+  set: (v) => v && (tempSettingsStruct.value.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
 });
 
 watchEffect(() => {
@@ -254,7 +256,7 @@ watchEffect(() => {
         />
         <pv-select
           v-show="!useSettingsStore().network.networkingDisabled"
-          v-model="currentNetworkInterface"
+          v-model="currentNetworkInterfaceIndex"
           label="NetworkManager interface"
           :disabled="
             !tempSettingsStruct.shouldManage ||

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

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

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

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { ref, computed, inject, useTemplateRef } from "vue";
+import { ref, computed, inject } 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 }: { progress?: number }) => {
+      onUploadProgress: ({ progress }) => {
         const uploadPercentage = (progress || 0) * 100.0;
         if (uploadPercentage < 99.5) {
           useStateStore().showSnackbarMessage({
@@ -74,20 +74,20 @@ const handleImport = async () => {
   importVersion.value = null;
 };
 
-const deleteModel = async (model: ObjectDetectionModelProperties) => {
+const deleteModel = (model: ObjectDetectionModelProperties) => {
-  await axiosPost("/objectdetection/delete", "delete an object detection model", {
+  axiosPost("/objectdetection/delete", "delete an object detection model", {
     modelPath: model.modelPath
   });
 };
 
-const renameModel = async (model: ObjectDetectionModelProperties, newName: string) => {
+const renameModel = (model: ObjectDetectionModelProperties, newName: string) => {
   useStateStore().showSnackbarMessage({
     message: "Renaming Object Detection Model...",
     color: "secondary",
     timeout: -1
   });
 
-  await axiosPost("/objectdetection/rename", "rename an object detection model", {
+  axiosPost("/objectdetection/rename", "rename an object detection model", {
     modelPath: model.modelPath,
     newName: newName
   });
@@ -97,7 +97,7 @@ const renameModel = async (model: ObjectDetectionModelProperties, newName: strin
 // 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: ObjectDetectionModelProperties) => {
+  const isSupported = (model: any) => {
     // 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 = useTemplateRef("exportModels");
+const exportModels = ref();
 const openExportPrompt = () => {
-  exportModels.value?.click();
+  exportModels.value.click();
 };
 
-const exportIndividualModel = useTemplateRef("exportIndividualModel");
+const exportIndividualModel = ref();
 const openExportIndividualModelPrompt = () => {
-  exportIndividualModel.value?.click();
+  exportIndividualModel.value.click();
 };
 
 const showNukeDialog = ref(false);
-const nukeModels = async () => {
+const nukeModels = () => {
-  await axiosPost("/objectdetection/nuke", "clear and reset object detection models");
+  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 }: { progress?: number }) => {
+      onUploadProgress: ({ progress }) => {
         const uploadPercentage = (progress || 0) * 100.0;
         if (uploadPercentage < 99.5) {
           useStateStore().showSnackbarMessage({

photon-client/src/lib/AutoReconnectingWebsocket.ts

@@ -40,13 +40,18 @@ 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: unknown) {
+  send(data, encodeData = true) {
     // Only send data if the websocket is open
     if (this.isConnected()) {
-      this.websocket?.send(encode(data));
+      if (encodeData) {
+        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, { type AxiosRequestConfig } from "axios";
+import axios from "axios";
 
 export const resolutionsAreEqual = (a: Resolution, b: Resolution) => {
   return a.height === b.height && a.width === b.width;
@@ -51,16 +51,15 @@ 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(new Error("FileReader event target is null"));
+      if (target === null) reject();
       else resolve(JSON.parse(target.result as string) as T);
     };
-    fileReader.onerror = () => reject(new Error("Error reading file"));
+    fileReader.onerror = (error) => reject(error);
     fileReader.readAsText(file);
   });
 };
@@ -74,13 +73,7 @@ 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 (
+export const axiosPost = async (url: string, description: string, data?: any, config?: any): Promise<boolean> => {
-  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({
@@ -88,7 +81,6 @@ export const axiosPost = async (
       color: "success"
     });
     return true;
-    // eslint-disable-next-line @typescript-eslint/no-explicit-any
   } catch (error: any) {
     if (error.response) {
       useStateStore().showSnackbarMessage({

