Use Avaje Jsonb for Javalin JSON (#2512)

## Description

This fixes up and renables the python examples builds.

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

## Meta

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

---------

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

.github/pull_request_template.md

@@ -1,19 +1,19 @@
 ## Description
 
-<!-- What changed? Why? (the code + comments should speak for itself on the "how") -->
+What changed? Why? (the code + comments should speak for itself on the "how")
 
-<!-- Fun screenshots or a cool video or something are super helpful as well. If this touches platform-specific behavior, this is where test evidence should be collected. -->
+Include fun testing screenshots or a cool video, to collect test evidence in a place where we can later reference it. Including proof this change was tested makes reviewing easier, helps us make sure we tested all our edge cases, and helps provide context for the future.
 
-<!-- Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`. -->
+Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`.
 
 ## Meta
 
 Merge checklist:
 - [ ] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes
-- [ ] The description documents the _what_ and _why_
-- [ ] This PR has been [linted](https://docs.photonvision.org/en/latest/docs/contributing/linting.html).
+- [ ] The description documents the _what_ and _why_, including events that led to this PR
 - [ ] If this PR changes behavior or adds a feature, user documentation is updated
 - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
-- [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2
+- [ ] If this PR touches configuration, this is backwards compatible with all settings going back to the previous seasons's last release (seasons end after champs ends)
 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated
 - [ ] If this PR addresses a bug, a regression test for it is added
+- [ ] If this PR adds a dependency, the license has been checked for compatibility and steps taken to follow it

.github/workflows/build.yml

@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.0.4
+  IMAGE_VERSION: v2027.0.0
 
 jobs:
 
@@ -18,86 +18,170 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
-  build-examples:
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
 
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            architecture: x64
-          - os: macos-14
-            architecture: aarch64
-          - os: ubuntu-22.04
+  # build-examples:
 
-    name: "Photonlib - Build Examples - ${{ matrix.os }}"
-    runs-on: ${{ matrix.os }}
-    needs: [validation]
+  #     strategy:
+  #       fail-fast: false
+  #       matrix:
+  #         include:
+  #           - os: windows-2022
+  #             artifact-name: Win64
+  #           - os: macos-14
+  #             artifact-name: macOS
+  #           - os: ubuntu-24.04
+  #             artifact-name: Linux
 
+  #     name: "Photonlib - Build Examples - ${{ matrix.os }}"
+  #     runs-on: ${{ matrix.os }}
+  #     needs: [build-photonlib-host, build-photonlib-docker]
+
+  #     steps:
+  #       - name: Checkout code
+  #         uses: actions/checkout@v6
+  #         with:
+  #           fetch-depth: 0
+  #       - name: Fetch tags
+  #         run: git fetch --tags --force
+  #       - uses: actions/setup-java@v5
+  #         with:
+  #           java-version: 25
+  #           distribution: temurin
+  #       - name: Install SystemCore Toolchain
+  #         run: ./gradlew installSystemCoreToolchain
+  #       - name: Delete duplicate toolchains
+  #         run: |
+  #           find ~/.gradle/cache/ -name *bookworm* -exec rm -rf {} +
+  #           du -h . | sort -h
+  #         if: matrix.os == 'ubuntu-24.04'
+  #       # Download prebuilt photonlib artifacts
+  #       - uses: actions/download-artifact@v7
+  #         with:
+  #           name: maven-${{ 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@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install RoboRIO Toolchain
-        run: ./gradlew installRoboRioToolchain
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      - name: Publish photonlib to maven local
-        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: ./gradlew build
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: ./gradlew build
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
+        uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
-          node-version: 22
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+          node-version: 24
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+      - name: Typecheck Client
+        working-directory: photon-client
+        run: |
+          pnpm install --frozen-lockfile
+          pnpm type-check
+  playwright-tests:
+    name: "Playwright E2E tests"
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+      - uses: actions/setup-java@v5
+        with:
+          java-version: 25
+          distribution: temurin
+      - uses: pnpm/action-setup@v5
+        with:
+          version: 10
+      - uses: actions/setup-node@v6
+        with:
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+          node-version: 24
+      - name: Setup tests
+        working-directory: photon-client
+        run: |
+          pnpm install
+          pnpm test-setup
+      - name: Prebuild Gradle
+        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
+      - name: Run Playwright tests
+        working-directory: photon-client
+        run: pnpm test
+      - uses: actions/upload-artifact@v7
+        if: ${{ !cancelled() }}
+        with:
+          name: "Playwright Report"
+          path: photon-client/playwright-report/
+          retention-days: 30
+  build-gradle:
+    name: "Gradle Build"
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    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
+      - uses: pnpm/action-setup@v5
+        with:
+          version: 10
+      - uses: actions/setup-node@v6
+        with:
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+          node-version: 24
       - name: Gradle Build
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests and Coverage
         run: ./gradlew test jacocoTestReport --stacktrace
   build-offline-docs:
     name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
+      - uses: actions/checkout@v6
+      - uses: actions/setup-python@v6
         with:
-          python-version: '3.11'
+          python-version: 3.14
       - name: Install graphviz
         run: |
           sudo apt-get update
@@ -112,24 +196,23 @@ jobs:
         working-directory: docs
         run: |
           make html
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: built-docs
           path: docs/build/html
 
   build-photonlib-vendorjson:
     name: "Build Vendor JSON"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
-      - name: Install Java 17
-        uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
 
       # grab all tags
@@ -142,40 +225,36 @@ 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@v4
+      - uses: actions/upload-artifact@v7
         with:
-          name: photonlib-vendor-json
+          archive: false
           path: photon-lib/build/generated/vendordeps/photonlib-*.json
 
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 13
+      MACOSX_DEPLOYMENT_TARGET: 14
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2022
-            artifact-name: Win64
-            architecture: x64
-          - os: macos-14
-            artifact-name: macOS
-            architecture: aarch64
-          - os: ubuntu-22.04
-            artifact-name: Linux
+         - os: windows-2022
+           artifact-name: Win64
+         - os: macos-26
+           artifact-name: macOS
+         - os: ubuntu-24.04
+           artifact-name: Linux
 
     name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-          architecture: ${{ matrix.architecture }}
       - run: git fetch --tags --force
       - run: ./gradlew photon-targeting:build photon-lib:build
         name: Build with Gradle
@@ -183,10 +262,10 @@ jobs:
         name: Publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -196,22 +275,22 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-24.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            artifact-name: SystemCore
+            build-options: "-Ponlylinuxsystemcore"
+          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
 
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     container: ${{ matrix.container }}
     name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Config Git
@@ -224,10 +303,10 @@ jobs:
         run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -235,14 +314,14 @@ jobs:
   combine:
     name: Combine
     needs: [build-photonlib-docker, build-photonlib-host]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - run: git fetch --tags --force
       # download all maven-* artifacts to outputs/
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
           path: output
@@ -252,66 +331,48 @@ jobs:
         name: ZIP stuff up
         working-directory: output
       - run: ls output
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: photonlib-offline
           path: output/*.zip
 
-  build-package:
+  build-package-linux:
     needs: [build-gradle, build-offline-docs]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: winx64
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: macx64
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: Linux
-            architecture: x64
-            arch-override: linuxx64
-          - os: ubuntu-22.04
+            arch-override: linuxx86-64
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
-            architecture: x64
             arch-override: linuxarm64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
 
-    steps:
-      - uses: actions/checkout@v4
+    steps: &build-package-steps
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-          architecture: ${{ matrix.architecture }}
-      - name: Install pnpm
-        uses: pnpm/action-setup@v4
+      - uses: pnpm/action-setup@v5
         with:
           version: 10
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
+      - uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Arm64 Toolchain
         run: ./gradlew installArm64Toolchain
         if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           name: built-docs
           path: photon-server/src/main/resources/web/docs
@@ -319,264 +380,276 @@ jobs:
         if: ${{ (matrix.arch-override != 'none') }}
       - run: ./gradlew photon-server:shadowJar
         if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
-          name: jar-${{ matrix.artifact-name }}
+          archive: false
           path: photon-server/build/libs
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: photon-targeting_jar-${{ matrix.artifact-name }}
           path: photon-targeting/build/libs
 
-  run-smoketest-native:
-    needs: [build-package]
+  build-package-macos:
+    needs: [build-gradle, build-offline-docs]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
-            artifact-name: jar-Linux
+          - os: macos-latest
+            artifact-name: macOSArm
+            arch-override: macarm64
+          - os: macos-latest
+            artifact-name: macOS
+            arch-override: macx86-64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps: *build-package-steps
+
+  build-package-windows:
+    needs: [build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win
+            arch-override: winx86-64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps: *build-package-steps
+
+  run-smoketest-native:
+    needs: [build-package-linux, build-package-macos, build-package-windows]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
+            artifact-name: photonvision-*-linuxx86-64.jar
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
           - os: windows-latest
-            artifact-name: jar-Win64
-            extraOpts: ""
+            artifact-name: photonvision-*-winx86-64.jar
           - os: macos-latest
-            artifact-name: jar-macOS
-            architecture: x64
+            artifact-name: photonvision-*-macarm64.jar
+          - os: ubuntu-24.04-arm
+            artifact-name: photonvision-*-linuxarm64.jar
+
 
     runs-on: ${{ matrix.os }}
 
     steps:
-      - name: Install Java 17
-        uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
-          name: ${{ matrix.artifact-name }}
-      # On linux, install mrcal packages
+          pattern: ${{ matrix.artifact-name }}
+      # The jar is run twice to exercise different code paths.
       - run: |
-          sudo apt-get update
-          sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-24.04' }}
-      # and actually run the jar
-      - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+          echo "=== First run ==="
+          java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+          echo "=== Checking for files to corrupt ==="
+          find ~ -type f \( -name "*.so" -o -name "*.dylib" \) | head -20
+          if [ -d ~/.wpilib ]; then
+            echo "~/.wpilib directory exists"
+            echo "Contents of ~/.wpilib:"
+            find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | head -10
+            RANDOM_FILE=$(find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | sort -R | head -n 1)
+            if [ ! -z "$RANDOM_FILE" ]; then
+              echo "Corrupting file: $RANDOM_FILE"
+              echo "corrupted data" > "$RANDOM_FILE"
+            else
+              echo "No .so or .dylib files found in ~/.wpilib"
+            fi
+          else
+            echo "~/.wpilib directory does not exist"
+          fi
+          echo "=== Second run ==="
+          java -jar ${{ matrix.extraOpts }} *.jar --smoketest
         if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
+      - 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-latest' }}
 
-  run-smoketest-chroot:
-    needs: [build-package]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-
-    runs-on: ${{ matrix.os }}
-    name: smoketest-${{ matrix.image_suffix }}
-
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-
-      - uses: pguyot/arm-runner-action@v2
-        name: Run photon smoketest
-        id: generate_image
-        with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          # our image better have java installed already
-          commands: |
-            java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-
   build-image:
-    needs: [build-package]
-
-    if: ${{ github.event_name != 'pull_request' }}
+    needs: [build-package-linux]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+          - os: ubuntu-24.04-arm
             image_suffix: RaspberryPi
+            plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             image_suffix: limelight2
+            plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             image_suffix: limelight3
+            plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             image_suffix: limelight3G
+            plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             image_suffix: limelight4
+            plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
-            cpu: cortex-a76
-            image_additional_mb: 0
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             image_suffix: luma_p1
+            plat_override: LINUX_RASPBIAN64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
-            cpu: cortex-a76
-            image_additional_mb: 0
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             image_suffix: orangepi5
+            plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             image_suffix: orangepi5b
+            plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             image_suffix: orangepi5plus
+            plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             image_suffix: orangepi5pro
+            plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             image_suffix: orangepi5max
+            plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             image_suffix: rock5c
+            plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            image_suffix: rubikpi3
+            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
+            root_location: 'offset=569376768'
+            shrink_image: 'no'
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_suffix }}"
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
-          name: jar-${{ matrix.artifact-name }}
-      - uses: pguyot/arm-runner-action@HEAD
+          pattern: photonvision-*-linuxarm64.jar
+      - uses: photonvision/photon-image-runner@HEAD
         name: Generate image
         id: generate_image
         with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          commands: |
-            chmod +x scripts/armrunner.sh
-            ./scripts/armrunner.sh
+          image_url: ${{ matrix.image_url }}
+          minimum_free_mb: ${{ matrix.minimum_free_mb }}
+          root_location: ${{ matrix.root_location || 'partition=2' }}
+          shrink_image: ${{ matrix.shrink_image || 'yes' }}
+          commands: ./scripts/armrunner.sh
+
       - name: Compress image
+        # Compress the standard images
+        if: ${{ ! startsWith(matrix.image_suffix, 'rubik') }}
         run: |
+          set -ex
           new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
           new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-          mv ${{ steps.generate_image.outputs.image }} $new_image_name
-          sudo xz -T 0 -v $new_image_name
-      - uses: actions/upload-artifact@v4
-        name: Upload image
-        with:
-          name: image-${{ matrix.image_suffix }}
-          path: photonvision*.xz
-  build-rubik-image:
-    needs: [build-package]
+          sudo mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -kv $new_image_name
+          echo "smoketest_image_loc=${new_image_name}" >> $GITHUB_ENV
 