photon-client/src/lib/quarky.js

@@ -0,0 +1,452 @@
+import IDLEGIF from "@/assets/images/idle.gif";
+import GROWGIF from "@/assets/images/grow.gif";
+import BLINKGIF from "@/assets/images/blink.gif";
+import WAVEGIF from "@/assets/images/wave.gif";
+import SPEAKGIF from "@/assets/images/speak.gif";
+import SHRINKGIF from "@/assets/images/shrink.gif";
+import POINTGIF from "@/assets/images/point.gif";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+
+const ANIMATIONS = {
+  idle: IDLEGIF,
+  grow: GROWGIF,
+  blink: BLINKGIF,
+  wave: WAVEGIF,
+  speak: SPEAKGIF,
+  shrink: SHRINKGIF,
+  point: POINTGIF
+};
+
+// Extended animation sequence
+const SEQUENCE = [
+  { animation: "grow", loops: 1 },
+  { animation: "idle", loops: 2 },
+  { animation: "blink", loops: 1 },
+  { animation: "idle", loops: 1 },
+  { animation: "speak", loops: 1 },
+  { animation: "idle", loops: 1 },
+  { animation: "point", loops: 1 },
+  { animation: "idle", loops: 1 },
+  { animation: "wave", loops: 1 },
+  { animation: "idle", loops: 1 }
+];
+
+let quarkyImage;
+let quarkyContainer;
+let speechBubble;
+let currentSequenceIndex = 0;
+let currentLoopCount = 0;
+let isMovingDemo = false;
+let hasPlayedGrow = false;
+
+// Speech bubble text (configurable)
+let quarkySpeechText = "Hello from Quarky!";
+
+// Turbo-encabulator style nonsense phrases
+const quarkyPhrases = [
+  "Reverse phase oscillation detected!",
+  "Initializing hyperflux capacitor...",
+  "Reticulating splines in progress.",
+  "Quantum entanglement buffer overflowzomg",
+  "Did you remember the turbo-encabulator?",
+  "Engaging magnetic flux inverter.",
+  "Calibrating photon resonance field.",
+  "Deploying recursive feedback loop.",
+  "wow.",
+  "I applaud your pseudo-random bitstream.",
+  "Rebooting quantum foam stabilizer.",
+  "Analyzing subspace harmonics.",
+  "Transmitting encrypted flux packets.",
+  "Verifying entropic phase alignment.",
+  "Reconfiguring nano-particle array.",
+  "pew pew. pew pew.",
+  "I can't parse the synthetic logic matrix.",
+  "Don't forget to make the holographic interface.",
+  "You should generate more stochastic resonance.",
+  "Greetings",
+  "You look like you need some help!",
+  "Set this slider to 25",
+  "Set this slider to 67. HAHA 67!!!!",
+  "That's a horrible choice!",
+  "Fun is a core value! Is that a fun choice?",
+  "If your grandma saw that choice, would she be proud?",
+  "Chute Door?",
+  "Yes, Chute Door!",
+  "That's a bold strategy, Cotton.",
+  "asdflkjaslkdflklnf2222",
+  "00110101? That's just gibberish!",
+  "Three is my favorite number too!",
+  "Robots should not quit, but yours did!",
+  "Don’t forget to disable auto-exposure! Or enable it. I'm not sure. ",
+  "Have you glued your lenses to keep them in focus?",
+  "Don’t put spaces in your camera names — it makes the robot very sad",
+  "Upgrade to Photon Pro for gtsam support 👍",
+  "Did you forget to take off the lense covers? It’s dark in here…"
+];
+
+// State-specific humorous phrases
+const cameraNeedsSetupPhrases = [
+  "These cameras are just standing there... menacingly",
+  "Are your cameras plugged in? Trick question -- they aren't!",
+  "Have you hot-glued your USB cameras?"
+];
+
+const backendNotConnectedPhrases = [
+  "Um, is this thing even on?",
+  "Anyone home? Bulldozer? Bulldozer?",
+  "Have you tried turning the NI™ RoboRIO™ off and on again?"
+];
+
+const ntDisconnectedPhrases = [
+  "NetworkTables? More like Network'(; DROP TABLE websockets;--",
+  "Robots shouldn't quit, but I sure can't talk to yours!",
+  "Are you an OM5P? Because I can't talk to you over the LAN!",
+  "I'm a sentient subatomic particle, not a networking engineer."
+];
+
+/**
+ * Get list of applicable phrase categories based on current UI state
+ */
+function getApplicablePhraseLists() {
+  const cameraStore = useCameraSettingsStore();
+  const stateStore = useStateStore();
+
+  // Build list of applicable phrase categories
+  const applicableLists = [quarkyPhrases];
+
+  // Add state-specific categories (additive, not replacing)
+  if (cameraStore?.needsCameraConfiguration) {
+    applicableLists.push(cameraNeedsSetupPhrases);
+  }
+
+  if (!stateStore?.backendConnected) {
+    applicableLists.push(backendNotConnectedPhrases);
+  }
+
+  if (!stateStore?.ntConnectionStatus?.connected) {
+    applicableLists.push(ntDisconnectedPhrases);
+  }
+
+  return applicableLists;
+}
+
+/**
+ * Pick a random phrase from applicable categories
+ */
+function pickRandomPhrase() {
+  const applicableLists = getApplicablePhraseLists();
+  const randomList = applicableLists[Math.floor(Math.random() * applicableLists.length)];
+  return randomList[Math.floor(Math.random() * randomList.length)];
+}
+
+/**
+ * Get the duration of an animation in milliseconds
+ */
+function getAnimationDuration(animation) {
+  if (!animation) return 500; // Default 0.5s for empty state
+
+  // Animation durations (in seconds) based on quarky_generator.py
+  const durations = {
+    idle: 0.5,
+    grow: 2.0,
+    blink: 0.3,
+    wave: 1.8,
+    speak: 2.0,
+    shrink: 2.0,
+    point: 1.5
+  };
+
+  return (durations[animation] || 1.0) * 1000; // Convert to ms
+}
+
+/**
+ * Play an animation
+ */
+function playAnimation(animation) {
+  if (!animation) {
+    quarkyImage.src = "";
+    quarkyImage.style.display = "none";
+    return;
+  }
+  quarkyImage.style.display = "block";
+  quarkyImage.src = ANIMATIONS[animation];
+  if (animation === "speak") {
+    // Pick random phrase from applicable categories
+    quarkySpeechText = pickRandomPhrase();
+    speechBubble.textContent = quarkySpeechText;
+    speechBubble.style.display = "block";
+    speechBubble.style.opacity = 1;
+    setTimeout(() => {
+      speechBubble.style.opacity = 0;
+      setTimeout(() => {
+        speechBubble.style.display = "none";
+      }, 700);
+    }, 3000);
+  }
+}
+
+// Mini Quarky management
+let miniQuarkies = [];
+const MAX_MINI_QUARKIES = 20;
+const MINI_QUARKY_SIZE = 120;
+const MINI_QUARKY_Z_INDEX = 999;
+const MINI_QUARKY_VELOCITY_MULTIPLIER = 12;
+const MINI_QUARKY_VELOCITY_CENTER = 0.5;
+const DIRECTION_CHANGE_PROBABILITY = 0.02;
+const DIRECTION_CHANGE_VELOCITY_MULTIPLIER = 4;
+const MINI_QUARKY_ANIMATION_INTERVAL_MS = 50;
+const MINI_QUARKY_SPAWN_BASE_DELAY_MS = 4000;
+const MINI_QUARKY_SPAWN_DELAY_RANGE_MS = 8000;
+
+// Random movement every few cycles
+let mouseX = window.innerWidth / 2;
+let mouseY = window.innerHeight / 2;
+let mouseMoving = false;
+let mouseMoveTimeout = null;
+
+/**
+ * Clamp Quarky's position to stay within the viewport, accounting for the sidebar
+ */
+function clampQuarkyPosition(x, y) {
+  const rect = quarkyContainer.getBoundingClientRect();
+
+  // Get sidebar width (account for both expanded and compact modes)
+  const sidebar = document.querySelector(".v-navigation-drawer");
+  const sidebarWidth = sidebar ? sidebar.offsetWidth : 0;
+
+  // Clamp to viewport, starting after the sidebar
+  const clampedX = Math.max(sidebarWidth, Math.min(x, window.innerWidth - rect.width));
+  const clampedY = Math.max(0, Math.min(y, window.innerHeight - rect.height));
+  return { x: clampedX, y: clampedY };
+}
+
+function mouseMoveHandler(e) {
+  mouseX = e.clientX + window.scrollX;
+  mouseY = e.clientY + window.scrollY;
+  mouseMoving = true;
+  clearTimeout(mouseMoveTimeout);
+  // After 1.5s of no movement, return Quarky to home and resume nonsense
+  mouseMoveTimeout = setTimeout(() => {
+    mouseMoving = false;
+    quarkyContainer.style.left = "calc(100vw - 550px)";
+    quarkyContainer.style.top = "calc(100vh - 550px)";
+    isMovingDemo = false;
+    playNextAnimation();
+  }, 1500);
+  // Actively track mouse: update Quarky's position every mouse move (clamped to viewport)
+  const clamped = clampQuarkyPosition(mouseX, mouseY);
+  quarkyContainer.style.left = `${clamped.x}px`;
+  quarkyContainer.style.top = `${clamped.y}px`;
+  // Immediately trigger Quarky to point at cursor
+  if (!isMovingDemo) {
+    isMovingDemo = true;
+    playAnimation("point");
+    setTimeout(() => {
+      playAnimation("idle");
+    }, getAnimationDuration("point"));
+  }
+}
+
+/**
+ * Advance to the next animation in the sequence
+ */
+function playNextAnimation() {
+  if (isMovingDemo) return;
+  let currentStep = SEQUENCE[currentSequenceIndex];
+
+  // On loop, skip grow after first time
+  if (hasPlayedGrow && currentSequenceIndex === 0 && currentStep.animation === "grow") {
+    currentSequenceIndex = 1;
+    currentStep = SEQUENCE[currentSequenceIndex];
+  }
+
+  // If mouse is moving, don't do normal cycle
+  if (mouseMoving) {
+    // Quarky will point at cursor via mousemove handler
+    return;
+  }
+
+  // Show speech bubble before speak
+  if (currentStep.animation === "speak") {
+    quarkySpeechText = pickRandomPhrase();
+    speechBubble.textContent = quarkySpeechText;
+    speechBubble.style.display = "block";
+    speechBubble.style.opacity = 1;
+    setTimeout(() => {
+      speechBubble.style.opacity = 0;
+      setTimeout(() => {
+        speechBubble.style.display = "none";
+      }, 700);
+    }, 3000);
+  }
+
+  // Fade out speech bubble after speak (during idle)
+  if (SEQUENCE[currentSequenceIndex - 1]?.animation === "speak" && currentStep.animation === "idle") {
+    // Speech bubble already has its own timeout from above
+  }
+
+  // Always return to corner when idle
+  quarkyContainer.style.left = "calc(100vw - 550px)";
+  quarkyContainer.style.top = "calc(100vh - 550px)";
+
+  // Play the animation
+  playAnimation(currentStep.animation);
+
+  // Calculate duration and schedule next animation
+  const duration = getAnimationDuration(currentStep.animation);
+
+  setTimeout(() => {
+    currentLoopCount++;
+
+    // Check if we've completed all loops for this step
+    if (currentLoopCount >= currentStep.loops) {
+      // Move to next step
+      currentLoopCount = 0;
+      currentSequenceIndex++;
+
+      // Loop back to start if we've completed the sequence
+      if (currentSequenceIndex >= SEQUENCE.length) {
+        currentSequenceIndex = 0;
+        hasPlayedGrow = true;
+      }
+    }
+
+    // Play the next animation
+    playNextAnimation();
+  }, duration);
+}
+
+function clickToPoint(e) {
+  // Ignore clicks on the button
+  if (e.target.id === "moveDemoBtn") return;
+  isMovingDemo = true;
+  const clickX = e.clientX + window.scrollX;
+  const clickY = e.clientY + window.scrollY;
+  const clamped = clampQuarkyPosition(clickX, clickY);
+  quarkyContainer.style.left = `${clamped.x}px`;
+  quarkyContainer.style.top = `${clamped.y}px`;
+  setTimeout(() => {
+    playAnimation("point");
+    setTimeout(() => {
+      playAnimation("idle");
+      quarkyContainer.style.left = "calc(100vw - 550px)";
+      quarkyContainer.style.top = "calc(100vh - 550px)";
+      setTimeout(() => {
+        isMovingDemo = false;
+        playNextAnimation();
+      }, 1000);
+    }, getAnimationDuration("point"));
+  }, 1000);
+}
+
+/**
+ * Spawn a mini Quarky that moves randomly around the screen
+ */
+function spawnMiniQuarky() {
+  console.log("SPAWNING A QUARKY");
+
+  // If at max, don't spawn
+  if (miniQuarkies.length >= MAX_MINI_QUARKIES) {
+    return;
+  }
+
+  const miniContainer = document.createElement("div");
+  miniContainer.style.position = "fixed";
+  miniContainer.style.width = `${MINI_QUARKY_SIZE}px`;
+  miniContainer.style.height = `${MINI_QUARKY_SIZE}px`;
+  miniContainer.style.pointerEvents = "none";
+  miniContainer.style.zIndex = MINI_QUARKY_Z_INDEX.toString();
+
+  // Spawn from main quarky's actual position
+  const rect = quarkyContainer.getBoundingClientRect();
+  const startX = rect.left + window.scrollX + rect.width / 2;
+  const startY = rect.top + window.scrollY + rect.height / 2;
+  miniContainer.style.left = startX + "px";
+  miniContainer.style.top = startY + "px";
+
+  const miniImage = document.createElement("img");
+  miniImage.src = ANIMATIONS["idle"];
+  miniImage.style.width = "100%";
+  miniImage.style.height = "100%";
+  miniImage.style.objectFit = "contain";
+
+  miniContainer.appendChild(miniImage);
+  document.body.appendChild(miniContainer);
+
+  const miniQuarky = {
+    container: miniContainer,
+    image: miniImage,
+    x: startX,
+    y: startY,
+    vx: (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * MINI_QUARKY_VELOCITY_MULTIPLIER,
+    vy: (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * MINI_QUARKY_VELOCITY_MULTIPLIER,
+    animationInterval: null
+  };
+
+  miniQuarkies.push(miniQuarky);
+
+  // Start movement loop
+  miniQuarky.animationInterval = setInterval(() => {
+    miniQuarky.x += miniQuarky.vx;
+    miniQuarky.y += miniQuarky.vy;
+
+    // Bounce off edges
+    if (miniQuarky.x <= 0 || miniQuarky.x >= window.innerWidth - MINI_QUARKY_SIZE) {
+      miniQuarky.vx *= -1;
+      miniQuarky.x = Math.max(0, Math.min(miniQuarky.x, window.innerWidth - MINI_QUARKY_SIZE));
+    }
+    if (miniQuarky.y <= 0 || miniQuarky.y >= window.innerHeight - MINI_QUARKY_SIZE) {
+      miniQuarky.vy *= -1;
+      miniQuarky.y = Math.max(0, Math.min(miniQuarky.y, window.innerHeight - MINI_QUARKY_SIZE));
+    }
+
+    // Occasionally change direction randomly
+    if (Math.random() < DIRECTION_CHANGE_PROBABILITY) {
+      miniQuarky.vx = (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * DIRECTION_CHANGE_VELOCITY_MULTIPLIER;
+      miniQuarky.vy = (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * DIRECTION_CHANGE_VELOCITY_MULTIPLIER;
+    }
+
+    miniContainer.style.left = miniQuarky.x + "px";
+    miniContainer.style.top = miniQuarky.y + "px";
+  }, MINI_QUARKY_ANIMATION_INTERVAL_MS);
+}
+
+/**
+ * Clean up all mini Quarkies
+ */
+function cleanupMiniQuarkies() {
+  // eslint-disable-line @typescript-eslint/no-unused-vars
+  miniQuarkies.forEach((mini) => {
+    clearInterval(mini.animationInterval);
+    mini.container.remove();
+  });
+  miniQuarkies = [];
+}
+
+export default function setup() {
+  quarkyImage = document.getElementById("quarkyImage");
+  quarkyContainer = document.getElementById("quarkyContainer");
+  speechBubble = document.getElementById("quarkySpeechBubble");
+
+  // Start the animation sequence
+  playNextAnimation();
+
+  //Install mouse move handler
+  window.addEventListener("mousemove", mouseMoveHandler);
+
+  // Click-to-point feature installation
+  window.addEventListener("click", (e) => {
+    clickToPoint(e);
+  });
+
+  // Spawn mini Quarkies on a random timer
+  function scheduleNextMiniQuarkySpawn() {
+    const delayMs = MINI_QUARKY_SPAWN_BASE_DELAY_MS + Math.random() * MINI_QUARKY_SPAWN_DELAY_RANGE_MS;
+    setTimeout(() => {
+      spawnMiniQuarky();
+      scheduleNextMiniQuarkySpawn();
+    }, delayMs);
+  }
+  scheduleNextMiniQuarkySpawn();
+}