-    if: ${{ github.event_name != 'pull_request' }}
-
-    runs-on: ubuntu-24.04
-    name: "Build image - Rubik Pi 3"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-LinuxArm64
-      - name: Generate image
-        run: |
-          wget https://raw.githubusercontent.com/PhotonVision/photon-image-modifier/refs/tags/$IMAGE_VERSION/mount_rubikpi3.sh
-          chmod +x mount_rubikpi3.sh
-          ./mount_rubikpi3.sh https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz /tmp/build/scripts/armrunner.sh
-      - name: Compress image
+      - name: Tar built image (Rubik)
+        # Build the RubikPi3-specific tar file
+        if: ${{ startsWith(matrix.image_suffix, 'rubik') }}
         run: |
+          set -ex
           new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_rubikpi3.img}")
-          mv photonvision_rubikpi3 $new_image_name
-          tar -I 'xz -T0' -cf ${new_image_name}.tar.xz $new_image_name --checkpoint=10000 --checkpoint-action=echo='%T'
-      - uses: actions/upload-artifact@v4
-        name: Upload image
+          tardir=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          imagedir=$(dirname ${{ steps.generate_image.outputs.image }})
+          sudo mkdir --parents ${tardir}
+          sudo cp ${imagedir}/* ${tardir}/
+          sudo tar -I 'xz -T0' -cf ${tardir}.tar.xz ${tardir} --checkpoint=10000 --checkpoint-action=echo='%T'
+          # Point smoketest to the old image
+          echo "smoketest_image_loc=${{ steps.generate_image.outputs.image }}" >> $GITHUB_ENV
+
+      - uses: actions/upload-artifact@v7
         with:
-          name: image-rubikpi3
+          archive: false
           path: photonvision*.xz
+
+        # This is done after uploading the image to avoid contaminating the image with logs, caches, etc.
+      - uses: photonvision/photon-image-runner@HEAD
+        name: Smoketest Image
+        with:
+          image_url: file://${{ env.smoketest_image_loc }}
+          minimum_free_mb: ${{ matrix.minimum_free_mb }}
+          root_location: ${{ matrix.root_location || 'partition=2' }}
+          shrink_image: ${{ matrix.shrink_image || 'yes' }}
+          commands: java -jar *.jar --smoketest --platform=${{ matrix.plat_override }}
+
+  matrix-checker:
+    # This job always runs last to set the overall result based on the matrix jobs. If any matrix job failed, this job will fail.
+    # This makes it so that we don't need to add each matrix job individually to CI checks.
+    runs-on: ubuntu-latest
+    needs: [build-image]
+    if: always()
+    steps:
+      - run: ${{!contains(needs.*.result, 'failure')}}
+
   release:
-    needs: [build-photonlib-vendorjson, build-package, build-image, build-rubik-image, combine]
-    runs-on: ubuntu-22.04
+    # Require smoketest-native so that if those fail, we don't release broken artifacts
+    needs: [build-photonlib-vendorjson, build-image, combine, build-package-linux, build-package-macos, build-package-windows, run-smoketest-native]
+    if: (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) && github.repository == 'PhotonVision/photonvision'
+    runs-on: ubuntu-24.04
     steps:
       # Download all fat JARs
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
-          pattern: jar-*
+          pattern: photonvision-*.jar
       # Download offline photonlib
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
           pattern: photonlib-offline
       # Download vendor json
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
-          merge-multiple: true
-          pattern: photonlib-vendor-json
+          pattern: photonlib-*.json
       # Download all images
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           merge-multiple: true
-          pattern: image-*
+          pattern: photonvision-*.xz
 
       - run: find
       # Push to dev release
@@ -594,7 +667,7 @@ jobs:
             **/photonlib*.zip
         if: github.event_name == 'push'
       - name: Create Vendor JSON Repo PR
-        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@main
+        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
         with:
           repo: PhotonVision/vendor-json-repo
           token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}

.github/workflows/dependency-submission.yml

@@ -0,0 +1,21 @@
+name: Dependency Submission
+
+on:
+  push:
+    branches: [ 'main' ]
+
+permissions:
+  contents: write
+
+jobs:
+  dependency-submission:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout sources
+      uses: actions/checkout@v6
+    - uses: actions/setup-java@v5
+      with:
+        distribution: 'temurin'
+        java-version: 25
+    - name: Generate and submit dependency graph
+      uses: gradle/actions/dependency-submission@v5

.github/workflows/labeler.yml

@@ -9,6 +9,6 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/labeler@v5
+      - uses: actions/labeler@v6
         with:
           sync-labels: true

.github/workflows/lint-format.yml

@@ -14,72 +14,98 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python
+        uses: actions/setup-python@v6
         with:
-          python-version: 3.11
+          python-version: 3.14
       - name: Install wpiformat
-        run: pip3 install wpiformat==2025.75
+        run: pip3 install wpiformat==2025.79
       - name: Run
         run: wpiformat
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD
+        run: |
+          set +e
+          git --no-pager diff --exit-code HEAD
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
-          name: wpiformat fixes
+          archive: false
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
   javaformat:
     name: "Java Formatting"
     needs: [validation]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-      - run: ./gradlew spotlessCheck
+      - run: |
+          set +e
+          ./gradlew spotlessCheck
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
         name: Run spotless
-
   client-lint-format:
     name: "PhotonClient Lint and Formatting"
     defaults:
       run:
         working-directory: photon-client
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
+      - uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies
         run: pnpm i --frozen-lockfile
       - name: Check Linting
-        run: pnpm run lint-ci
+        run: |
+          set +e
+          pnpm run lint-ci
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
       - name: Check Formatting
-        run: pnpm run format-ci
+        run: |
+          set +e
+          pnpm run format-ci
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi

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

@@ -20,31 +20,29 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
   build_demo:
     name: Build PhotonClient Demo
     defaults:
       run:
         working-directory: photon-client
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
-      - name: Install pnpm
-        uses: pnpm/action-setup@v4
+      - uses: actions/checkout@v6
+      - uses: pnpm/action-setup@v5
         with:
           version: 10
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
+      - uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies
         run: pnpm i --frozen-lockfile
       - name: Build Production Client
         run: pnpm run build-demo
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: built-demo
           path: photon-client/dist/
@@ -52,24 +50,23 @@ jobs:
   run_java_cpp_docs:
     name: Build Java and C++ API Docs
     needs: [validation]
-    runs-on: "ubuntu-22.04"
+    runs-on: "ubuntu-24.04"
     steps:
     - name: Checkout code
-      uses: actions/checkout@v4
+      uses: actions/checkout@v6
       with:
         fetch-depth: 0
     - name: Fetch tags
       run: git fetch --tags --force
-    - name: Install Java 17
-      uses: actions/setup-java@v4
+    - uses: actions/setup-java@v5
       with:
-        java-version: 17
+        java-version: 25
         distribution: temurin
     - name: Build javadocs/doxygen
       run: |
         chmod +x gradlew
         ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
-    - uses: actions/upload-artifact@v4
+    - uses: actions/upload-artifact@v7
       with:
         name: docs-java-cpp
         path: photon-docs/build/docs
@@ -77,10 +74,10 @@ jobs:
   publish_api_docs:
     name: Publish API Docs
     needs: [run_java_cpp_docs]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       # Download docs artifact
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           pattern: docs-*
       - run: find .
@@ -104,9 +101,9 @@ jobs:
   publish_demo:
       name: Publish PhotonClient Demo
       needs: [build_demo]
-      runs-on: ubuntu-22.04
+      runs-on: ubuntu-24.04
       steps:
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           name: built-demo
       - run: find .

.github/workflows/photonvision-rtd.yml

@@ -14,14 +14,14 @@ env:
 jobs:
   build:
     name: Build and Check Docs
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
 
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
 
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v6
       with:
-        python-version: '3.11'
+        python-version: 3.14
 
     - name: Install and upgrade pip
       run: python -m pip install --upgrade pip

.github/workflows/python.yml

@@ -12,57 +12,135 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  buildAndDeploy:
-    runs-on: ubuntu-22.04
+  build-py:
+    runs-on: ubuntu-24.04
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
-          python-version: 3.11
+          python-version: 3.14
 
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install setuptools wheel pytest mypy
+          pip install setuptools wheel
 
       - name: Build wheel
         working-directory: ./photon-lib/py
-        run: |
-          python setup.py sdist bdist_wheel
-
-      - name: Run Unit Tests
-        working-directory: ./photon-lib/py
-        run: |
-            pip install --no-cache-dir dist/*.whl
-            pytest
-
-      # Disable due to robotpy issue. See
-      # https://github.com/PhotonVision/photonvision/issues/1968
-      # - name: Run mypy type checking
-      #   uses: liskin/gh-problem-matcher-wrap@v3
-      #   with:
-      #     linters: mypy
-      #     run: |
-      #       mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
+        run: python setup.py sdist bdist_wheel
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@master
+        uses: actions/upload-artifact@v7
         with:
           name: dist
           path: ./photon-lib/py/dist/
 
-      - name: Publish package distributions to TestPyPI
-        # Only upload on tags
-        if: startsWith(github.ref, 'refs/tags/v')
+  test-py:
+    needs: build-py
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest mypy
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: dist/
+
+      - name: Install package
+        shell: bash
+        run: pip install --no-cache-dir dist/*.whl
+
+      - name: Run Unit Tests
+        shell: bash
+        run: pytest --import-mode=importlib photon-lib/py/test/
+
+      - name: Run mypy type checking
+        run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
+
+  build-python-examples:
+    needs: build-py
+    strategy:
+      matrix:
+        os: [ubuntu-24.04, windows-2022, macos-14]
+    runs-on: ${{ matrix.os }}
+
+    steps:
+
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install mypy
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: ./photon-lib/py/dist/
+
+      - name: Install PhotonLibPy package
+        working-directory: ./photon-lib/py
+        shell: bash
+        run: |
+            pip install --no-cache-dir dist/*.whl
+
+      - name: Build Python examples
+        working-directory: photonlib-python-examples
+        shell: bash
+        run: |
+          for folder in */;
+          do
+            echo $folder
+            ./test.sh $folder
+          done
+
+  deploy:
+    needs: [test-py, build-python-examples]
+    runs-on: ubuntu-24.04
+    # Only upload on tags
+    if: startsWith(github.ref, 'refs/tags/v')
+
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: dist/
+
+      - name: Publish package distributions to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          packages_dir: ./photon-lib/py/dist/
+          packages-dir: ./dist/
 
     permissions:
       id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing

.github/workflows/website.yml

@@ -9,15 +9,14 @@ jobs:
     name: Build and Sync Files
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
-      - name: Setup Node
-        uses: actions/setup-node@v4
+      - uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: website/pnpm-lock.yaml
       - name: Install packages
@@ -37,22 +36,27 @@ jobs:
 
   format-check:
     name: Check Formatting
+    defaults:
+      run:
+        working-directory: website
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - name: Install pnpm
-        uses: pnpm/action-setup@v4
+      - uses: actions/checkout@v6
+      - uses: pnpm/action-setup@v5
         with:
           version: 10
-      - name: Setup Node
-        uses: actions/setup-node@v4
+      - uses: actions/setup-node@v6
         with:
-          node-version: 22
+          node-version: 24
           cache: pnpm
           cache-dependency-path: website/pnpm-lock.yaml
       - name: Install Packages
         run: pnpm i --frozen-lockfile
-        working-directory: website
-      - name: Run Formatting Check
-        run: pnpm prettier -c .
-        working-directory: website
+      - run: |
+          set +e
+          pnpm run format-ci
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+          fi
+          exit $exit_code

.gitignore

@@ -146,5 +146,20 @@ networktables.json
 photon-server/src/main/resources/web/*
 node_modules
 dist
+dist-ssr
 components.d.ts
 photon-server/src/main/resources/web/index.html
+
+# Playwright
+photon-client/test-results/
+photon-client/playwright-report/
+photon-client/blob-report/
+photon-client/playwright/.cache/
+photon-client/playwright/.auth/
+
+# Nix files
+shell.nix
+flake.nix
+flake.lock
+
+/workspace

.python-version

@@ -1 +1 @@
-3.11
+3.14

.readthedocs.yaml

@@ -6,9 +6,9 @@ sphinx:
   fail_on_warning: true
 
 build:
-  os: ubuntu-22.04
+  os: ubuntu-24.04
   tools:
-    python: "3.11"
+    python: "3.12"
   apt_packages:
     - graphviz
   jobs:

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
     "python.testing.unittestEnabled": false,
     "python.testing.pytestEnabled": true,
-    "python.testing.cwd": "photon-lib/py"
+    "python.testing.cwd": "photon-lib/py",
+    "java.configuration.updateBuildConfiguration": "automatic"
 }

.wpiformat

@@ -2,24 +2,12 @@ cppHeaderFileInclude {
   \.h$
 }
 
-modifiableFileExclude {
-  \.dll$
-  \.gif$
-  \.ico$
-  \.jpeg$
-  \.jpg$
-  \.mp4$
-  \.pdf$
-  \.png$
-  \.rknn$
-  \.so$
-  \.svg$
-  \.tflite$
-  \.ttf$
-  \.webp$
-  \.woff2$
-  gradlew
+generatedFileExclude {
   photon-lib/py/photonlibpy/generated/
   photon-targeting/src/generated/
   photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
 }
+
+licenseUpdateExclude {
+  CombinedRuntimeLoader.java
+}

ExternalLicenses/ApacheCommons-License

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

ExternalLicenses/EJML-License

@@ -0,0 +1,176 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS

ExternalLicenses/Javalin-LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
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+      defend, and hold each Contributor harmless for any liability
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+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
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+   Copyright 2017 David Åse
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
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+   See the License for the specific language governing permissions and
+   limitations under the License.

ExternalLicenses/OSHI-License

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2010-2023 The OSHI Project Contributors: https://github.com/oshi/oshi/graphs/contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
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+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
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+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

ExternalLicenses/QuickBuffers-License

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+      means any form of electronic, verbal, or written communication sent
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+      subsequently incorporated within the Work.
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+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
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+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
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+      defend, and hold each Contributor harmless for any liability
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+
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+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
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ExternalLicenses/Ultralytics-License

@@ -0,0 +1,661 @@
+                    GNU AFFERO GENERAL PUBLIC LICENSE
+                       Version 3, 19 November 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
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+                     END OF TERMS AND CONDITIONS
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+For more information on this, and how to apply and follow the GNU AGPL, see
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ExternalLicenses/WPILib-License

@@ -0,0 +1,24 @@
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
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+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

ExternalLicenses/diozero-License

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016 - 2021, diozero
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
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+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

ExternalLicenses/msgpack-java-License

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

ExternalLicenses/sqlite-jdbc-License

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

ExternalLicenses/zt-zip-License

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright 2012 ZeroTurnaround LLC.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

@@ -8,19 +8,19 @@ The latest release of platform-specific jars and images is found [here](https://
 
 If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
 
+## Documentation
+
+- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
+- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org)
+- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org)
+- C++ Doxygen: [cppdocs.photonvision.org](https://cppdocs.photonvision.org)
+
 ## Authors
 
 <a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
   <img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
 </a>
 
-## Documentation
-
-- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
-- Photon UI demo: [http://photonvision.global/](http://photonvision.global/)
-- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org)
-- C++ Doxygen  [cppdocs.photonvision.org](https://cppdocs.photonvision.org)
-
 ## Building
 
 Gradle is used for all C++ and Java code, and pnpm is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).
@@ -32,12 +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:
-    * winx32
-    * winx64
+    * winx86-64
     * winarm64
-    * macx64
+    * macx86-64
     * macarm64
-    * linuxx64
+    * linuxx86-64
     * linuxarm64
     * linuxathena
 - `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
@@ -46,39 +45,34 @@ 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 can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
+If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain`
 
 ## Out-of-Source Dependencies
 
 PhotonVision uses the following additional out-of-source repositories for building code.
 
-- Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
+- Base system images for supported coprocessors: https://github.com/PhotonVision/photon-image-modifier
 - C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
 - JNI code for [mrcal](https://mrcal.secretsauce.net/): https://github.com/PhotonVision/mrcal-java
-- Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
-- JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni
-
-## Additional packages
-
-For now, using mrcal requires installing these additional packages on Linux systems:
-
-```
-sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
-```
+- JNI code for RKNN: https://github.com/PhotonVision/rknn_jni
+- JNI code for Rubik Pi NPU: https://github.com/PhotonVision/rubik_jni
 
 ## Acknowledgments
 
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
 
-* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/main/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/main/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
-
-* [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
-
+* [WPILib](https://github.com/wpilibsuite) - Specifically [allwpilib](https://github.com/wpilibsuite/allwpilib) and [their build of OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
+* [Apache Commons](https://commons.apache.org/) - Specifically [Commons IO](https://commons.apache.org/proper/commons-io/), and [Commons CLI](https://commons.apache.org/proper/commons-cli/)
+* [diozero](https://www.diozero.com/)
+* [EJML](https://github.com/lessthanoptimal/ejml)
 * [Javalin](https://javalin.io/)
-
 * [JSON](https://json.org)
-
-* [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
+* [Avaje](https://avaje.io) - Specifically [jsonb](https://avaje.io/jsonb/)
+* [MessagePack for Java](https://github.com/msgpack/msgpack-java)
+* [OSHI](https://github.com/oshi/oshi)
+* [QuickBuffers](https://github.com/HebiRobotics/QuickBuffers)
+* [SQLite JDBC](https://github.com/xerial/sqlite-jdbc)
+* [ZT ZIP](https://github.com/zeroturnaround/zt-zip)
 
 ## License
 

build.gradle

@@ -1,26 +1,28 @@
-import edu.wpi.first.toolchain.*
+import org.wpilib.toolchain.*
 
 plugins {
     id "cpp"
-    id "com.diffplug.spotless" version "6.24.0"
-    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-    id 'com.google.protobuf' version '0.9.3' apply false
-    id 'edu.wpi.first.GradleJni' version '1.1.0'
+    id "com.diffplug.spotless" version "8.1.0"
+    id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
+    id 'org.wpilib.NativeUtils' version '2027.7.1' apply false
+    id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
+    id 'org.photonvision.tools.WpilibTools' version 'v5.0.1'
+    id 'com.google.protobuf' version '0.9.5' apply false
+    id 'org.wpilib.GradleJni' version '2027.0.0'
     id "org.ysb33r.doxygen" version "2.0.0" apply false
-    id 'com.gradleup.shadow' version '8.3.4' apply false
-    id "com.github.node-gradle.node" version "7.0.1" apply false
+    id 'com.gradleup.shadow' version '9.0.0' apply false
+    id "com.github.node-gradle.node" version "7.1.0" apply false
 }
 
 allprojects {
     repositories {
+        maven { url = "https://frcmaven.wpi.edu/artifactory/ex-mvn/" }
         mavenCentral()
         mavenLocal()
         maven { url = "https://maven.photonvision.org/releases" }
         maven { url = "https://maven.photonvision.org/snapshots" }
-        maven { url = "https://jogamp.org/deployment/maven/" }
     }
+    wpilibRepositories.use2027Repos()
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
 }
@@ -28,33 +30,27 @@ allprojects {
 ext.localMavenURL = file("$project.buildDir/outputs/maven")
 ext.allOutputsFolder = file("$project.buildDir/outputs")
 
-// Configure the version number.
-apply from: "versioningHelper.gradle"
-
 ext {
-    wpilibVersion = "2025.3.2"
-    wpimathVersion = wpilibVersion
-    openCVYear = "2025"
-    openCVversion = "4.10.0-3"
-    javalinVersion = "6.7.0"
-    libcameraDriverVersion = "v2025.0.4"
-    rknnVersion = "dev-v2025.0.0-5-g666c0c6"
-    rubikVersion = "dev-v2025.1.0-6-g4a5e508"
-    frcYear = "2025"
-    mrcalVersion = "v2025.0.0";
+    wpilibVersion = "2027.0.0-alpha-6"
+    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";
 
+    javalinVersion = "6.7.0"
+    libcameraDriverVersion = "v2027.0.0-alpha-1"
+    rknnVersion = "dev-v2026.0.1-3-g14c3ecb"
+    tfliteVersion = "v2027.0.2-alpha-1"
+    wpilibYear = "2027_alpha5"
+    mrcalVersion = "v2027.0.2";
 
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
 
-    // A list, for legacy reasons, with only the current platform contained
     wpilibNativeName = wpilibTools.platformMapper.currentPlatform.platformName;
-    def nativeName = wpilibNativeName
-    if (wpilibNativeName == "linuxx64") nativeName = "linuxx86-64";
-    if (wpilibNativeName == "winx64") nativeName = "windowsx86-64";
-    if (wpilibNativeName == "macx64") nativeName = "osxx86-64";
-    if (wpilibNativeName == "macarm64") nativeName = "osxarm64";
-    jniPlatform = nativeName
+    jniPlatform = wpilibTools.platformMapper.wpilibClassifier;
 
     println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
     println("Using Wpilib: " + wpilibVersion)
@@ -69,12 +65,12 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', '**/src/generated/**'
+            exclude '**/build/**', '**/build-*/**', '**/src/generated/**', "**/bin/generated-sources/**"
         }
         toggleOffOn()
         googleJavaFormat()
-        indentWithTabs(2)
-        indentWithSpaces(4)
+        leadingSpacesToTabs(2)
+        leadingTabsToSpaces(4)
         removeUnusedImports()
         trimTrailingWhitespace()
         endWithNewline()
@@ -85,7 +81,7 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         greclipse()
-        indentWithSpaces(4)
+        leadingTabsToSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }
@@ -95,13 +91,13 @@ spotless {
             exclude '**/build/**', '**/build-*/**', '**/node_modules/**'
         }
         trimTrailingWhitespace()
-        indentWithSpaces(2)
+        leadingTabsToSpaces(2)
         endWithNewline()
     }
 }
 
 wrapper {
-    gradleVersion = '8.14.3'
+    gradleVersion = '9.4.0'
 }
 
 ext.getCurrentArch = {
@@ -119,5 +115,6 @@ subprojects {
         options.addStringOption("charset", "utf-8")
         options.addStringOption("docencoding", "utf-8")
         options.addStringOption("encoding", "utf-8")
+        options.addBooleanOption("Xdoclint/package:-org.photonvision.proto,-org.photonvision.struct,-org.photonvision.targeting.proto,-org.photonvision.jni", true)
     }
 }

devTools/photon.lua

@@ -0,0 +1,165 @@
+-- PhotonVision Time Synchronization Protocol Dissector
+-- Protocol runs on UDP port 5810
+-- Reference: https://docs.photonvision.org/en/v2026.0.0-alpha-1/docs/contributing/design-descriptions/time-sync.html
+
+photon_timesync_proto = Proto("photon_timesync", "PhotonVision Time Sync Protocol")
+
+-- Protocol fields
+local pf_version = ProtoField.uint8("photon_timesync.version", "Version", base.DEC)
+local pf_message_id = ProtoField.uint8("photon_timesync.message_id", "Message ID", base.DEC, {
+  [0] = "Ping",
+  [1] = "Pong"
+})
+local pf_client_time = ProtoField.uint64("photon_timesync.client_time", "Client Time (μs)", base.DEC)
+local pf_server_time = ProtoField.uint64("photon_timesync.server_time", "Server Time (μs)", base.DEC)
+local pf_response_in = ProtoField.framenum("photon_timesync.response_in", "Response In Frame", base.NONE,
+  frametype.RESPONSE)
+local pf_response_to = ProtoField.framenum("photon_timesync.response_to", "Response To Frame", base.NONE,
+  frametype.REQUEST)
+local pf_response_time = ProtoField.relative_time("photon_timesync.response_time", "Response Time")
+
+-- Register fields
+photon_timesync_proto.fields = {
+  pf_version,
+  pf_message_id,
+  pf_client_time,
+  pf_server_time,
+  pf_response_in,
+  pf_response_to,
+  pf_response_time
+}
+
+-- Table to track ping/pong relationships
+-- Key: client_time as string, Value: frame number of ping
+local ping_table = {}
+-- Table to store pong responses for pings
+-- Key: ping frame number, Value: pong frame number
+local pong_table = {}
+
+-- Dissector function
+function photon_timesync_proto.dissector(buffer, pinfo, tree)
+  -- Check if buffer has minimum length (TspPing = 10 bytes)
+  local length = buffer:len()
+  if length < 10 then
+    return 0
+  end
+
+  -- Set protocol column
+  pinfo.cols.protocol = photon_timesync_proto.name
+
+  -- Create protocol tree
+  local subtree = tree:add(photon_timesync_proto, buffer(), "PhotonVision Time Sync Protocol Data")
+
+  -- Parse version (1 byte)
+  local version = buffer(0, 1):uint()
+  subtree:add(pf_version, buffer(0, 1))
+
+  -- Parse message_id (1 byte)
+  local msg_id = buffer(1, 1):uint()
+  subtree:add(pf_message_id, buffer(1, 1))
+
+  -- Parse client_time (8 bytes, little-endian uint64)
+  local client_time = buffer(2, 8):le_uint64()
+  subtree:add_le(pf_client_time, buffer(2, 8))
+
+  -- Convert client_time to string for use as key
+  local client_time_key = tostring(client_time)
+  local frame_num = pinfo.number
+
+  -- Track relationships between ping and pong
+  if not pinfo.visited then
+    -- First pass: build the relationship tables
+    if msg_id == 1 then
+      -- This is a Ping - store it
+      ping_table[client_time_key] = frame_num
+    elseif msg_id == 2 then
+      -- This is a Pong - find matching Ping
+      local ping_frame = ping_table[client_time_key]
+      if ping_frame then
+        pong_table[ping_frame] = frame_num
+      end
+    end
+  end
+
+  -- Update info column and parse based on message type
+  if msg_id == 1 then
+    -- TspPing: version(1) + message_id(1) + client_time(8) = 10 bytes
+    pinfo.cols.info = string.format("Time Sync Ping (client_time: %s μs)", tostring(client_time))
+
+    -- Check if we have a response for this ping
+    local pong_frame = pong_table[frame_num]
+    if pong_frame then
+      local response_item = subtree:add(pf_response_in, pong_frame)
+      response_item:set_generated()
+    end
+  elseif msg_id == 2 then
+    -- TspPong: TspPing + server_time(8) = 18 bytes
+    pinfo.cols.info = "Time Sync Pong"
+
+    if length >= 18 then
+      local server_time = buffer(10, 8):le_uint64()
+      subtree:add_le(pf_server_time, buffer(10, 8))
+      pinfo.cols.info = string.format("Time Sync Pong (client: %s, server: %s μs)",
+        tostring(client_time), tostring(server_time))
+
+      -- Find the matching ping frame
+      local ping_frame = ping_table[client_time_key]
+      if ping_frame then
+        local request_item = subtree:add(pf_response_to, ping_frame)
+        request_item:set_generated()
+
+        -- Calculate response time if we can get the ping packet
+        local ping_time = pinfo.abs_ts - pinfo.rel_ts
+        -- Note: This is an approximation. For accurate timing, we'd need to
+        -- store the timestamp of the ping packet
+      end
+    end
+  else
+    pinfo.cols.info = string.format("Time Sync Unknown (ID: %d)", msg_id)
+  end
+
+  return length
+end
+
+-- Register dissector on UDP port 5810
+local udp_port = DissectorTable.get("udp.port")
+udp_port:add(5810, photon_timesync_proto)
+
+-- Heuristic dissector function
+local function heuristic_checker(buffer, pinfo, tree)
+  local length = buffer:len()
+
+  -- Check minimum length (TspPing = 10 bytes)
+  if length < 10 then
+    return false
+  end
+
+  local version = buffer(0, 1):uint()
+  local msg_id = buffer(1, 1):uint()
+
+  -- Check if this looks like our protocol
+  -- Version should be reasonable (0-10), message_id should be 1 or 2
+  if version <= 10 and (msg_id == 1 or msg_id == 2) then
+    -- Validate packet structure
+    if msg_id == 1 and length == 10 then
+      -- TspPing is exactly 10 bytes
+      photon_timesync_proto.dissector(buffer, pinfo, tree)
+      return true
+    elseif msg_id == 2 and length == 18 then
+      -- TspPong is exactly 18 bytes
+      photon_timesync_proto.dissector(buffer, pinfo, tree)
+      return true
+    end
+  end
+
+  return false
+end
+
+-- Register heuristic dissector
+photon_timesync_proto:register_heuristic("udp", heuristic_checker)
+
+-- Initialize function to reset tables on new capture
+function photon_timesync_proto.init()
+  ping_table = {}
+  pong_table = {}
+end