photon-client/src/main.ts

@@ -6,12 +6,14 @@ import router from "@/router";
 import vuetify from "@/plugins/vuetify";
 import axios from "axios";
 
+import setup from "@/lib/quarky.js";
+
 type PhotonClientRuntimeMode = "production" | "development" | "local-network-development";
 const runtimeMode: PhotonClientRuntimeMode = process.env.NODE_ENV as PhotonClientRuntimeMode;
 
 let backendHost: string;
 let backendHostname: string;
-switch (runtimeMode) {
+switch (runtimeMode as PhotonClientRuntimeMode) {
   case "development":
     backendHost = `${location.hostname}:5800`;
     backendHostname = location.hostname;
@@ -45,3 +47,4 @@ app.use(pinia);
 app.use(vuetify);
 app.use(router);
 app.mount("#app");
+setup();

photon-client/src/plugins/vuetify.ts

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

photon-client/src/stores/StateStore.ts

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

@@ -64,14 +64,17 @@ 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.valueOf();
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.DriverMode;
     },
     isCalibrationMode(): boolean {
-      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d.valueOf();
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d;
     },
     isFocusMode(): boolean {
-      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.FocusCamera.valueOf();
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.FocusCamera;
     },
     isCSICamera(): boolean {
       return this.currentCameraSettings.isCSICamera;
@@ -91,9 +94,6 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     fpsLimit(): number {
       return this.currentCameraSettings.fpsLimit;
     },
-    isEnabled(): boolean {
-      return this.currentCameraSettings.isEnabled;
-    },
     isConnected(): boolean {
       return this.currentCameraSettings.isConnected;
     },
@@ -116,20 +116,23 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
             inputPort: d.inputStreamPort,
             outputPort: d.outputStreamPort
           },
-          validVideoFormats: d.videoFormatList.map((v, i) => ({
+          validVideoFormats: Object.entries(d.videoFormatList)
-            resolution: {
+            .sort(([firstKey], [secondKey]) => parseInt(firstKey) - parseInt(secondKey))
-              width: v.width,
+            // eslint-disable-next-line @typescript-eslint/no-unused-vars
-              height: v.height
+            .map<VideoFormat>(([k, v], i) => ({
-            },
+              resolution: {
-            fps: v.fps,
+                width: v.width,
-            pixelFormat: v.pixelFormat,
+                height: v.height
-            index: v.index || i,
+              },
-            diagonalFOV: v.diagonalFOV,
+              fps: v.fps,
-            horizontalFOV: v.horizontalFOV,
+              pixelFormat: v.pixelFormat,
-            verticalFOV: v.verticalFOV,
+              index: v.index || i,
-            standardDeviation: v.standardDeviation,
+              diagonalFOV: v.diagonalFOV,
-            mean: v.mean
+              horizontalFOV: v.horizontalFOV,
-          })),
+              verticalFOV: v.verticalFOV,
+              standardDeviation: v.standardDeviation,
+              mean: v.mean
+            })),
           completeCalibrations: d.calibrations,
           isCSICamera: d.isCSICamera,
           minExposureRaw: d.minExposureRaw,
@@ -142,7 +145,6 @@ 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
@@ -194,7 +196,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         addNewPipeline: [newPipelineName, pipelineType],
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Modify the settings of the currently selected pipeline of the provided camera.
@@ -218,13 +220,15 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       if (updateStore) {
         this.changePipelineSettingsInStore(settings, cameraUniqueName);
       }
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     changePipelineSettingsInStore(
       settings: Partial<ActivePipelineSettings>,
       cameraUniqueName: string = useStateStore().currentCameraUniqueName
     ) {
-      Object.assign(this.cameras[cameraUniqueName].pipelineSettings, settings);
+      Object.entries(settings).forEach(([k, v]) => {
+        this.cameras[cameraUniqueName].pipelineSettings[k] = v;
+      });
     },
     /**
      * Change the nickname of the currently selected pipeline of the provided camera.
@@ -245,7 +249,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       if (updateStore) {
         this.cameras[cameraUniqueName].pipelineSettings.pipelineNickname = newName;
       }
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * 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.
@@ -261,7 +265,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         pipelineType: type,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Change the index of the pipeline of the currently selected camera.
@@ -281,22 +285,21 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       };
       if (updateStore) {
         if (
-          this.cameras[cameraUniqueName].currentPipelineIndex !== WebsocketPipelineType.DriverMode.valueOf() &&
+          this.cameras[cameraUniqueName].currentPipelineIndex !== -1 &&
-          this.cameras[cameraUniqueName].currentPipelineIndex !== WebsocketPipelineType.Calib3d.valueOf() &&
+          this.cameras[cameraUniqueName].currentPipelineIndex !== -2
-          this.cameras[cameraUniqueName].currentPipelineIndex !== WebsocketPipelineType.FocusCamera.valueOf()
         ) {
           this.cameras[cameraUniqueName].lastPipelineIndex = this.cameras[cameraUniqueName].currentPipelineIndex;
         }
         this.cameras[cameraUniqueName].currentPipelineIndex = index;
       }
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     setDriverMode(isDriverMode: boolean, cameraUniqueName: string = useStateStore().currentCameraUniqueName) {
       const payload = {
         driverMode: isDriverMode,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Change the currently selected pipeline of the provided camera.
@@ -308,7 +311,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         deleteCurrentPipeline: {},
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Duplicate the pipeline at the provided index.
@@ -321,7 +324,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         duplicatePipeline: pipelineIndex,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Change the currently set camera
@@ -336,7 +339,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       if (updateStore) {
         useStateStore().currentCameraUniqueName = cameraUniqueName;
       }
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Change the nickname of the provided camera.
@@ -368,8 +371,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
      */
     startPnPCalibration(
       calibrationInitData: {
-        squareSizeMeters: number;
+        squareSizeIn: number;
-        markerSizeMeters: number;
+        markerSizeIn: number;
         patternWidth: number;
         patternHeight: number;
         boardType: CalibrationBoardTypes;
@@ -382,12 +385,14 @@ 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);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * End the 3D calibration process for the provided camera.
@@ -419,7 +424,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         takeCalibrationSnapshot: true,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Save a snapshot of the input frame of the camera.
@@ -431,7 +436,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         saveInputSnapshot: true,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Save a snapshot of the output frame of the camera.
@@ -443,7 +448,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         saveOutputSnapshot: true,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     /**
      * Set the robot offset mode type.
@@ -456,7 +461,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         robotOffsetPoint: type,
         cameraUniqueName: cameraUniqueName
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     },
     getCalibrationCoeffs(
       resolution: Resolution,