docs/requirements.txt

@@ -21,7 +21,6 @@ mdurl==0.1.2
 myst-parser==4.0.1
 packaging==25.0
 pbr==6.1.1
-pipreqs==0.5.0
 Pygments==2.19.1
 PyYAML==6.0.2
 requests==2.32.4
@@ -37,7 +36,6 @@ sphinx-autobuild==2024.10.3
 sphinx-basic-ng==1.0.0b2
 sphinx-notfound-page==1.1.0
 sphinx-rtd-theme==3.0.2
-sphinx-tabs==3.4.7
 sphinx_design==0.6.1
 sphinxcontrib-applehelp==2.0.0
 sphinxcontrib-devhelp==2.0.0
@@ -54,6 +52,6 @@ stevedore==5.4.1
 typing_extensions==4.13.2
 urllib3==2.5.0
 uvicorn==0.34.2
-watchfiles==1.0.5
+watchfiles==1.1.1
 websockets==15.0.1
 yarg==0.1.9

docs/source/conf.py

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

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

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

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

@@ -1,9 +1,10 @@
 {
   "deviceName" : "Limelight 2+",
-  "supportURL" : "https://limelightvision.io",
   "ledPins" : [ 13, 18 ],
   "ledsCanDim" : true,
-  "ledPWMRange" : [ 0, 100 ],
-  "ledPWMFrequency" : 30000,
+  "ledPWMFrequency" : 1000,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
   "vendorFOV" : 75.76079874010732
 }

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

@@ -1,7 +1,9 @@
 {
   "deviceName" : "Limelight 2",
-  "supportURL" : "https://limelightvision.io",
   "ledPins" : [ 17, 18 ],
   "ledsCanDim" : false,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
   "vendorFOV" : 75.76079874010732
 }

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

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

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

@@ -1,53 +1,9 @@
-# Mac OS Installation
+# MacOS Installation
 
-:::{warning}
-Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, the PhotonVision server backend may have issues running macOS.
-:::
+## Builds
 
-:::{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).
-:::
+Builds for macOS are currently generated in CI for testing compatibility. This allows us to ensure that macOS remains a viable development platform.
 
-VERY Limited macOS support is available.
+## Use as a coprocessor
 
-## 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 2025+. 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.
-:::
+This is not a recommended path. MacOS is not officially supported, and your mileage may vary.

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

@@ -12,19 +12,11 @@ Bonjour provides more stable networking when using Windows PCs. Install [Bonjour
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/v2025.3.2) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`:
-
-```
-> ./gradlew run "-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk"
-```
-
-:::{warning}
-Using a JDK other than WPILIB's JDK17 will cause issues when running PhotonVision and is not supported.
-:::
+PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed.** You may already have it if you installed WPILib, but ensure that running `java -version` shows JDK 17. You will likely have to add WPILib's JDK to JAVA_HOME and the JDK's `bin` directory to PATH. If you do not have a JDK 17 install, [download and install it from here.](https://adoptium.net/temurin/releases?version=17)
 
 ## Downloading the Latest Stable Release of PhotonVision
 
-Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx64.jar file.
+Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx86-64.jar file.
 
 ## Running PhotonVision
 

docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md

@@ -23,7 +23,7 @@ AprilTag pipelines come with reasonable defaults to get you up and running with
 
 Target families are defined by two numbers (before and after the h). The first number is the number of bits the tag is able to encode (which means more tags are available in the respective family) and the second is the hamming distance. Hamming distance describes the ability for error correction while identifying tag ids. A high hamming distance generally means that it will be easier for a tag to be identified even if there are errors. However, as hamming distance increases, the number of available tags decreases.
 
-The 2025 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/main/tag36h11).
+The 2026 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/2bc821edb4eb7b408d13c6a590d326d8a9ec98f3/tag36h11).
 
 ### Decimate
 

docs/source/docs/apriltag-pipelines/about-apriltags.md

@@ -10,5 +10,5 @@ AprilTags are a common type of visual fiducial marker. Visual fiducial markers a
 A more technical explanation can be found in the [WPILib documentation](https://docs.wpilib.org/en/latest/docs/software/vision-processing/apriltag/apriltag-intro.html).
 
 :::{note}
-You can get FIRST's [official PDF of the targets used in 2025 here](https://firstfrc.blob.core.windows.net/frc2025/FieldAssets/Apriltag_Images_and_User_Guide.pdf).
+You can get FIRST's [official PDF of the targets used in 2026 here](https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-apriltag-images-user-guide.pdf).
 :::

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

@@ -7,7 +7,7 @@ MultiTag requires an accurate field layout JSON to be uploaded! Differences betw
 :::
 
 :::{warning}
-For the 2025 Reefscape Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
+For the 2026 Rebuilt Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
 :::
 
 ## Enabling MultiTag
@@ -23,7 +23,7 @@ Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Ou
 By default, enabling multi-target will disable calculating camera-to-target transforms for each observed AprilTag target to increase performance; the X/Y/angle numbers shown in the target table of the UI are instead calculated using the tag's expected location (per the field layout JSON) and the field-to-camera transform calculated using MultiTag. If you additionally want the individual camera-to-target transform calculated using SolvePNP for each target, enable "Always Do Single-Target Estimation".
 :::
 
-This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
+This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` and calling `estimateCoprocMultiTagPose` (with an optional fallback like `estimateLowestAmbiguityPose`) to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
 
 ```{eval-rst}
 .. tab-set-code::
@@ -46,7 +46,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
       {
         auto multiTagResult = result.MultiTagResult();
         if (multiTagResult.has_value()) {
-          frc::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
+          wpi::math::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
         }
       }
 
@@ -66,7 +66,7 @@ The returned field to camera transform is a transform from the fixed field origi
 
 ## Updating the Field Layout
 
-PhotonVision ships by default with the [2025 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
+PhotonVision ships by default with the [2026 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
 
 ```{image} images/field-layout.png
 :alt: The currently saved field layout in the Photon UI

docs/source/docs/calibration/calibration.md

@@ -7,7 +7,7 @@ In order to detect AprilTags and use 3D mode, your camera must be calibrated at
 To calibrate a camera, images of a ChArUco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html).
 
 :::{warning}
-While any resolution can be calibrated, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
+PhotonVision supports many resolution configuration options, with only a minimum of 640x480 required. However, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
 :::
 
 :::{note}
@@ -83,7 +83,7 @@ Details about a particular calibration can be viewed by clicking on that resolut
 More info on what these parameters mean can be found in [OpenCV's docs](https://docs.opencv.org/4.8.0/d4/d94/tutorial_camera_calibration.html)
 :::
 
-- Fx/Fy: Estimated camera focal length, in mm
+- Fx/Fy: Estimated camera focal length, in pixels
 - Fx/Cy: Estimated camera optical center, in pixels. This should be at about the center of the image
 - Distortion: OpenCV camera model distortion coefficients
 - FOV: calculated using estimated focal length and image size. Useful for gut-checking calibration results

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

@@ -8,11 +8,11 @@ This section contains the build instructions from the source code available at [
 
 **Java Development Kit:**
 
- This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2025+. **Windows Users must use the JDK that ships with WPILib.** For other platforms, you can follow the instructions to install JDK 17 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-17-lts).
+ This project requires Java Development Kit (JDK) 25 to be compiled. This is the same Java version that comes with WPILib for 2027. **Windows Users must use the JDK that ships with WPILib.** For other platforms, you can follow the instructions to install JDK 25 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-25-lts).
 
 **Node JS:**
 
- The UI is written in Node JS. To compile the UI, Node 22 or later is required. To install Node JS, follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/).
+ The UI is written in Node JS. To compile the UI, Node 24 or later is required. To install Node JS, follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/).
 
 **pnpm:**
 
@@ -47,6 +47,30 @@ In the photon-client directory:
 pnpm install
 ```
 
+### Building the UI
+
+In order to properly build UI changes before running the project, run the following `gradlew` command in the project's root directory:
+
+```{eval-rst}
+.. tab-set::
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ``./gradlew buildAndCopyUI``
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ``./gradlew buildAndCopyUI``
+
+   .. tab-item:: Windows (cmd)
+      :sync: windows
+
+      ``gradlew buildAndCopyUI``
+```
+
+
 ### Using hot reload on the UI
 
 In the photon-client directory:
@@ -167,15 +191,79 @@ repositories {
 }
 ```
 
-### VSCode Test Runner Extension
+### Debugging PhotonVision Running on a CoProcessor
 
-With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack), you can get the Test Runner for Java and Gradle for Java extensions. This lets you easily run specific tests through the IDE:
+We can use Java's remote debug capabilities to run the PhotonVision JAR file on a Coprocessor, and attach a debugger running on a desktop/laptop to the process remotely. Set up a VSCode configuration in {code}`launch.json`
 
-```{image} assets/vscode-runner-tests.png
-:alt: An image showing how unit tests can be ran in VSCode through the Test Runner for Java extension.
+```json
+{
+   // Use IntelliSense to learn about possible attributes.
+   // Hover to view descriptions of existing attributes.
+   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+   "version": "0.2.0",
+   "configurations": [
+     {
+         "type": "java",
+         "name": "Attach to CoProcessor",
+         "request": "attach",
+         "hostName": "photonvision.local",
+         "port": "5801",
+         "projectName": "photon-core"
+     },
+   ]
+}
 ```
 
-To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.
+Stop any existing instance of PhotonVision by running {code}`systemctl stop photonvision`.
+
+Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=y,address=*:5801 photonvision.jar` -- the JVM will wait for a debugger to connect before running `main`.
+
+Once the program says it is listening on port 5801, launch the debug configuration in VSCode.
+
+The program will wait for the VSCode debugger to attach before proceeding.
+
+
+## Running Tests
+
+### Running Default Tests
+
+Most unit tests [run as "headless" tests](https://docs.gradle.org/current/userguide/java_testing.html#test_filtering) (i.e have no UI component during the test) by default.
+To run a test, pass the test name(s):
+
+```{eval-rst}
+.. tab-set::
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ``./gradlew test --tests <Test Name>``
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ``./gradlew test --tests <Test Name>``
+
+   .. tab-item:: Windows (cmd)
+      :sync: windows
+
+      ``gradlew test --tests <Test Name>``
+```
+
+### Debugging PhotonVision Tests Locally
+
+Unit tests can also be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
+
+```{image} assets/vscode-gradle-tests.png
+:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
+```
+
+However, this will run all tests in a subproject.
+
+Similarly, a local instance of PhotonVision can be debugged in the same way using the Gradle ``run`` task. In both cases, additional arguments can be specified:
+
+```{image} assets/vscode-gradle-args.png
+:alt: An image showing how VSCode gradle tasks can specify additional arguments.
+```
 
 ### Running Tests With UI
 
@@ -200,58 +288,21 @@ By default, tests are run with UI disabled so they are not obtrusive during a bu
       ``gradlew test -PenableTestUi``
 ```
 
-### Debugging PhotonVision Running Locally
+### VSCode Test Runner Extension
 
-Unit tests can instead be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
+With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack), you can get the Test Runner for Java and Gradle for Java extensions. This lets you easily run specific tests through the IDE:
 
-```{image} assets/vscode-gradle-tests.png
-:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
+```{image} assets/vscode-runner-tests.png
+:alt: An image showing how unit tests can be ran in VSCode through the Test Runner for Java extension.
 ```
 
-However, this will run all tests in a subproject.
+To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.
 
-Similarly, a local instance of PhotonVision can be debugged in the same way using the Gradle ``run`` task. In both cases, additional arguments can be specified:
-
-```{image} assets/vscode-gradle-args.png
-:alt: An image showing how VSCode gradle tasks can specify additional arguments.
-```
-
-### Debugging PhotonVision Running on a CoProcessor
-
-Set up a VSCode configuration in {code}`launch.json`
-
-```json
-{
-   // Use IntelliSense to learn about possible attributes.
-   // Hover to view descriptions of existing attributes.
-   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-   "version": "0.2.0",
-   "configurations": [
-     {
-         "type": "java",
-         "name": "Attach to CoProcessor",
-         "request": "attach",
-         "hostName": "photonvision.local",
-         "port": "5801",
-         "projectName": "photon-core"
-     },
-   ]
-}
-```
-
-Stop any existing instance of PhotonVision.
-
-Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5801 photonvision.jar`
-
-Once the program says it is listening on port 5801, launch the debug configuration in VSCode.
-
-The program will wait for the VSCode debugger to attach before proceeding.
-
-### Running examples
+## Running examples
 
 You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the photonlib-*-examples subdirectories for each language.
 
-#### Running C++/Java
+### Running C++/Java
 
 PhotonLib must first be published to your local maven repository. This will also copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though not yet supported.
 
@@ -265,7 +316,7 @@ PhotonLib must first be published to your local maven repository. This will also
 ~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
 ```
 
-#### Running Python
+### Running Python
 
 PhotonLibPy must first be built into a wheel.
 
@@ -289,7 +340,7 @@ Then, run the examples:
 > run.bat <example name>
 ```
 
-#### Downloading Pipeline Artifacts
+### Downloading Pipeline Artifacts
 
 Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from pipelines by run ID and name:
 
@@ -297,13 +348,13 @@ Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from
 ~/photonvision$ gh run download 11759699679 -n jar-Linux
 ```
 
-#### MacOS Builds
+### MacOS Builds
 
 MacOS builds are not published to releases as MacOS is not an officially
 supported platform. However, MacOS builds are still available from the MacOS
 build action, which can be found [here](https://github.com/PhotonVision/photonvision/actions/workflows/build.yml).
 
-#### Forcing Object Detection in the UI
+### Forcing Object Detection in the UI
 
 In order to force the Object Detection interface to be visible, it's necessary to hardcode the platform that `Platform.java` returns. This can be done by changing the function that detects the RK3588S/QCS6490 platform to always return true, and changing the `getCurrentPlatform()` function to always return the RK3588S/QCS6490 architecture.
 Alternatively, it's possible to modify the frontend code by changing all instances of `useSettingsStore().general.supportedBackends.length > 0` to `true`, which will force the card to render.

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

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

docs/source/docs/contributing/design-descriptions/time-sync.md

@@ -109,3 +109,13 @@ Clients may publish statistics to NetworkTables. If they do, they shall publish
 | rtt2_us | Integer | The time in us from last complete (ping transmission to pong reception) |
 
 PhotonVision has chosen to publish to the sub-table `/photonvision/.timesync/{DEVICE_HOSTNAME}`. Future implementations of this protocol may decide to implement this as a structured data type.
+
+## Wireshark Dissector
+
+![](images/wireshark.jpg)
+
+A [WireShark dissector](https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/devTools/photon.lua) created for Wireshark ~=4.6 can be used to inspect Time Syncronization messages. Copy the dissector to your Wireshark plugin directory (for me, that's `C:\Users\Me\AppData\Roaming\Wireshark\plugins`), and open the capture. Because TSP uses UDP Unicast, data must be collected on the coprocessor or robot processor using a command similar to:
+
+```
+sudo tcpdump -i any port 5810 -w tsp_capture.pcap
+```

docs/source/docs/contributing/guidelines.md

@@ -0,0 +1,68 @@
+# Welcome!
+
+First and foremost, welcome to PhotonVision Development! We're pumped that you're interested to jump in, and help out!
+
+Like most things in FIRST, PhotonVision is reliant on the hard work of dedicated volunteers. It doesn't exist without you. You're joining in with a strong tradition of open-source software development.
+
+This page talks a bit about how we develop PhotonVision, as a community. It applies to all repos and community aspects for PhotonVision.
+
+## Getting Started
+
+The very first thing we'd recommend - get your computer set up to be able to build and run PhotonVision. [Docs for that are here](building-photon.md).
+
+The two best ways to figure out what to do first:
+
+1. Take a look at [the main PhotonVision Repo's Issues](https://github.com/PhotonVision/photonvision/issues) - especially those marked `bug` or `good first issue`!
+2. Connect on [the Discord Server](https://discord.gg/wYxTwym) - Introduce yourself, and talk about what you're interested in!
+
+From there - assign yourself to an issue if you intend to work it. Create a Fork in github, and make and test your changes. Once passing builds, meeting your expectations, and passing CI, open a pull request back to the main repo.
+
+## Submitting A PR
+
+Pull Requests are the mechanism used to ensure we only merge high-quality, reviewed, concrete, and organized changes to the codebase.
+
+Things that peer reviewers will look for include:
+
+* All CI checks are passing on the server.
+* Documentation - does the PR match the issue? Is the description detailed?
+* Cohesiveness - does the PR express a singular, related set of changes?
+* Architecture - is the code consistent with other code around it? Is it maintainable for the long term?
+* Testing - have unit tests been added as appropriate? Has the change been tested on real hardware?
+
+Work as you can to clean up any changes requested. Once all changes are addressed, the contain should get merged, and included in the next release! Horary!
+
+## General Developer Interaction
+
+The main guiding principle: remember that we're all volunteers. While promptness is always appreciated (and occasionally required as release deadlines approach), it's important to remember each individual is only contributing when their personal schedule allows. Expect delays, prefer asynchronous communication, and be polite with reminders.
+
+While most of the community members are either FIRST robotics mentors or students, the PhotonVision development team is primarily focused on delivering high quality software. Mentorship can and does occur, but is not the primary goal. Members are expected to do their learning fairly independently.
+
+Seek to build trust in the quality of your work. Think carefully on your opinions before asking others to think about them too.
+
+Bias toward action, and productionizable code. Limit the number of active PR's to help keep focus.
+
+Finally, be sure to embody the ethos of Gracious Professionalism in all your actions, on all platforms in the project. See more in our [code of conduct](https://github.com/PhotonVision/.github/blob/738dfcb792fdbfc2e8408c0135e389179fc483c0/codeofcoduct.md)
+
+### AI Usage
+
+Coding assistants driven by Large Language Models ("AI") are extremely powerful tools, and have been used on more than one occasion to accelerate development.
+
+PhotonVision still maintains a fundamental philosophy that the human submitting the pull request is responsible for the code and its behavior, regardless of the tools used to create it.
+
+These tools can also generate a large volume of code changes, very rapidly. The above guidelines on PR quality still apply - large, undirected, or overly-scoped PR's are likely to be ignored, regardless of tooling used to generate them.
+
+### Violations
+
+We're thankful that we've rarely experienced major issues in our community. In all cases, the project leads shall have the final decision making authority when dealing with violations of these guidelines.
+
+## Yearly Development Cycle
+
+PhotonVision's Development Cycle follows the same general flow as the FRC Build Season. Larger experiments get done over the summer, fall focuses on testing and "production-readiness", build season focuses on keeping all teams running smoothly.
+
+The actual priorities also shift as developers have more or time to commit, or express interest in specific direction.
+
+PR's are absolutely always welcome. Just note depending on the scope and size, they may not be reviewed or merged immediately.
+
+## Project Governance
+
+This project is jointly lead by Matt and Banks, who may be contacted on Discord. They serve as a "Benevolent leader for life" role, coordinating and approving architecture as needed, and curating the team of developers who have Pull Request review and merge responsibilities.

docs/source/docs/contributing/index.md

@@ -1,6 +1,7 @@
 # Contributing to PhotonVision Projects
 
 ```{toctree}
+guidelines
 building-photon
 building-docs
 linting

docs/source/docs/contributing/linting.md

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

docs/source/docs/examples/aimingatatarget.md

@@ -7,7 +7,7 @@ The following example is from the PhotonLib example repository ([Java](https://g
 - A Robot
 - A camera mounted rigidly to the robot's frame, centered and pointed forward.
 - A coprocessor running PhotonVision with an AprilTag or ArUco 2D Pipeline.
-- [A printout of AprilTag 7](https://firstfrc.blob.core.windows.net/frc2025/FieldAssets/Apriltag_Images_and_User_Guide.pdf), mounted on a rigid and flat surface.
+- [A printout of AprilTag 7](https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-apriltag-images-user-guide.pdf), mounted on a rigid and flat surface.
 
 ## Code
 

docs/source/docs/examples/poseest.md

@@ -18,7 +18,7 @@ The {code}`Drivetrain` class includes functionality to fuse multiple sensor read
 
 Please reference the [WPILib documentation](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-pose_state-estimators.html) on using the {code}`SwerveDrivePoseEstimator` class.
 
-We use the 2024 game's AprilTag Locations:
+We use the current game's AprilTag Locations:
 
 ```{eval-rst}
 .. tab-set-code::

docs/source/docs/hardware/customhardware.md

@@ -8,7 +8,7 @@ By default, PhotonVision attempts to make minimal assumptions of the hardware it
 
 ## LED Support
 
-For Raspberry-Pi based hardware, PhotonVision can use [PiGPIO](https://abyz.me.uk/rpi/pigpio/) to control IO pins. The mapping of which pins control which LED's is part of the hardware config. The pins are active-high: set high when LED's are commanded on, and set low when commanded off.
+When running on Linux, PhotonVision can use [diozero](https://www.diozero.com) to control IO pins. The mapping of which pins control which LED's is part of the hardware config. The illumination LED pins are active-high: set high when LED's are commanded on, and set low when commanded off.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -16,44 +16,82 @@ For Raspberry-Pi based hardware, PhotonVision can use [PiGPIO](https://abyz.me.u
 
       {
         "ledPins" : [ 13 ],
-        "ledSetCommand" : "",
         "ledsCanDim" : true,
-        "ledPWMRange" : [ 0, 100 ],
-        "ledPWMSetRange" : "",
+        "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "ledDimCommand" : "",
-        "ledBlinkCommand" : "",
-        "statusRGBPins" : [ ],
+        "statusLEDType": "RGB",
+        "statusLEDPins" : [ ],
+        "statusLEDActiveHigh" : false,
       }
 ```
 
-:::{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.
+There are currently two types of status LEDs supported:
+
+* `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
+
+::::{tab-set}
+
+:::{tab-item} Raspberry Pi
+
+The following diagram shows the GPIO pin numbering of the 40-pin header on Raspberry Pi hardware, courtesy of [pinout.xyz](https://pinout.xyz). Compute modules use the pin numbering from their respective datasheet.
+
+```{image} https://raw.githubusercontent.com/pinout-xyz/Pinout.xyz/master/resources/raspberry-pi-pinout.png
+:alt: Raspberry Pi GPIO Pinout
+```
+
 :::
+::::
+
+### Custom GPIO
+
+If your hardware does not support diozero's default provider, custom commands can be provided to interact with the GPIO lines. The examples below show what parameters are provided to each command, which can be used in any order or multiple times as needed.
+
+```{eval-rst}
+.. tab-set-code::
+   .. code-block:: json
+
+      {
+        "getGPIOCommand" : "getGPIO {p}",
+        "setGPIOCommand" : "setGPIO {p} {s}",
+        "setPWMCommand" : "setPWM {p} {v}",
+        "setPWMFrequencyCommand" : "setPWMFrequency {p} {f}",
+        "releaseGPIOCommand" : "releseGPIO {p}",
+      }
+```
+
+The following template strings are used to input parameters to the commands:
+
+| Template | Parameter  | Values     |
+| -------- | ---------- | ---------- |
+| `{p}`    | pin number | integers   |
+| `{s}`    | state      | true/false |
+| `{v}`    | value      | 0.0-1.0    |
+| `{f}`    | frequency  | integers   |
+
+If you were using custom LED commands from 2025 or earlier and still need custom GPIO commands, they can likely be copied over. `ledSetCommand` can be reused as `setGPIOCommand`. `ledDimCommand` can be reused with edits as `setPWMCommand`, replacing any occurrences of `{v}` with `$(awk 'BEGIN{ print int({v}*100) }')` if your command requires integer percentages.
 
 ## Hardware Interaction Commands
 
-For Non-Raspberry-Pi hardware, users must provide valid hardware-specific commands for some parts of the UI interaction (including performance metrics, and executing system restarts).
+For non-Linux hardware, users must provide the hardware-specific command for executing system restarts.
 
-Leaving a command blank will disable the associated functionality.
+Leaving this command blank will disable the restart functionality.
 