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

@@ -10,7 +10,6 @@ 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 {
@@ -18,7 +17,7 @@ interface GeneralSettingsStore {
   network: NetworkSettings;
   lighting: LightingSettings;
   metrics: MetricData;
-  currentFieldLayout: AprilTagFieldLayout;
+  currentFieldLayout;
 }
 
 interface MetricsEntry {
@@ -185,7 +184,7 @@ export const useSettingsStore = defineStore("settings", {
       const payload = {
         enabledLEDPercentage: brightness
       };
-      useStateStore().websocket?.send(payload);
+      useStateStore().websocket?.send(payload, true);
     }
   }
 });

photon-client/src/types/PipelineTypes.ts

@@ -5,7 +5,6 @@ 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,
@@ -36,62 +35,18 @@ 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: ContourGroupingMode;
+  contourGroupingMode: number;
   hsvValue: WebsocketNumberPair | [number, number];
   cameraGain: number;
   cameraBlueGain: number;
   cameraRedGain: number;
   cornerDetectionSideCount: number;
   contourRatio: WebsocketNumberPair | [number, number];
-  contourTargetOffsetPointEdge: ContourTargetOffsetPointEdge;
+  contourTargetOffsetPointEdge: number;
   pipelineNickname: string;
   inputImageRotationMode: number;
   contourArea: WebsocketNumberPair | [number, number];
@@ -101,7 +56,7 @@ export interface PipelineSettings {
   inputShouldShow: boolean;
   cameraAutoExposure: boolean;
   contourSpecklePercentage: number;
-  contourTargetOrientation: ContourTargetOrientation;
+  contourTargetOrientation: number;
   targetModel: TargetModel;
   cornerDetectionUseConvexHulls: boolean;
   outputShouldShow: boolean;
@@ -112,7 +67,7 @@ export interface PipelineSettings {
   ledMode: boolean;
   hueInverted: boolean;
   outputMaximumTargets: number;
-  contourSortMode: ContourSortMode;
+  contourSortMode: number;
   cameraExposureRaw: number;
   cameraMinExposureRaw: number;
   cameraMaxExposureRaw: number;
@@ -125,13 +80,11 @@ export interface PipelineSettings {
   cornerDetectionAccuracyPercentage: number;
   hsvSaturation: WebsocketNumberPair | [number, number];
   pipelineType: PipelineType;
-  contourIntersection: ContourIntersection;
+  contourIntersection: number;
 
   cameraAutoWhiteBalance: boolean;
   cameraWhiteBalanceTemp: number;
 
-  crosshair: boolean;
-
   blockForFrames: boolean;
 }
 export type ConfigurablePipelineSettings = Partial<
@@ -160,13 +113,13 @@ export const DefaultPipelineSettings: Omit<
   offsetRobotOffsetMode: RobotOffsetPointMode.None,
   streamingFrameDivisor: 0,
   offsetDualPointBArea: 0,
-  contourGroupingMode: ContourGroupingMode.Single,
+  contourGroupingMode: 0,
   hsvValue: { first: 50, second: 255 },
   cameraBlueGain: 20,
   cameraRedGain: 11,
   cornerDetectionSideCount: 4,
   contourRatio: { first: 0, second: 20 },
-  contourTargetOffsetPointEdge: ContourTargetOffsetPointEdge.Center,
+  contourTargetOffsetPointEdge: 0,
   pipelineNickname: "Placeholder Pipeline",
   inputImageRotationMode: 0,
   contourArea: { first: 0, second: 100 },
@@ -176,7 +129,7 @@ export const DefaultPipelineSettings: Omit<
   inputShouldShow: false,
   cameraAutoExposure: false,
   contourSpecklePercentage: 5,
-  contourTargetOrientation: ContourTargetOrientation.Landscape,
+  contourTargetOrientation: 1,
   cornerDetectionUseConvexHulls: true,
   outputShouldShow: true,
   outputShouldDraw: true,
@@ -185,7 +138,7 @@ export const DefaultPipelineSettings: Omit<
   hsvHue: { first: 50, second: 180 },
   hueInverted: false,
   outputMaximumTargets: 20,
-  contourSortMode: ContourSortMode.Largest,
+  contourSortMode: 0,
   offsetSinglePoint: { x: 0, y: 0 },
   cameraBrightness: 50,
   offsetDualPointAArea: 0,
@@ -194,12 +147,11 @@ export const DefaultPipelineSettings: Omit<
   cornerDetectionStrategy: 0,
   cornerDetectionAccuracyPercentage: 10,
   hsvSaturation: { first: 50, second: 255 },
-  contourIntersection: ContourIntersection.Up,
+  contourIntersection: 1,
   cameraAutoWhiteBalance: false,
   cameraWhiteBalanceTemp: 4000,
   cameraMinExposureRaw: 1,
   cameraMaxExposureRaw: 2,
-  crosshair: true,
   blockForFrames: true
 };
 
@@ -232,7 +184,7 @@ export interface ColoredShapePipelineSettings extends PipelineSettings {
   contourRadius: WebsocketNumberPair | [number, number];
   circleDetectThreshold: number;
   accuracyPercentage: number;
-  contourShape: ContourShape;
+  contourShape: number;
   contourPerimeter: WebsocketNumberPair | [number, number];
   minDist: number;
   maxCannyThresh: number;
@@ -257,7 +209,7 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
   contourRadius: { first: 0, second: 100 },
   circleDetectThreshold: 5,
   accuracyPercentage: 10,
-  contourShape: ContourShape.Triangle,
+  contourShape: 2,
   contourPerimeter: { first: 0, second: 1.7976931348623157e308 },
   minDist: 20,
   maxCannyThresh: 90
@@ -372,14 +324,13 @@ 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.Calibration3d,
+  pipelineType: PipelineType.ObjectDetection,
   cameraGain: 20,
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,

photon-client/src/types/SettingTypes.ts

@@ -75,29 +75,46 @@ export type ConfigurableNetworkSettings = Omit<
   "canManage" | "networkInterfaceNames" | "networkingDisabled"
 >;
 
-interface PVCameraInfoBase {
+export interface PVCameraInfoBase {
-  type: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo";
+  /*
+  Huge hack. In Jackson, this is set based on the underlying type -- this
+  then maps to one of the 3 subclasses here below. Not sure how to best deal with this.
+  */
+  cameraTypename: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo";
+}
+
+export interface 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 {
+  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 {
   path: string;
   name: string;
+
+  // In Java, PVCameraInfo provides a uniquePath property so we can have one Source of Truth here
   uniquePath: string;
 }
 
-export interface PVUsbCameraInfo extends PVCameraInfoBase {
+// This camera info will only ever hold one of its members - the others should be undefined.
-  type: "PVUsbCameraInfo";
+export class PVCameraInfo {
-  dev: number;
+  PVUsbCameraInfo: PVUsbCameraInfo | undefined;
-  otherPaths: string[];
+  PVCSICameraInfo: PVCSICameraInfo | undefined;
-  vendorId: number;
+  PVFileCameraInfo: PVFileCameraInfo | undefined;
-  productId: number;
 }
-export interface PVCSICameraInfo extends PVCameraInfoBase {
-  type: "PVCSICameraInfo";
-  baseName: string;
-}
-export interface PVFileCameraInfo extends PVCameraInfoBase {
-  type: "PVFileCameraInfo";
-}
-
-export type PVCameraInfo = PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo;
 
 export interface VsmState {
   disabledConfigs: WebsocketCameraSettingsUpdate[];
@@ -259,7 +276,6 @@ export interface UiCameraConfiguration {
   maxWhiteBalanceTemp: number;
 
   fpsLimit: number;
-  isEnabled: boolean;
 
   matchedCameraInfo: PVCameraInfo;
   isConnected: boolean;
@@ -422,13 +438,15 @@ export const PlaceholderCameraSettings: UiCameraConfiguration = reactive({
   minWhiteBalanceTemp: 2000,
   maxWhiteBalanceTemp: 10000,
   matchedCameraInfo: {
-    type: "PVFileCameraInfo",
+    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

@@ -30,18 +30,21 @@ export interface WebsocketNumberPair {
   second: number;
 }
 
-export type WebsocketVideoFormat = {
+export type WebsocketVideoFormat = Record<
-  fps: number;
+  number,
-  height: number;
+  {
-  width: number;
+    fps: number;
-  pixelFormat: string;
+    height: number;
-  index?: number;
+    width: number;
-  diagonalFOV?: number;
+    pixelFormat: string;
-  horizontalFOV?: number;
+    index?: number;
-  verticalFOV?: number;
+    diagonalFOV?: number;
-  standardDeviation?: number;
+    horizontalFOV?: number;
-  mean?: number;
+    verticalFOV?: number;
-}[];
+    standardDeviation?: number;
+    mean?: number;
+  }
+>;
 