 ```{eval-rst}
 .. tab-set-code::
    .. code-block::  json
 
       {
-        "cpuTempCommand" : "",
-        "cpuMemoryCommand" : "",
-        "cpuUtilCommand" : "",
-        "gpuMemoryCommand" : "",
-        "gpuTempCommand" : "",
-        "ramUtilCommand" : "",
         "restartHardwareCommand" : "",
       }
 ```
 
 :::{note}
-These settings have no effect if PhotonVision detects it is running on a Raspberry Pi. See [the MetricsBase class](https://github.com/PhotonVision/photonvision/blob/dbd631da61b7c86b70fa6574c2565ad57d80a91a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java) for the commands utilized.
+This setting has no effect if PhotonVision detects it is running on Linux. On Linux, the restart is accomplished by executing `reboot now` in a shell.
 :::
 
 ## Known Camera FOV
@@ -69,9 +107,9 @@ If your hardware contains a camera with a known field of vision, it can be enter
       }
 ```
 
-## Cosmetic & Branding
+## Device Name Branding
 
-To help differentiate your hardware from other solutions, some customization is allowed.
+To help differentiate your hardware from other solutions, a device name may be set.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -79,8 +117,6 @@ To help differentiate your hardware from other solutions, some customization is
 
       {
         "deviceName" : "Super Cool Custom Hardware",
-        "deviceLogoPath" : "",
-        "supportURL" : "https://cat-bounce.com/",
       }
 ```
 
@@ -98,23 +134,18 @@ Here is a complete example `hardwareConfig.json`:
 
       {
         "deviceName" : "Blinky McBlinkface",
-        "deviceLogoPath" : "",
-        "supportURL" : "https://www.youtube.com/watch?v=b-CvLWbfZhU",
         "ledPins" : [2, 13],
-        "ledSetCommand" : "",
         "ledsCanDim" : true,
-        "ledPWMRange" : [ 0, 100 ],
-        "ledPWMSetRange" : "",
+        "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "ledDimCommand" : "",
-        "ledBlinkCommand" : "",
-        "statusRGBPins" : [ ],
-        "cpuTempCommand" : "",
-        "cpuMemoryCommand" : "",
-        "cpuUtilCommand" : "",
-        "gpuMemoryCommand" : "",
-        "gpuTempCommand" : "",
-        "ramUtilCommand" : "",
+        "statusLEDType": "RGB",
+        "statusLEDPins" : [ ],
+        "statusLEDActiveHigh" : false,
+        "getGPIOCommand" : "getGPIO {p}",
+        "setGPIOCommand" : "setGPIO {p} {s}",
+        "setPWMCommand" : "setPWM {p} {v}",
+        "setPWMFrequencyCommand" : "setPWMFrequency {p} {f}",
+        "releaseGPIOCommand" : "releaseGPIO {p}",
         "restartHardwareCommand" : "",
         "vendorFOV" : 72.5
       }

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

@@ -10,7 +10,7 @@ In order to use PhotonVision, you need a coprocessor and a camera. This page dis
 
 ### Minimum System Requirements
 
-- Ubuntu 22.04 LTS or Windows 10/11
+- Ubuntu 24.04 LTS or Windows 10/11
   - We don't recommend using Windows for anything except testing out the system on a local machine.
 - CPU: ARM Cortex-A53 (the CPU on Raspberry Pi 3) or better
 - At least 8GB of storage
@@ -88,7 +88,7 @@ Cameras capable of capturing a good image with very short exposures will also he
 
 ### Using Multiple Cameras
 
-Keeping the target(s) in view of the robot often requires more than one camera. PhotonVision has no hardcoded limit on the number of cameras supported. The limit is usually dependant on CPU (can all frames be processed fast enough?) and USB bandwidth (Can all cameras send their images without overwhelming the bus?).
+Keeping the target(s) in view of the robot often requires more than one camera. PhotonVision has no hardcoded limit on the number of cameras supported. The limit is usually dependent on CPU (can all frames be processed fast enough?) and USB bandwidth (Can all cameras send their images without overwhelming the bus?).
 
 Note that cameras are not synchronized together. Frames are captured and processed asynchronously. Robot Code must fuse estimates together. For more information, see {ref}`the programming reference. <docs/programming/index:programming reference>`.
 

docs/source/docs/objectDetection/about-object-detection.md

@@ -4,7 +4,7 @@
 
 PhotonVision supports object detection using neural network accelerator hardware, commonly known as an NPU. The two coprocessors currently supported are the {ref}`Orange Pi 5 <docs/objectDetection/opi:Orange Pi 5 (and variants) Object Detection>` and the {ref}`Rubik Pi 3 <docs/objectDetection/rubik:Rubik Pi 3 Object Detection>`.
 
-PhotonVision currently ships with a model trained on the [COCO dataset](https://cocodataset.org/) by [Ultralytics](https://github.com/ultralytics/ultralytics) (this model is licensed under [AGPLv3](https://www.gnu.org/licenses/agpl-3.0.en.html)). This model is meant to be used for testing and other miscellaneous purposes. It is not meant to be used in competition. For the 2025 post-season, PhotonVision also ships with a pretrained ALGAE model. A model to detect coral is available in the PhotonVision discord, but will not be distributed with PhotonVision.
+PhotonVision currently ships with a model trained on the [COCO dataset](https://cocodataset.org/) by [Ultralytics](https://github.com/ultralytics/ultralytics) (this model is licensed under [AGPLv3](https://www.gnu.org/licenses/agpl-3.0.en.html)). This model is meant to be used for testing and other miscellaneous purposes. It is not meant to be used in competition. For the 2026 season, PhotonVision ships with a model to detect FUEL, this is also licensed under AGPL.
 
 ## Tracking Objects
 

docs/source/docs/objectDetection/opi.md

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

docs/source/docs/objectDetection/rubik.md

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

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

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

docs/source/docs/programming/photonlib/fps-limiter.md

@@ -0,0 +1,37 @@
+# FPS Limiter
+
+:::{warning}
+When using the FPS limiter, it's important to disable it before a match begins.
+:::
+
+The FPS limiter can be used to lower the frames processed per second for a given camera. This is intended to be used for power-saving, particularly in the case of high FPS cameras with powerful coprocessors. The value passed to the function will indicate the frames per second that should be processed. A value of -1 should be passed to indicate that the FPS limiter should not restrict processing; this is the default behavior.
+
+```{eval-rst}
+.. tab-set-code::
+   .. code-block:: java
+
+      int limit = camera.getFPSLimit();
+
+      camera.setFPSLimit(10);
+
+      // This removes any previously set FPS limit.
+      camera.setFPSLimit(-1);
+
+   .. code-block:: c++
+
+        int limit = camera.GetFPSLimit();
+
+        camera.SetFPSLimit(10);
+
+        // This removes any previously set FPS limit.
+        camera.SetFPSLimit(-1);
+
+   .. code-block:: python
+
+        limit = camera.getFPSLimit()
+
+        camera.setFPSLimit(10)
+
+        # This removes any previously set FPS limit.
+        camera.setFPSLimit(-1)
+```

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

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

docs/source/docs/programming/photonlib/index.md

@@ -9,4 +9,5 @@ using-target-data
 robot-pose-estimator
 driver-mode-pipeline-index
 controlling-led
+fps-limiter
 ```

docs/source/docs/programming/photonlib/robot-pose-estimator.md

@@ -48,91 +48,88 @@ Another necessary argument for creating a `PhotonPoseEstimator` is the `Transfor
 
 ## Creating a `PhotonPoseEstimator`
 
-The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above), `PoseStrategy`, `PhotonCamera`, and `Transform3d`. `PoseStrategy` has nine possible values:
-
-- MULTI_TAG_PNP_ON_COPROCESSOR
-  - Calculates a new robot position estimate by combining all visible tag corners. Recommended for all teams as it will be the most accurate.
-  - Must configure the AprilTagFieldLayout properly in the UI, please see {ref}`here <docs/apriltag-pipelines/multitag:multitag localization>` for more information.
-- LOWEST_AMBIGUITY
-  - Choose the Pose with the lowest ambiguity.
-- CLOSEST_TO_CAMERA_HEIGHT
-  - Choose the Pose which is closest to the camera height.
-- CLOSEST_TO_REFERENCE_POSE
-  - Choose the Pose which is closest to the pose from setReferencePose().
-- CLOSEST_TO_LAST_POSE
-  - Choose the Pose which is closest to the last pose calculated.
-- AVERAGE_BEST_TARGETS
-  - Choose the Pose which is the average of all the poses from each tag.
-- MULTI_TAG_PNP_ON_RIO
-  - A slower, older version of MULTI_TAG_PNP_ON_COPROCESSOR, not recommended for use.
-- PNP_DISTANCE_TRIG_SOLVE
-  - Use distance data from best visible tag to compute a Pose. This runs on the RoboRIO in order
-    to access the robot's yaw heading, and MUST have addHeadingData called every frame so heading
-    data is up-to-date. Based on a reference implementation by [FRC Team 6328 Mechanical Advantage](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2025-build-thread/477314/98).
-- CONSTRAINED_SOLVEPNP
-  - Solve a constrained version of the Perspective-n-Point problem with the robot's drivebase
-    flat on the floor. This computation takes place on the RoboRIO, and should not take more than 2ms.
-    This also requires addHeadingData to be called every frame so heading data is up to date.
-    If Multi-Tag PNP is enabled on the coprocessor, it will be used to provide an initial seed to
-    the optimization algorithm -- otherwise, the multi-tag fallback strategy will be used as the
-    seed.
+The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above) and `Transform3d`.
 
 ```{eval-rst}
 .. tab-set-code::
    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
     :language: java
-    :lines: 65-66
+    :lines: 63
 
    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-cpp-examples/poseest/src/main/include/Vision.h
     :language: c++
-    :lines: 150-153
+    :lines: 149-150
 
    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-python-examples/poseest/robot.py
     :language: python
-    :lines: 45-50
+    :lines: 45-48
 ```
 
-:::{note}
-Python still takes a `PhotonCamera` in the constructor, so you must create the camera as shown in the next section and then return and use it to create the `PhotonPoseEstimator`.
-:::
-
 ## Using a `PhotonPoseEstimator`
 
-The final prerequisite to using your `PhotonPoseEstimator` is creating a `PhotonCamera`. To do this, you must set the name of your camera in Photon Client. From there you can define the camera in code.
+To use your `PhotonPoseEstimator`, you must create a `PhotonCamera` and feed the results into your `PhotonPoseEstimator`. To do this, you must first set the name of your camera in Photon Client. From there you can define the camera in code.
 
 ```{eval-rst}
 .. tab-set-code::
     .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
      :language: java
-     :lines: 63
+     :lines: 62
 
-    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
+    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-cpp-examples/poseest/src/main/include/Vision.h
      :language: c++
-     :lines: 55
+     :lines: 151
 
     .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-python-examples/poseest/robot.py
      :language: python
      :lines: 44
 ```
 
-Calling `update()` on your `PhotonPoseEstimator` will return an `EstimatedRobotPose`, which includes a `Pose3d` of the latest estimated pose (using the selected strategy) along with a `double` of the timestamp when the robot pose was estimated.
+When taking in a result from a `PhotonCamera`, PhotonPoseEstimator offers nine possible "strategies" for calculating a pose from a pipeline result in the form of methods that you can call, following the pattern `estimate<strategy name>Pose`:
+
+- Coprocessor MultiTag (`estimateCoprocMultiTagPose`)
+  - Calculates a new robot position estimate by combining all visible tag corners. Recommended for all teams as it will be the most accurate.
+  - Must configure the AprilTagFieldLayout properly in the UI, please see {ref}`here <docs/apriltag-pipelines/multitag:multitag localization>` for more information.
+- Lowest Ambiguity (`estimateLowestAmbiguityPose`)
+  - Choose the Pose with the lowest ambiguity.
+- Closest to Camera Height (`estimateClosestToCameraHeightPose`)
+  - Choose the Pose which is closest to the camera height.
+- Closest to Reference Pose (`estimateClosestToReferencePose`)
+  - Choose the Pose which is closest to the pose that is passed into the function.
+- Average Best Targets (`estimateAverageBestTargetsPose`)
+  - Choose the Pose which is the average of all the poses from each tag.
+- roboRio MultiTag (`estimateRioMultiTagPose`)
+  - A slower, older version of Coprocessor MultiTag, not recommended for use.
+- PnP Distance Trig Solve (`estimatePnpDistanceTrigSolvePose`)
+  - Use distance data from best visible tag to compute a Pose. This runs on the RoboRIO in order
+    to access the robot's yaw heading, and MUST have addHeadingData called every frame so heading
+    data is up-to-date. Based on a reference implementation by [FRC Team 6328 Mechanical Advantage](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2025-build-thread/477314/98).
+- Constrained SolvePnP (`estimateConstrainedSolvepnpPose`)
+  - Solve a constrained version of the Perspective-n-Point problem with the robot's drivebase
+    flat on the floor. This computation takes place on the RoboRIO, and should not take more than 2ms.
+    This also requires addHeadingData to be called every frame so heading data is up to date.
+
+Calling one of the `estimate<strategy>Pose()` methods on your `PhotonPoseEstimator` will return an `Optional<EstimatedRobotPose>`, which will be empty if there are no detected tags, not enough detected tags (for multi-tag strategies), missing data (typically heading data), or if the internal solvers failed (this is a rare scenario). `EstimatedRobotPose` includes a `Pose3d` of the latest estimated pose (using the selected strategy) along with a `double` of the timestamp when the robot pose was estimated. The recommended way to use the estimatePose methods is to
+1. do estimation with one of MultiTag methods, check if the result is empty, then
+2. fallback to single tag estimation using a method like `estimateLowestAmbiguityPose`.
 
 ```{eval-rst}
 .. tab-set-code::
    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
     :language: java
-    :lines: 93-116
+    :lines: 91-94
 
    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-cpp-examples/poseest/src/main/include/Vision.h
     :language: c++
-    :lines: 80-100
+    :lines: 79-82
 
    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-python-examples/poseest/robot.py
      :language: python
-     :lines: 53
+     :lines: 52-54
 ```
 