 // Companion to UICameraConfiguration in Java
 export interface WebsocketCameraSettingsUpdate {
@@ -65,7 +68,6 @@ export interface WebsocketCameraSettingsUpdate {
   maxWhiteBalanceTemp: number;
   matchedCameraInfo: PVCameraInfo;
   fpsLimit: number;
-  isEnabled: boolean;
   isConnected: boolean;
   hasConnected: boolean;
   mismatch: boolean;
@@ -87,8 +89,8 @@ export interface WebsocketCalibrationData {
   minCount: number;
   videoModeIndex: number;
   patternHeight: number;
-  squareSizeMm: number;
+  squareSizeIn: number;
-  markerSizeMm: number;
+  markerSizeIn: number;
 }
 
 export interface IncomingWebsocketData {

photon-client/src/views/CameraMatchingView.vue

@@ -2,7 +2,13 @@
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { computed, inject, ref } from "vue";
 import { useStateStore } from "@/stores/StateStore";
-import { PlaceholderCameraSettings, type PVCameraInfo } from "@/types/SettingTypes";
+import {
+  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";
@@ -12,22 +18,20 @@ import { useTheme } from "vuetify";
 
 const theme = useTheme();
 
-const backendHostname = inject<string>("backendHostname");
+const formatUrl = (port) => `http://${inject("backendHostname")}:${port}/stream.mjpg`;
-const formatUrl = (port: number) => `http://${backendHostname}:${port}/stream.mjpg`;
 
 const activatingModule = ref(false);
-const activateModule = async (moduleUniqueName: string) => {
+const activateModule = (moduleUniqueName: string) => {
   if (activatingModule.value) return;
   activatingModule.value = true;
 
-  await axiosPost("/utils/activateMatchedCamera", "activate a matched camera", {
+  axiosPost("/utils/activateMatchedCamera", "activate a matched camera", {
     cameraUniqueName: moduleUniqueName
-  });
+  }).finally(() => (activatingModule.value = false));
-  activatingModule.value = false;
 };
 
 const assigningCamera = ref(false);
-const assignCamera = async (cameraInfo: PVCameraInfo) => {
+const assignCamera = (cameraInfo: PVCameraInfo) => {
   if (assigningCamera.value) return;
   assigningCamera.value = true;
 
@@ -35,39 +39,48 @@ const assignCamera = async (cameraInfo: PVCameraInfo) => {
     cameraInfo: cameraInfo
   };
 
-  await axiosPost("/utils/assignUnmatchedCamera", "assign an unmatched camera", payload);
+  axiosPost("/utils/assignUnmatchedCamera", "assign an unmatched camera", payload).finally(
-  assigningCamera.value = false;
+    () => (assigningCamera.value = false)
+  );
 };
 
 const deactivatingModule = ref(false);
-const deactivateModule = async (cameraUniqueName: string) => {
+const deactivateModule = (cameraUniqueName: string) => {
   if (deactivatingModule.value) return;
   deactivatingModule.value = true;
-  await axiosPost("/utils/unassignCamera", "unassign a camera", { cameraUniqueName: cameraUniqueName });
+  axiosPost("/utils/unassignCamera", "unassign a camera", { cameraUniqueName: cameraUniqueName }).finally(
-  deactivatingModule.value = false;
+    () => (deactivatingModule.value = false)
+  );
 };
 
 const confirmDeleteDialog = ref({ show: false, nickname: "", cameraUniqueName: "" });
 const deletingCamera = ref<string | null>(null);
 
-const deleteThisCamera = async (cameraUniqueName: string) => {
+const deleteThisCamera = (cameraUniqueName: string) => {
   if (deletingCamera.value) return;
   deletingCamera.value = cameraUniqueName;
-  await axiosPost("/utils/nukeOneCamera", "delete a camera", { cameraUniqueName: cameraUniqueName });
+  axiosPost("/utils/nukeOneCamera", "delete a camera", { cameraUniqueName: cameraUniqueName }).finally(() => {
-  deletingCamera.value = null;
+    deletingCamera.value = null;
+  });
 };
 
-const cameraConnected = (uniquePath: string | undefined): boolean => {
+const cameraConnected = (uniquePath: string): boolean => {
-  if (!uniquePath) return false;
+  return (
-  return useStateStore().vsmState.allConnectedCameras.find((it) => it.uniquePath === uniquePath) !== undefined;
+    useStateStore().vsmState.allConnectedCameras.find((it) => cameraInfoFor(it).uniquePath === uniquePath) !== undefined
+  );
 };
 
 const unmatchedCameras = computed(() => {
-  const activeVmPaths = Object.values(useCameraSettingsStore().cameras).map((it) => it.matchedCameraInfo.uniquePath);
+  const activeVmPaths = Object.values(useCameraSettingsStore().cameras).map(
-  const disabledVmPaths = useStateStore().vsmState.disabledConfigs.map((it) => it.matchedCameraInfo.uniquePath);
+    (it) => cameraInfoFor(it.matchedCameraInfo).uniquePath
+  );
+  const disabledVmPaths = useStateStore().vsmState.disabledConfigs.map(
+    (it) => cameraInfoFor(it.matchedCameraInfo).uniquePath
+  );
 
   return useStateStore().vsmState.allConnectedCameras.filter(
-    (it) => !activeVmPaths.includes(it.uniquePath) && !disabledVmPaths.includes(it.uniquePath)
+    (it) =>
+      !activeVmPaths.includes(cameraInfoFor(it).uniquePath) && !disabledVmPaths.includes(cameraInfoFor(it).uniquePath)
   );
 });
 
@@ -78,8 +91,8 @@ const activeVisionModules = computed(() =>
     // Display connected cameras first
     .sort(
       (first, second) =>
-        (cameraConnected(second.matchedCameraInfo.uniquePath) ? 1 : 0) -
+        (cameraConnected(cameraInfoFor(second.matchedCameraInfo).uniquePath) ? 1 : 0) -
-        (cameraConnected(first.matchedCameraInfo.uniquePath) ? 1 : 0)
+        (cameraConnected(cameraInfoFor(first.matchedCameraInfo).uniquePath) ? 1 : 0)
     )
 );
 
@@ -92,24 +105,41 @@ 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 {
-      type: "PVFileCameraInfo",
+      PVFileCameraInfo: undefined,
-      path: "",
+      PVCSICameraInfo: undefined,
-      name: "",
+      PVUsbCameraInfo: undefined
-      uniquePath: ""
     };
   }
   return (
-    useStateStore().vsmState.allConnectedCameras.find((it) => it.uniquePath === info.uniquePath) || {
+    useStateStore().vsmState.allConnectedCameras.find(
-      type: "PVFileCameraInfo",
+      (it) => cameraInfoFor(it).uniquePath === cameraInfoFor(info).uniquePath
-      path: "",
+    ) || {
-      name: "",
+      PVFileCameraInfo: undefined,
-      uniquePath: ""
+      PVCSICameraInfo: undefined,
+      PVUsbCameraInfo: undefined
     }
   );
 };
@@ -128,11 +158,12 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
         class="pr-0"
       >
         <v-card color="surface" class="rounded-12">
-          <v-card-title>{{ module.matchedCameraInfo.name }}</v-card-title>
+          <v-card-title>{{ cameraInfoFor(module.matchedCameraInfo).name }}</v-card-title>
-          <v-card-subtitle v-if="!cameraConnected(module.matchedCameraInfo.uniquePath)"
+          <v-card-subtitle v-if="!cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
             >Status: <span class="inactive-status">Disconnected</span></v-card-subtitle
           >
-          <v-card-subtitle v-else-if="cameraConnected(module.matchedCameraInfo.uniquePath) && !module.mismatch"
+          <v-card-subtitle
+            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>
@@ -141,7 +172,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
               <tbody>
                 <tr
                   v-if="
-                    cameraConnected(module.matchedCameraInfo.uniquePath) &&
+                    cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) &&
                     useStateStore().backendResults[module.uniqueName]
                   "
                 >
@@ -183,7 +214,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
               </tbody>
             </v-table>
             <div
-              v-if="cameraConnected(module.matchedCameraInfo.uniquePath)"
+              v-if="cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
               :id="`stream-container-${index}`"
               class="d-flex flex-column justify-center align-center mt-3"
               style="height: 250px"
@@ -202,7 +233,12 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   color="buttonPassive"
                   style="width: 100%"
                   :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
-                  @click="setCameraView(module.matchedCameraInfo, cameraConnected(module.matchedCameraInfo.uniquePath))"
+                  @click="
+                    setCameraView(
+                      module.matchedCameraInfo,
+                      cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
+                    )
+                  "
                 >
                   <span>Details</span>
                 </v-btn>
@@ -279,7 +315,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                 </tr>
                 <tr>
                   <td>Connected</td>
-                  <td>{{ cameraConnected(module.matchedCameraInfo.uniquePath) }}</td>
+                  <td>{{ cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) }}</td>
                 </tr>
               </tbody>
             </v-table>
@@ -291,7 +327,12 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   color="buttonPassive"
                   style="width: 100%"
                   :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
-                  @click="setCameraView(module.matchedCameraInfo, cameraConnected(module.matchedCameraInfo.uniquePath))"
+                  @click="
+                    setCameraView(
+                      module.matchedCameraInfo,
+                      cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
+                    )
+                  "
                 >
                   <span>Details</span>
                 </v-btn>
@@ -336,15 +377,15 @@ 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.type === 'PVUsbCameraInfo'">USB Camera:</span>
+            <span v-if="camera.PVUsbCameraInfo">USB Camera:</span>
-            <span v-else-if="camera.type === 'PVCSICameraInfo'">CSI Camera:</span>
+            <span v-else-if="camera.PVCSICameraInfo">CSI Camera:</span>
-            <span v-else-if="camera.type === 'PVFileCameraInfo'">File Camera:</span>
+            <span v-else-if="camera.PVFileCameraInfo">File Camera:</span>
             <span v-else>Unknown Camera:</span>
-            &nbsp;<span>{{ camera.name }}</span>
+            &nbsp;<span>{{ cameraInfoFor(camera)?.name ?? cameraInfoFor(camera)?.baseName }}</span>
           </v-card-title>
           <v-card-subtitle>Status: Unassigned</v-card-subtitle>
           <v-card-text class="pt-3">
-            <span style="word-break: break-all">{{ camera?.path }}</span>
+            <span style="word-break: break-all">{{ cameraInfoFor(camera)?.path }}</span>
           </v-card-text>
           <v-card-text class="pt-0">
             <v-row>
@@ -395,7 +436,7 @@ 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>{{ viewingCamera[0].name }}</span>
+          <span>{{ cameraInfoFor(viewingCamera[0])?.name ?? cameraInfoFor(viewingCamera[0])?.baseName }}</span>
           <v-btn variant="text" @click="setCameraView(null, null)">
             <v-icon size="x-large">mdi-close</v-icon>
           </v-btn>
@@ -405,7 +446,9 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
         </v-card-text>
         <v-card-text
           v-else-if="
-            activeVisionModules.find((it) => it.matchedCameraInfo.uniquePath === viewingCamera[0]?.uniquePath)?.mismatch
+            activeVisionModules.find(
+              (it) => cameraInfoFor(it.matchedCameraInfo).uniquePath === cameraInfoFor(viewingCamera[0]).uniquePath
+            )?.mismatch
           "
         >
           <v-alert