-You should be updating your [drivetrain pose estimator](https://docs.wpilib.org/en/latest/docs/software/advanced-controls/state-space/state-space-pose-estimators.html) with the result from the `PhotonPoseEstimator` every loop using `addVisionMeasurement()`.
+For Constrained SolvePnP, it's recommended to do the previously mentioned steps, and then feed the pose (if it exists) into `estimateConstrainedSolvepnpPose`, and if the Constrained SolvePnP result is empty, simply feed the seed pose into your drivetrain pose estimator.
+
+Once you have the `Optional<EstimatedRobotPose>`, you can check to see if there's an actual pose inside, and act accordingly. You should be updating your [drivetrain pose estimator](https://docs.wpilib.org/en/latest/docs/software/advanced-controls/state-space/state-space-pose-estimators.html) with the result from the `PhotonPoseEstimator` every loop using `addVisionMeasurement()`. For Java and C++, the examples pass a method from the drivetrain to a `Vision` object, with the parameter being called `estConsumer`. Python calls the drivetrain directly.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -146,7 +143,22 @@ You should be updating your [drivetrain pose estimator](https://docs.wpilib.org/
 
    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-python-examples/poseest/robot.py
      :language: python
-     :lines: 54-57
+     :lines: 56-58
+```
+
+```{eval-rst}
+.. tab-set-code::
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
+    :language: java
+    :lines: 89-115
+
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-cpp-examples/poseest/src/main/include/Vision.h
+    :language: c++
+    :lines: 77-100
+
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/photonlib-python-examples/poseest/robot.py
+     :language: python
+     :lines: 51-54
 ```
 
 ## Complete Examples

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

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

docs/source/docs/quick-start/camera-calibration.md

@@ -8,7 +8,7 @@ If you’re not using cameras in 3D mode, calibration is optional, but it can st
 
 ## Print the Calibration Target
 
-- Downloaded from our [demo site](http://photonvision.global/#/cameras), or directly from your coprocessors cameras tab.
+- Downloaded from our [demo site](https://demo.photonvision.org/#/cameras), or directly from your coprocessors cameras tab.
 - Use the ChArUco calibration board:
   - Board Type: ChAruCo
   - Tag Family: 4x4

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

@@ -52,10 +52,10 @@ Only use a static IP when connected to the **robot radio**, and never when testi
 3. Open the settings tab on the left pane.
 4. Under the Networking section, set your team number.
 5. Change your IP to Static.
-6. Set your coprocessor's IP address to “10.TE.AM.11”. More information on IP format can be found [here](https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/ip-configurations.html#on-the-field-static-configuration).
+6. Set your coprocessor's IP address to “10.TE.AM.xx”. "xx" should be a unique number not currently used by another device on the robot in the `.6-.19` range. More information on IP format can be found [here](https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/ip-configurations.html#on-the-field-static-configuration).
 7. Click the “Save” button.
 
-Power-cycle your robot and then you will now be access the PhotonVision dashboard at `10.TE.AM.11:5800`.
+Power-cycle your robot and then you will now be access the PhotonVision dashboard at `10.TE.AM.xx:5800`.
 
 ```{image} images/static.png
 :alt: Correctly set static IP
@@ -81,7 +81,7 @@ If you would like to access your Ethernet-connected vision device from a compute
 
     .. code-block:: c++
 
-        wpi::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
+        wpi::net::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
 
     .. code-block:: python
 

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

@@ -29,7 +29,11 @@ Unless otherwise noted in release notes or if updating from the prior years vers
 Use the [Raspberry Pi Imager](https://www.raspberrypi.com/software/) to flash the image onto the coprocessors microSD card. Select the downloaded `.img.xz` file, select your microSD card, and flash.
 
 :::{warning}
-Balena Etcher can also be used, but historically has had issues such as bootlooping (the system will repeatedly boot and restart) when imaging your device. Use at your own risk.
+Avoid using Raspberry Pi Imager version 2.0.2 or later. Those versions fail to write the image to an SD card. Versions 2.0.0 and earlier write images successfully. [GitHub issue 1489](https://github.com/raspberrypi/rpi-imager/issues/1489) was created for this problem.
+:::
+
+:::{warning}
+Balena Etcher has been recommended in the past, but should no longer be used due to instability and lack of ongoing support from developers.
 :::
 
 ## Limelight Installation
@@ -53,4 +57,33 @@ Limelight models will need a [custom hardware config file](https://github.com/Ph
 The Qualcomm Launcher caches files. If you flash multiple times, you may need to clear the cache by navigating to your temp directory, and deleting the `qualcomm-launcher` folder.
 :::
 
-To flash the Rubik Pi 3 coprocessor, it's necessary to use the [Qualcomm Launcher](https://softwarecenter.qualcomm.com/catalog/item/Qualcomm_Launcher). Upload a custom image by selecting the *Custom* option in the launcher. Choose the downloaded PhotonVision `.tar.xz` file and follow the prompts to complete the installation. It is recommended to skip the *Configure Login* process, as PhotonVision will handle the necessary settings.
+To flash the Rubik Pi 3 coprocessor, it's necessary to use the [Qualcomm Launcher](https://softwarecenter.qualcomm.com/catalog/item/Qualcomm_Launcher). Upload a custom image by selecting the *Custom* option in the launcher. If this is your first time flashing this board, ensure you check the USB firmware option. Choose the downloaded PhotonVision `.tar.xz` file and follow the prompts to complete the installation. It is recommended to skip the *Configure Login* process, as PhotonVision will handle the necessary settings.
+
+### Alternative Flashing Method (advanced users only)
+
+Follow the specific steps listed below from the [Rubik Pi 3 Docs](https://www.thundercomm.com/rubik-pi-3/en/docs/rubik-pi-3-user-manual/1.0.0-u/Troubleshooting/11.1.flash-over-android/).
+
+[Step 1](https://www.thundercomm.com/rubik-pi-3/en/docs/rubik-pi-3-user-manual/1.0.0-u/Troubleshooting/11.1.flash-over-android/#1%EF%B8%8F%E2%83%A3-setup-qdl-tool) should be completed once per computer. [Step 2](https://www.thundercomm.com/rubik-pi-3/en/docs/rubik-pi-3-user-manual/1.0.0-u/Troubleshooting/11.1.flash-over-android/#2%EF%B8%8F%E2%83%A3-ufs-provisioning) and [Step 3](https://www.thundercomm.com/rubik-pi-3/en/docs/rubik-pi-3-user-manual/1.0.0-u/Troubleshooting/11.1.flash-over-android/#3%EF%B8%8F%E2%83%A3-flash-renesas-firmware) should be completed once per Rubik Pi 3.
+
+After completing these steps, unzip your downloaded PhotonVision image to a folder. Navigate to that folder in your terminal or command prompt. After putting your Rubik Pi 3 into EDL mode, run the command below to flash PhotonVision. There is no need to complete any further steps from the Rubik Pi 3 documentation after running this command.
+
+
+::::{tab-set}
+:::{tab-item} Ubuntu host
+```shell
+qdl --storage ufs prog_firehose_ddr.elf rawprogram*.xml patch*.xml
+```
+:::
+
+:::{tab-item} Windows host
+```shell
+QDL.exe prog_firehose_ddr.elf rawprogram0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml rawprogram6.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xml patch6.xml
+```
+:::
+
+:::{tab-item} macOS host
+```shell
+qdl prog_firehose_ddr.elf rawprogram*.xml patch*.xml
+```
+:::
+::::

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

@@ -2,15 +2,21 @@
 
 ## Coprocessor with regulator
 
-1. **IT IS STRONGLY RECOMMENDED** to use one of the recommended power regulators to prevent vision from cutting out from voltage drops while operating the robot. We recommend wiring the regulator directly to the power header pins or using a locking USB C cable. In any case we recommend hot gluing the connector.
+1. **IT IS STRONGLY RECOMMENDED** to use one of the recommended power regulators to prevent vision from cutting out from voltage drops while operating the robot. We recommend wiring the regulator directly to the power header pins using either of the two methods listed below or using a locking USB C cable.
+    * Method 1: Soldering to GPIO Header Pins
+        * Using 20 AWG or preferably 18 AWG wires, solder two wires from the regulator to the power header pins on the coprocessor and cover with heat-shrink tubing.
+    * Method 2: Using a Wire-to-Board Connector
+        * Using a wire-to-board connector with 20 AWG or preferably 18 AWG wires, connect two wires from the regulator to the power header pins on the coprocessor. To prevent the connector from becoming unseated, we recommend applying hot glue to the connector.
 
-2. Run an ethernet cable from your Pi to your network switch / radio.
+2. Run an ethernet cable from your coprocessor to your network switch / radio.
 
-This diagram shows how to use the recommended regulator to power a coprocessor.
+## Raspberry Pi and Orange Pi
+
+This diagram shows how to use the recommended regulator to power a Raspberry Pi or Orange Pi.
 
 ::::{tab-set}
 
-:::{tab-item} Orange Pi Zinc V USB C
+:::{tab-item} Orange Pi 5 Zinc V USB C
 
 ```{image} images/OrangePiZincUSBC.png
 :alt: Wiring the opi5 to the pdp using the Redux Robotics Zinc V and usb c
@@ -78,6 +84,12 @@ This diagram shows how to use the recommended regulator to power a coprocessor.
 
 Pigtails can be purchased from many sources we recommend [(USB C)](https://ctr-electronics.com/products/usb-type-c-wire-breakout?_pos=19&_sid=bf06b6a6b&_ss=r) [(Micro USB)](https://ctr-electronics.com/products/usb-micro-power-wire-breakout?pr_prod_strat=e5_desc&pr_rec_id=10bf36ce7&pr_rec_pid=7863771070637&pr_ref_pid=7863771103405&pr_seq=uniform)
 
+## RUBIK Pi
+
+The RUBIK Pi has very different power requirements than the Orange Pi (or standard Raspberry Pi). In particular it requires 12V inputs, and has
+a higher maximum power draw than those coprocessors. [First Rubik](https://first-rubik.github.io/docs/power/) has recommendations for both
+on-robot and off-robot scenarios.
+
 ## Limelight
 
 Follow the wiring instructions located in the [Limelight Documentation](https://docs.limelightvision.io/) for your Limelight model.

docs/source/docs/simulation/simulation-java.md

@@ -95,6 +95,27 @@ These `TargetModel` are paired with a target pose to create a `VisionTargetSim`.
 The pose of a `VisionTargetSim` object can be updated to simulate moving targets. Note, however, that this will break latency simulation for that target.
 :::
 
+To use simulated object detection, you must provide an objDetClassId (zero-indexed class ID) and confidence value. When you set objDetConf to -1, the simulation computes confidence based on the area of the target in the camera's field of view. To simulate a object detection model with one class (fuel, index 0) and specify confidence, you'd write:
+
+```{eval-rst}
+.. tab-set-code::
+
+   .. code-block:: java
+
+      // arbitrary position on field
+      final var targetPose = new Pose3d(new Translation3d(2, 0, 0), new Rotation3d());
+      // Class id, zero-indexed
+      final int classId = 0;
+      // Confidence, between 0 and 1.
+      final float conf = 0.67f;
+      // 6 inch diameter ball
+      final TargetModel ballModel = new TargetModel(Units.inchesToMeters(6));
+      final var ballTargetSim = new VisionTargetSim(targetPose, ballModel, classId, conf);
+
+      // Add this vision target to the vision system simulation to make it visible
+      visionSim.addVisionTargets(visionTarget);
+```
+
 For convenience, an `AprilTagFieldLayout` can also be added to automatically create a target for each of its AprilTags.
 
 ```{eval-rst}
@@ -196,6 +217,42 @@ If the camera is mounted on a mobile mechanism (like a turret) this transform ca
       visionSim.adjustCamera(cameraSim, robotToCamera);
 ```
 
+## Low-Resource Vision Simulation with Photonvision
+
+By default, PhotonCameraSim renders two simulated camera streams using OpenCV:
+
+- Raw stream - The unprocessed camera view
+- Processed stream - The camera view with vision processing overlays
+
+These streams are nice if you want to actually view the simulated images, but they can be computationally expensive. This may cause lag and reduced simulation performance on lower-powered computers.
+Lightweight Configuration
+
+The following configuration disables both streams while still allowing tag detection and pose simulation to work. It's not perfect, but it's much better performance-wise than the default configuration.
+
+.. code-block:: java
+
+     // lightweight config version
+     // var cameraProperties = new SimCameraProperties();
+     // cameraSim = new PhotonCameraSim(camera, cameraProperties, aprilTagLayout);
+     // cameraSim.enableRawStream(false);        // disables raw image stream
+     // cameraSim.enableProcessedStream(false);  // disables processed image stream
+
+**Use Case**
+
+This configuration is ideal for Chromebooks or low-spec machines where rendering the simulated camera images causes lag, but vision data is still desired for testing.
+
+**What Still Works**
+
+- AprilTag detection
+- Pose estimation
+- NetworkTables data publishing
+- Robot positioning and targeting
+
+**What's Disabled**
+
+- Visual camera stream rendering
+- Real-time visual debugging of camera output
+
 ## Updating The Simulation World
 
 To update the `VisionSystemSim`, we simply have to pass in the simulated robot pose periodically (in `simulationPeriodic()`).

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

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

docs/source/docs/troubleshooting/index.md

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

docs/source/docs/troubleshooting/networking-troubleshooting.md

@@ -11,8 +11,8 @@ A few issues make up the majority of support requests. Run through this checklis
   - Even if there's a switch between your laptop and coprocessor, you'll still want a radio or router in the loop somehow.
   - The FRC radio is the _only_ router we will officially support due to the innumerable variations between routers.
 - (Raspberry Pi, Orange Pi & Limelight only) have you flashed the correct image, and is it [up to date](https://github.com/PhotonVision/photonvision/releases/latest)?
-- Is your robot code using a **2025** version of WPILib, and is your coprocessor using the most up to date **2025** release?
-  - 2022, 2023, 2024, and 2025 versions of either cannot be mix-and-matched!
+- Is your robot code using a **2026** version of WPILib, and is your coprocessor using the most up to date **2026** release?
+  - 2022, 2023, 2024, 2025, and 2026 versions of either cannot be mix-and-matched!
   - Your PhotonVision version can be checked on the settings tab.
 - Is your team number correctly set on the settings tab?
 
@@ -30,7 +30,7 @@ Please check that:
 1\. You don't have the NetworkTables Server on (toggleable in the settings tab). Turn this off when doing work on a robot.
 2\. You have your team number set properly in the settings tab.
 3\. Your camera name in the `PhotonCamera` constructor matches the name in the UI.
-4\. You are using the 2025 version of WPILib and RoboRIO image.
+4\. You are using the 2026 version of WPILib and RoboRIO image.
 5\. Your robot is on.
 
 If all of the above are met and you still have issues, feel free to {ref}`contact us <index:contact us>` and provide the following information:

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

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

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

@@ -13,10 +13,10 @@ You may see a warning similar to `The authenticity of host 'xxx' can't be establ
 Example:
 