photon-client/src/views/DashboardView.vue

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

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

photon-client/tsconfig.config.json

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

photon-client/tsconfig.json

@@ -1,10 +1,9 @@
 {
   "extends": "@vue/tsconfig/tsconfig.dom.json",
-  "include": ["env.d.ts", "vite.config.ts", "playwright.config.ts", "src/**/*", "src/**/*.vue", "tests/**/*"],
+  "include": ["env.d.ts", "src/**/*", "src/**/*.vue"],
   "compilerOptions": {
-    "lib": ["ES2022", "DOM", "DOM.Iterable"],
+    "moduleResolution": "node",
-    "moduleResolution": "bundler",
+    "noImplicitAny": false,
-    "noImplicitAny": true,
     "strict": true,
     "removeComments": true,
     "sourceMap": true,
@@ -15,4 +14,9 @@
       "@/*": ["./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 = wpilibVersion
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
 
 def nativeConfigName = 'wpilibNatives'
 configurations {
@@ -23,12 +23,11 @@ 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(openCVversion)
+    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
 
     // These stay as implementation dependencies since they don't have native code that gets packaged
     implementation 'org.zeroturnaround:zt-zip:1.14'
@@ -41,7 +40,7 @@ dependencies {
         wpilibNatives("org.photonvision:rknn_jni-jni:$rknnVersion:$jniPlatform") {
             transitive = false
         }
-        wpilibNatives("org.photonvision:tflite_jni-jni:$tfliteVersion:$jniPlatform") {
+        wpilibNatives("org.photonvision:rubik_jni-jni:$rubikVersion:$jniPlatform") {
             transitive = false
         }
         wpilibNatives("org.photonvision:photon-libcamera-gl-driver-jni:$libcameraDriverVersion:$jniPlatform") {
@@ -49,17 +48,11 @@ 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:tflite_jni-java:$tfliteVersion") {
+    implementation("org.photonvision:rubik_jni-java:$rubikVersion") {
         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("tflite_jni"),
+        RUBIK_DETECTOR("tensorflowlite", "tensorflowlite_c", "external_delegate", "rubik_jni"),
         RKNN_DETECTOR("rga", "rknnrt", "rknn_jni"),
         MRCAL("mrcal_jni"),
         LIBCAMERA("photonlibcamera");

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

@@ -17,7 +17,10 @@
 
 package org.photonvision.common.configuration;
 
-import io.avaje.jsonb.Json;
+import com.fasterxml.jackson.annotation.JsonCreator;
+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;
@@ -32,9 +35,7 @@ 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);
 
@@ -61,8 +62,11 @@ public class CameraConfiguration {
 
     public int streamIndex = 0; // 0 index means ports [1181, 1182], 1 means [1183, 1184], etc...
 
-    public List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
+    // Ignore the pipes, as we serialize them to their own column to hack around
+    // polymorphic lists
+    @JsonIgnore public List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
 
+    @JsonIgnore
     public DriverModePipelineSettings driveModeSettings = new DriverModePipelineSettings();
 
     public CameraConfiguration(PVCameraInfo cameraInfo, String uniqueName, String nickname) {
@@ -74,22 +78,24 @@ public class CameraConfiguration {
         logger.debug("Creating USB camera configuration for " + this.toShortString());
     }
 
-    // JSON Constructor (can't be marked with @Json.Creator due to public fields that aren't part of
+    // Shiny new constructor
-    // the parameters)
+    @JsonCreator
     public CameraConfiguration(
-            String uniqueName,
+            @JsonProperty("uniqueName") String uniqueName,
-            PVCameraInfo matchedCameraInfo,
+            @JsonProperty("matchedCameraInfo") PVCameraInfo matchedCameraInfo,
-            String nickname,
+            @JsonProperty("nickname") String nickname,
-            boolean deactivated,
+            @JsonProperty("deactivated") boolean deactivated,
-            QuirkyCamera cameraQuirks,
+            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
-            double FOV,
+            @JsonProperty("FOV") double FOV,
-            int currentPipelineIndex) {
+            @JsonProperty("calibrations") List<CameraCalibrationCoefficients> calibrations,
+            @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;
     }
 
@@ -114,14 +120,14 @@ public class CameraConfiguration {
         PVCameraInfo matchedCameraInfo;
 
         /** Legacy constructor for compat with 2024.3.1 */
-        @Json.Creator
+        @JsonCreator
         public LegacyCameraConfigStruct(
-                String baseName,
+                @JsonProperty("baseName") String baseName,
-                String path,
+                @JsonProperty("path") String path,
-                String[] otherPaths,
+                @JsonProperty("otherPaths") String[] otherPaths,
-                CameraType cameraType,
+                @JsonProperty("cameraType") CameraType cameraType,
-                int usbVID,
+                @JsonProperty("usbVID") int usbVID,
-                int usbPID) {
+                @JsonProperty("usbPID") int usbPID) {
             if (cameraType == CameraType.UsbCamera) {
                 this.matchedCameraInfo =
                         PVCameraInfo.fromUsbCameraInfo(
@@ -165,16 +171,16 @@ public class CameraConfiguration {
     }
 
     /**
-     * Replace a calibration in our list with the same resolution with a new one, or add it if none
+     * Replace a calibration in our list with the same unrotatedImageSize with a new one, or add it if
-     * exists yet. If we are replacing an existing calibration, the old one will be "released" and the
+     * none exists yet. If we are replacing an existing calibration, the old one will be "released"
-     * underlying data matrices will become invalid.
+     * and the underlying data matrices will become invalid.
      *
      * @param calibration The calibration to add.
      */
     public void addCalibration(CameraCalibrationCoefficients calibration) {
-        logger.info("adding calibration " + calibration.resolution);
+        logger.info("adding calibration " + calibration.unrotatedImageSize);
         calibrations.stream()
-                .filter(it -> it.resolution.equals(calibration.resolution))
+                .filter(it -> it.unrotatedImageSize.equals(calibration.unrotatedImageSize))
                 .findAny()
                 .ifPresent(
                         (it) -> {
@@ -188,12 +194,12 @@ public class CameraConfiguration {
      * Remove a calibration from our list. If found, the calibration will be "released". If not found,
      * no-op.
      *
-     * @param resolution The resolution to remove.
+     * @param unrotatedImageSize The resolution to remove.
      */
-    public void removeCalibration(Size resolution) {
+    public void removeCalibration(Size unrotatedImageSize) {
-        logger.info("deleting calibration " + resolution);
+        logger.info("deleting calibration " + unrotatedImageSize);
         calibrations.stream()
-                .filter(it -> it.resolution.equals(resolution))
+                .filter(it -> it.unrotatedImageSize.equals(unrotatedImageSize))
                 .findAny()
                 .ifPresent(
                         (it) -> {
@@ -209,6 +215,7 @@ 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

@@ -17,10 +17,7 @@
 
 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;
@@ -37,6 +34,7 @@ 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;
 
@@ -235,15 +233,14 @@ public class ConfigManager {
                 Path.of(getModelsDirectory().toString(), "photonvision-object-detection-models.json")
                         .toFile();
         try {
-            Jsonb.instance()
+            JacksonUtils.serialize(
-                    .type(NeuralNetworkModelsSettings.class)
+                    tempProperties.toPath(), this.getConfig().neuralNetworkPropertyManager());
-                    .toJson(this.getConfig().getNeuralNetworkProperties(), new FileWriter(tempProperties));
             ZipUtil.pack(getModelsDirectory(), out);
             // Now delete the tempProperties
             if (tempProperties.exists()) {
                 Files.delete(tempProperties.toPath());
             }
-        } catch (IOException | IllegalStateException | JsonException e) {
+        } catch (Exception e) {
             e.printStackTrace();
         }
         return out;

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

@@ -17,50 +17,40 @@
 
 package org.photonvision.common.configuration;
 
-import io.avaje.jsonb.Json;
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import java.util.ArrayList;
-import java.util.List;
-import org.photonvision.common.hardware.statusLED.StatusLEDType;
 
-@Json
+@JsonIgnoreProperties(ignoreUnknown = true)
 public class HardwareConfig {
-    public String deviceName;
+    public final String deviceName;
 
     // LED control
-    public List<Integer> ledPins;
+    public final ArrayList<Integer> ledPins;
-    public boolean ledsCanDim;
+    public final boolean ledsCanDim;
-    public List<Integer> ledBrightnessRange;
+    public final ArrayList<Integer> ledBrightnessRange;
-    public int ledPWMFrequency;
+    public final int ledPWMFrequency;
-    public StatusLEDType statusLEDType;
+    public final ArrayList<Integer> statusRGBPins;
-
+    public final boolean statusRGBActiveHigh;
-    // MIGRATION: 2026
-    @Json.Alias("statusRGBPins")
-    public List<Integer> statusLEDPins;
-
-    // MIGRATION: 2026
-    @Json.Alias("statusRGBActiveHigh")
-    public boolean statusLEDActiveHigh;
 
     // Custom GPIO
-    public String getGPIOCommand;
+    public final String getGPIOCommand;
-    public String setGPIOCommand;
+    public final String setGPIOCommand;
-    public String setPWMCommand;
+    public final String setPWMCommand;
-    public String setPWMFrequencyCommand;
+    public final String setPWMFrequencyCommand;
-    public String releaseGPIOCommand;
+    public final String releaseGPIOCommand;
 
     // Device stuff
-    public String restartHardwareCommand;
+    public final String restartHardwareCommand;
-    public double vendorFOV; // -1 for unmanaged
+    public final double vendorFOV; // -1 for unmanaged
 
     public HardwareConfig(
             String deviceName,
-            List<Integer> ledPins,
+            ArrayList<Integer> ledPins,
             boolean ledsCanDim,
-            List<Integer> ledBrightnessRange,
+            ArrayList<Integer> ledBrightnessRange,
             int ledPwmFrequency,
-            StatusLEDType statusLEDType,
+            ArrayList<Integer> statusRGBPins,
-            List<Integer> statusLEDPins,
+            boolean statusRGBActiveHigh,
-            boolean statusLEDActiveHigh,
             String getGPIOCommand,
             String setGPIOCommand,
             String setPWMCommand,
@@ -73,9 +63,8 @@ public class HardwareConfig {
         this.ledsCanDim = ledsCanDim;
         this.ledBrightnessRange = ledBrightnessRange;
         this.ledPWMFrequency = ledPwmFrequency;
-        this.statusLEDType = statusLEDType;
+        this.statusRGBPins = statusRGBPins;
-        this.statusLEDPins = statusLEDPins;
+        this.statusRGBActiveHigh = statusRGBActiveHigh;
-        this.statusLEDActiveHigh = statusLEDActiveHigh;
         this.getGPIOCommand = getGPIOCommand;
         this.setGPIOCommand = setGPIOCommand;
         this.setPWMCommand = setPWMCommand;
@@ -91,9 +80,8 @@ public class HardwareConfig {
         ledsCanDim = false;
         ledBrightnessRange = new ArrayList<>();
         ledPWMFrequency = 0;
-        statusLEDType = StatusLEDType.RGB;
+        statusRGBPins = new ArrayList<>();
-        statusLEDPins = new ArrayList<>();
+        statusRGBActiveHigh = false;
-        statusLEDActiveHigh = false;
         getGPIOCommand = "";
         setGPIOCommand = "";
         setPWMCommand = "";
@@ -133,12 +121,10 @@ public class HardwareConfig {
                 + ledBrightnessRange
                 + ", ledPWMFrequency="
                 + ledPWMFrequency
-                + ", statusLEDType="
+                + ", statusRGBPins="
-                + statusLEDType
+                + statusRGBPins
-                + ", statusLEDPins="
+                + ", statusRGBActiveHigh"
-                + statusLEDPins
+                + statusRGBActiveHigh
-                + ", statusLEDActiveHigh"
-                + statusLEDActiveHigh
                 + ", getGPIOCommand="
                 + getGPIOCommand
                 + ", setGPIOCommand="

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

@@ -17,11 +17,10 @@
 
 package org.photonvision.common.configuration;
 
-import io.avaje.json.JsonException;
+import com.fasterxml.jackson.core.JsonProcessingException;
-import io.avaje.jsonb.Jsonb;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+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;
@@ -37,9 +36,10 @@ 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 {
@@ -126,13 +126,14 @@ class LegacyConfigProvider extends ConfigProvider {
         AprilTagFieldLayout atfl = null;
 
         if (hardwareConfigFile.exists()) {
-            try (var stream = new FileInputStream(hardwareConfigFile)) {
+            try {
-                hardwareConfig = Jsonb.instance().type(HardwareConfig.class).fromJson(stream);
+                hardwareConfig =
+                        JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class);
                 if (hardwareConfig == null) {
                     logger.error("Could not deserialize hardware config! Loading defaults");
                     hardwareConfig = new HardwareConfig();
                 }
-            } catch (IOException | IllegalStateException | JsonException e) {
+            } catch (IOException e) {
                 logger.error("Could not deserialize hardware config! Loading defaults");
                 hardwareConfig = new HardwareConfig();
             }
@@ -142,13 +143,14 @@ class LegacyConfigProvider extends ConfigProvider {
         }
 
         if (hardwareSettingsFile.exists()) {
-            try (var stream = new FileInputStream(hardwareSettingsFile)) {
+            try {
-                hardwareSettings = Jsonb.instance().type(HardwareSettings.class).fromJson(stream);
+                hardwareSettings =
+                        JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
                 if (hardwareSettings == null) {
                     logger.error("Could not deserialize hardware settings! Loading defaults");
                     hardwareSettings = new HardwareSettings();
                 }
-            } catch (IOException | IllegalStateException | JsonException e) {
+            } catch (IOException e) {
                 logger.error("Could not deserialize hardware settings! Loading defaults");
                 hardwareSettings = new HardwareSettings();
             }
@@ -158,13 +160,13 @@ class LegacyConfigProvider extends ConfigProvider {
         }
 
         if (networkConfigFile.exists()) {
-            try (var stream = new FileInputStream(networkConfigFile)) {
+            try {
-                networkConfig = Jsonb.instance().type(NetworkConfig.class).fromJson(stream);
+                networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
                 if (networkConfig == null) {
                     logger.error("Could not deserialize network config! Loading defaults");
                     networkConfig = new NetworkConfig();
                 }
-            } catch (IOException | IllegalStateException | JsonException e) {
+            } catch (IOException e) {
                 logger.error("Could not deserialize network config! Loading defaults");
                 networkConfig = new NetworkConfig();
             }
@@ -182,12 +184,13 @@ class LegacyConfigProvider extends ConfigProvider {
         }
 
         if (apriltagFieldLayoutFile.exists()) {
-            try (var stream = new FileInputStream(apriltagFieldLayoutFile)) {
+            try {
-                atfl = Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(stream);
+                atfl =
+                        JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class);
                 if (atfl == null) {
                     logger.error("Could not deserialize apriltag field layout! (still null)");
                 }
-            } catch (IOException | IllegalStateException | JsonException e) {
+            } catch (IOException e) {
                 logger.error("Could not deserialize apriltag field layout!", e);
                 atfl = null; // not required, nice to be explicit
             }
@@ -224,14 +227,14 @@ class LegacyConfigProvider extends ConfigProvider {
         // Delete old configs
         FileUtils.deleteDirectory(camerasFolder.toPath());
 
-        try (var stream = new FileOutputStream(networkConfigFile)) {
+        try {
-            Jsonb.instance().type(NetworkConfig.class).toJson(config.getNetworkConfig(), stream);
+            JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
-        } catch (IOException | IllegalStateException | JsonException e) {
+        } catch (IOException e) {
             logger.error("Could not save network config!", e);
         }
-        try (var stream = new FileOutputStream(hardwareSettingsFile)) {
+        try {
-            Jsonb.instance().type(HardwareSettings.class).toJson(config.getHardwareSettings(), stream);
+            JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
-        } catch (IOException | IllegalStateException | JsonException e) {
+        } catch (IOException e) {
             logger.error("Could not save hardware config!", e);
         }
 
@@ -246,11 +249,33 @@ class LegacyConfigProvider extends ConfigProvider {
                 subdir.toFile().mkdirs();
             }
 
-            try (var stream = new FileOutputStream(Path.of(subdir.toString(), "config.json").toFile())) {
+            try {
-                Jsonb.instance().type(CameraConfiguration.class).toJson(camConfig, stream);
+                JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
-            } catch (IOException | IllegalStateException | JsonException e) {
+            } catch (IOException 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?
@@ -264,9 +289,11 @@ class LegacyConfigProvider extends ConfigProvider {
             for (var subdir : subdirectories) {
                 var cameraConfigPath = Path.of(subdir.toString(), "config.json");
                 CameraConfiguration loadedConfig = null;
-                try (var stream = new FileInputStream(cameraConfigPath.toFile())) {
+                try {
-                    loadedConfig = Jsonb.instance().type(CameraConfiguration.class).fromJson(stream);
+                    loadedConfig =
-                } catch (IllegalStateException | JsonException e) {
+                            JacksonUtils.deserialize(
+                                    cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
+                } catch (JsonProcessingException e) {
                     logger.error("Camera config deserialization failed!", e);
                     e.printStackTrace();
                 }
@@ -275,6 +302,63 @@ 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

@@ -17,17 +17,16 @@
 
 package org.photonvision.common.configuration;
 
-import io.avaje.jsonb.Json;
+import com.fasterxml.jackson.annotation.JsonAlias;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonIgnore;
+import com.fasterxml.jackson.annotation.JsonProperty;
 import 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";
@@ -35,8 +34,8 @@ public class NetworkConfig {
     public boolean shouldManage;
     public boolean shouldPublishProto = false;
 
-    public static final String NM_IFACE_STRING = "${interface}";
+    @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
-    public static final String NM_IP_STRING = "${ipaddr}";
+    @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
 
     public String networkManagerIface = "";
     // TODO: remove these strings if no longer needed
@@ -51,17 +50,19 @@ public class NetworkConfig {
         setShouldManage(deviceCanManageNetwork());
     }
 
+    @JsonCreator
     public NetworkConfig(
-            String ntServerAddress,
+            @JsonProperty("ntServerAddress") @JsonAlias({"ntServerAddress", "teamNumber"})
-            NetworkMode connectionType,
+                    String ntServerAddress,
-            String staticIp,
+            @JsonProperty("connectionType") NetworkMode connectionType,
-            String hostname,
+            @JsonProperty("staticIp") String staticIp,
-            boolean runNTServer,
+            @JsonProperty("hostname") String hostname,
-            boolean shouldManage,
+            @JsonProperty("runNTServer") boolean runNTServer,
-            boolean shouldPublishProto,
+            @JsonProperty("shouldManage") boolean shouldManage,
-            String networkManagerIface,
+            @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
-            String setStaticCommand,
+            @JsonProperty("networkManagerIface") String networkManagerIface,
-            String setDHCPcommand) {
+            @JsonProperty("setStaticCommand") String setStaticCommand,
+            @JsonProperty("setDHCPcommand") String setDHCPcommand) {
         this.ntServerAddress = ntServerAddress;
         this.connectionType = connectionType;
         this.staticIp = staticIp;
@@ -88,10 +89,12 @@ public class NetworkConfig {
                 config.setDHCPcommand);
     }
 
+    @JsonIgnore
     public String getPhysicalInterfaceName() {
         return this.networkManagerIface;
     }
 
+    @JsonIgnore
     public String getEscapedInterfaceName() {
         return "\"" + networkManagerIface + "\"";
     }
@@ -100,6 +103,7 @@ 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

@@ -280,10 +280,10 @@ public class NeuralNetworkModelManager {
      *
      * <p>If this method returns `Optional.of(..)` then the model should be safe to load.
      *
-     * @param modelPath the unique identifier of the model to retrieve
+     * @param modelUID the unique identifier of the model to retrieve
      * @return an Optional containing the model if found, or an empty Optional if not found
      */
-    public Optional<Model> getModel(Path modelPath) {
+    public Optional<Model> getModel(String modelUID) {
         if (models == null) {
             return Optional.empty();
         }
@@ -292,7 +292,7 @@ public class NeuralNetworkModelManager {
         for (Family backend : supportedBackends) {
             if (models.containsKey(backend)) {
                 Optional<Model> model =
-                        models.get(backend).stream().filter(m -> m.getPath().equals(modelPath)).findFirst();
+                        models.get(backend).stream().filter(m -> m.getUID().equals(modelUID)).findFirst();
                 if (model.isPresent()) {
                     return model;
                 }
@@ -318,7 +318,7 @@ public class NeuralNetworkModelManager {
         }
 
         ModelProperties properties =
-                ConfigManager.getInstance().getConfig().getNeuralNetworkProperties().getModel(path);
+                ConfigManager.getInstance().getConfig().neuralNetworkPropertyManager().getModel(path);
 
         if (properties == null) {
             logger.warn(
@@ -332,7 +332,7 @@ public class NeuralNetworkModelManager {
                 // NeuralNetworkModelsSettings
                 ConfigManager.getInstance()
                         .getConfig()
-                        .getNeuralNetworkProperties()
+                        .neuralNetworkPropertyManager()
                         .addModelProperties(properties);
             } catch (IllegalArgumentException | IOException e) {
                 logger.error("Failed to translate legacy model filename to properties: " + path, e);
@@ -406,8 +406,7 @@ public class NeuralNetworkModelManager {
         // After loading all of the models, sort them by name to ensure a consistent
         // ordering
         models.forEach(
-                (backend, backendModels) ->
+                (backend, backendModels) -> backendModels.sort((a, b) -> a.getUID().compareTo(b.getUID())));
-                        backendModels.sort((a, b) -> a.getPath().compareTo(b.getPath())));
 
         // Log
         StringBuilder sb = new StringBuilder();
@@ -415,7 +414,7 @@ public class NeuralNetworkModelManager {
         models.forEach(
                 (backend, backendModels) -> {
                     sb.append(backend).append(" [");
-                    backendModels.forEach(model -> sb.append(model.getPath()).append(", "));
+                    backendModels.forEach(model -> sb.append(model.getUID()).append(", "));
                     sb.append("] ");
                 });
     }
@@ -487,7 +486,7 @@ public class NeuralNetworkModelManager {
                 .getConfig()
                 .setNeuralNetworkProperties(
                         supportedProperties.sum(
-                                ConfigManager.getInstance().getConfig().getNeuralNetworkProperties()));
+                                ConfigManager.getInstance().getConfig().neuralNetworkPropertyManager()));
     }
 
     public boolean clearModels() {
@@ -512,7 +511,7 @@ public class NeuralNetworkModelManager {
         }
 
         // Delete model info
-        return ConfigManager.getInstance().getConfig().getNeuralNetworkProperties().clear();
+        return ConfigManager.getInstance().getConfig().neuralNetworkPropertyManager().clear();
     }
 
     public File exportSingleModel(String modelPath) {
@@ -526,7 +525,7 @@ public class NeuralNetworkModelManager {
             ModelProperties properties =
                     ConfigManager.getInstance()
                             .getConfig()
-                            .getNeuralNetworkProperties()
+                            .neuralNetworkPropertyManager()
                             .getModel(Path.of(modelPath));
 
             String fileName = "";

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

@@ -17,10 +17,9 @@
 
 package org.photonvision.common.configuration;
 
-import io.avaje.jsonb.Json;
+import com.fasterxml.jackson.annotation.JsonCreator;
-import io.avaje.jsonb.JsonType;
+import com.fasterxml.jackson.annotation.JsonIgnore;
-import io.avaje.jsonb.Jsonb;
+import com.fasterxml.jackson.annotation.JsonProperty;
-import io.avaje.jsonb.Types;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
@@ -28,29 +27,27 @@ 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(
-            Path modelPath,
+            @JsonProperty("modelPath") Path modelPath,
-            String nickname,
+            @JsonProperty("nickname") String nickname,
-            List<String> labels,
+            @JsonProperty("labels") List<String> labels,
-            int resolutionWidth,
+            @JsonProperty("resolutionWidth") int resolutionWidth,
-            int resolutionHeight,
+            @JsonProperty("resolutionHeight") int resolutionHeight,
-            Family family,
+            @JsonProperty("family") Family family,
-            Version version) {
+            @JsonProperty("version") Version version) {
+        @JsonCreator
+        public ModelProperties {}
+
         ModelProperties(ModelProperties other) {
             this(
                     other.modelPath,
@@ -62,6 +59,13 @@ 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 =
@@ -156,58 +160,25 @@ 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
-    @Json.Ignore
+    @JsonProperty("modelPathToProperties")
     private HashMap<Path, ModelProperties> modelPathToProperties =
             new HashMap<Path, ModelProperties>();
 
     /**
      * Constructor for the NeuralNetworkProperties class.
      *
-     * <p>This object holds a HashMap of {@link ModelProperties} objects
+     * <p>This object holds a LinkedList of {@link ModelProperties} objects
      */
     public NeuralNetworkModelsSettings() {}
 
     /**
      * Constructor for the NeuralNetworkProperties class.
      *
-     * <p>This object holds a HashMap of {@link ModelProperties} objects.
+     * <p>This object holds a LinkedList 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
      */
-    @Json.Creator
+    public NeuralNetworkModelsSettings(HashMap<Path, ModelProperties> modelPropertiesList) {}
-    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() {
@@ -268,7 +239,7 @@ public class NeuralNetworkModelsSettings {
      *
      * @return A list of all models
      */
-    @Json.Property("models")
+    @JsonIgnore
     public ModelProperties[] getModels() {
         return modelPathToProperties.values().toArray(new ModelProperties[0]);
     }