 ```
-ssh pi@hostname
+ssh photon@hostname
 ```
 
-For PhotonVision, the username will be `pi` and the password will be `raspberry`.
+For PhotonVision images, the username will be `photon` and the password will be `vision`.
 
 ### ip
 
@@ -132,3 +132,41 @@ journalctl --output cat -u photonvision -f
 ```
 
 `--output cat` is used to prevent journalctl from printing its own timestamps, because we log our own timestamps.
+
+### lsusb
+
+[lsusb](https://linux.die.net/man/8/lsusb) is a command that can be used to find all the USB buses on a device. When run with the `--tree` flag, it will give you more information on the available ports and connected devices. See the example below.
+
+```
+photon@photonvision:~$ lsusb -t
+/:  Bus 001.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/4p, 480M
+    |__ Port 001: Dev 002, If 0, Class=Video, Driver=uvcvideo, 480M
+    |__ Port 001: Dev 002, If 1, Class=Video, Driver=uvcvideo, 480M
+    |__ Port 001: Dev 002, If 2, Class=Audio, Driver=snd-usb-audio, 480M
+    |__ Port 001: Dev 002, If 3, Class=Audio, Driver=snd-usb-audio, 480M
+    |__ Port 002: Dev 003, If 0, Class=Video, Driver=uvcvideo, 480M
+    |__ Port 002: Dev 003, If 1, Class=Video, Driver=uvcvideo, 480M
+/:  Bus 002.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/4p, 5000M
+    |__ Port 003: Dev 002, If 0, Class=Vendor Specific Class, Driver=ax_usb_nic, 5000M
+/:  Bus 003.Port 001: Dev 001, Class=root_hub, Driver=xhci-hcd/1p, 480M
+```
+
+The most important information from this list is the bandwitdth. This is the last number we see, followed by an M (megabytes).
+
+### usbtop
+
+[usbtop](https://github.com/aguinet/usbtop) is a program that can be used to monitor traffic on your device's USB buses. To use it, run `sudo modprobe usbmon` then `sudo usbtop`. An example output can be found below.
+
+```
+Bus ID 1 (Raw USB traffic, bus number 1)	To device	From device
+  Device ID 1 :			                    0.00 kb/s	0.00 kb/s
+  Device ID 2 :			                    141.71 kb/s	23595.81 kb/s
+  Device ID 3 :			                    0.13 kb/s	0.13 kb/s
+Bus ID 2 (Raw USB traffic, bus number 2)	To device	From device
+  Device ID 1 :			                    0.00 kb/s	0.00 kb/s
+  Device ID 2 :			                    450.42 kb/s	17.45 kb/s
+Bus ID 3 (Raw USB traffic, bus number 3)	To device	From device
+  Device ID 1 :			                    0.00 kb/s	0.00 kb/s
+```
+
+The above output can be used to debug USB bandwidth issues, by comparing the size of data being sent with the bandwidth limits (bandwidth limits can be found using lsusb).

gradle/wrapper/gradle-wrapper.properties

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

photon-client/.gitignore

@@ -1,8 +0,0 @@
-node_modules
-.DS_Store
-dist
-dist-ssr
-
-# Editor directories and files
-.idea
-components.d.ts

photon-client/env.d.ts

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

photon-client/eslint.config.mjs

@@ -4,11 +4,11 @@ import { defineConfigWithVueTs, vueTsConfigs } from "@vue/eslint-config-typescri
 import skipFormattingConfig from "@vue/eslint-config-prettier/skip-formatting";
 
 export default defineConfigWithVueTs(
-  pluginVue.configs["flat/recommended"],
-  vueTsConfigs.recommended,
+  pluginVue.configs["flat/recommended-error"],
+  vueTsConfigs.recommendedTypeChecked,
   skipFormattingConfig,
   {
-    ignores: ["**/dist/**"]
+    ignores: ["**/dist/**", "playwright-report"]
   },
   {
     //extends: ["js/recommended"],
@@ -26,12 +26,29 @@ export default defineConfigWithVueTs(
 
       semi: ["error", "always"],
       "eol-last": "error",
+      eqeqeq: "error",
+      "no-useless-concat": "error",
       "object-curly-spacing": ["error", "always"],
       "quote-props": ["error", "as-needed"],
       "no-case-declarations": "off",
+      "vue/eqeqeq": "error",
+      "vue/no-useless-concat": "error",
+      "vue/no-constant-condition": "error",
+      "vue/no-empty-pattern": "error",
+      "vue/no-undef-directives": "error",
+      "vue/no-undef-properties": "error",
+      "vue/no-unused-properties": "error",
+      "vue/no-unused-refs": "error",
+      "vue/no-use-v-else-with-v-for": "error",
+      "vue/no-useless-mustaches": "error",
+      "vue/no-useless-v-bind": "error",
+      "vue/prefer-use-template-ref": "error",
       "vue/require-default-prop": "off",
+      "vue/require-typed-ref": "error",
+      "vue/v-for-delimiter-style": "error",
       "vue/v-on-event-hyphenation": "off",
-      "@typescript-eslint/no-explicit-any": "off",
+      "@typescript-eslint/no-empty-object-type": "error",
+      "@typescript-eslint/no-explicit-any": "error",
       "vue/valid-v-slot": ["error", { allowModifiers: true }]
     }
   }

photon-client/package.json

@@ -3,21 +3,29 @@
   "version": "0.0.0",
   "private": true,
   "type": "module",
+  "engines": {
+    "node": "24.x"
+  },
   "scripts": {
     "dev": "vite",
     "preview": "vite preview --port 4173",
     "build": "vite build",
     "build-demo": "vite build --mode demo",
     "lint": "eslint . --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix",
-    "format": "prettier --write src/",
+    "format": "prettier --write src/ tests/",
     "lint-ci": "eslint . --max-warnings 0 --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts",
-    "format-ci": "prettier --check src/"
+    "format-ci": "prettier --check src/",
+    "test": "playwright test",
+    "test-ui": "playwright test --ui",
+    "test-setup": "playwright install --with-deps",
+    "type-check": "vue-tsc --noEmit"
   },
   "dependencies": {
     "@fontsource/prompt": "^5.2.6",
     "@mdi/font": "^7.4.47",
     "@msgpack/msgpack": "^3.1.2",
     "axios": "^1.11.0",
+    "echarts": "^6.0.0",
     "jspdf": "^3.0.1",
     "pinia": "^3.0.2",
     "three": "^0.178.0",
@@ -28,18 +36,20 @@
   },
   "devDependencies": {
     "@eslint/js": "^9.31.0",
-    "@types/node": "^22.15.14",
+    "@playwright/test": "^1.56.1",
+    "@types/node": "^24.0.0",
     "@types/three": "^0.178.0",
-    "@vitejs/plugin-vue": "^6.0.0",
+    "@vitejs/plugin-vue": "^6.0.6",
+    "vue-tsc": "^3.2.5",
     "@vue/eslint-config-prettier": "^10.2.0",
     "@vue/eslint-config-typescript": "^14.5.0",
     "@vue/tsconfig": "^0.7.0",
     "eslint": "^9.31.0",
-    "eslint-plugin-vue": "^10.3.0",
+    "eslint-plugin-vue": "^10.7.0",
     "prettier": "^3.6.2",
     "sass": "^1.89.2",
     "typescript": "^5.8.3",
-    "vite": "^7.0.5",
+    "vite": "^8.0.10",
     "vite-plugin-vuetify": "^2.1.1"
   }
 }

photon-client/playwright.config.ts

@@ -0,0 +1,83 @@
+import { defineConfig, devices } from "@playwright/test";
+import path from "path";
+
+/**
+ * Read environment variables from file.
+ * https://github.com/motdotla/dotenv
+ */
+// import dotenv from 'dotenv';
+// import path from 'path';
+// dotenv.config({ path: path.resolve(__dirname, '.env') });
+
+/**
+ * See https://playwright.dev/docs/test-configuration.
+ */
+export default defineConfig({
+  globalSetup: "./tests/global-setup",
+  testDir: "./tests",
+  /* Run tests in files in parallel */
+  fullyParallel: false,
+  /* Fail the build on CI if you accidentally left test.only in the source code. */
+  forbidOnly: !!process.env.CI,
+  /* Retry on CI only */
+  retries: process.env.CI ? 2 : 0,
+  /* Opt out of parallel tests on CI. */
+  workers: 1,
+  /* Reporter to use. See https://playwright.dev/docs/test-reporters */
+  reporter: "html",
+  /* Shared settings for all the projects below. See https://playwright.dev/docs/api/class-testoptions. */
+  use: {
+    /* Base URL to use in actions like `await page.goto('')`. */
+    baseURL: "http://localhost:5800",
+
+    /* Collect trace when retrying the failed test. See https://playwright.dev/docs/trace-viewer */
+    trace: "on-first-retry"
+  },
+
+  /* Configure projects for major browsers */
+  projects: [
+    {
+      name: "chromium",
+      use: { ...devices["Desktop Chrome"] }
+    },
+
+    {
+      name: "firefox",
+      use: { ...devices["Desktop Firefox"] }
+    },
+
+    {
+      name: "webkit",
+      use: { ...devices["Desktop Safari"] }
+    },
+
+    /* Test against mobile viewports. */
+    // {
+    //   name: 'Mobile Chrome',
+    //   use: { ...devices['Pixel 5'] },
+    // },
+    // {
+    //   name: 'Mobile Safari',
+    //   use: { ...devices['iPhone 12'] },
+    // },
+
+    /* Test against branded browsers. */
+    {
+      name: "Microsoft Edge",
+      use: { ...devices["Desktop Edge"], channel: "msedge" }
+    }
+    // {
+    //   name: 'Google Chrome',
+    //   use: { ...devices['Desktop Chrome'], channel: 'chrome' },
+    // },
+  ],
+
+  /* Run your local dev server before starting the tests */
+  webServer: {
+    command: process.platform === "win32" ? "" : "./gradlew run",
+    url: "http://localhost:5800",
+    timeout: 300 * 1000,
+    reuseExistingServer: !process.env.CI,
+    cwd: path.normalize("../")
+  }
+});

photon-client/pnpm-workspace.yaml

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

photon-client/src/App.vue

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

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

@@ -3,13 +3,15 @@ import type { PhotonTarget } from "@/types/PhotonTrackingTypes";
 // @ts-expect-error Intellisense says these conflict with the dynamic imports below
 import type { Mesh, Object3D, PerspectiveCamera, Scene, WebGLRenderer } from "three";
 // @ts-expect-error Intellisense says these conflict with the dynamic imports below
-import type { TrackballControls } from "three/examples/jsm/controls/TrackballControls";
+import type { TrackballControls } from "three/examples/jsm/controls/TrackballControls.js";
 import { onBeforeUnmount, onMounted, watchEffect } from "vue";
 const {
   ArrowHelper,
   BoxGeometry,
+  CameraHelper,
   Color,
   ConeGeometry,
+  Group,
   Mesh,
   MeshNormalMaterial,
   PerspectiveCamera,
@@ -18,7 +20,19 @@ const {
   Scene,
   WebGLRenderer
 } = await import("three");
-const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls");
+const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls.js");
+
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { createPerspectiveCamera } from "@/lib/ThreeUtils";
+import { useTheme } from "vuetify";
+
+const theme = useTheme();
+
+const calibrationCoeffs = useCameraSettingsStore().getCalibrationCoeffs(
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats[
+    useCameraSettingsStore().currentPipelineSettings.cameraVideoModeIndex
+  ].resolution
+);
 
 const props = defineProps<{
   targets: PhotonTarget[];
@@ -30,17 +44,20 @@ let renderer: WebGLRenderer | undefined;
 let controls: TrackballControls | undefined;
 
 let previousTargets: Object3D[] = [];
-const drawTargets = (targets: PhotonTarget[]) => {
+const drawTargets = async (targets: PhotonTarget[]) => {
   // Check here, since if we check in watchEffect this never gets called
-  if (scene === undefined || camera === undefined || renderer === undefined || controls === undefined) {
+  if (!scene || !camera || !renderer || !controls) {
     return;
   }
 
+  if (theme.global.current.value.dark) scene.background = new Color(0x000000);
+  else scene.background = new Color(0xa9a9a9);
+
   scene.remove(...previousTargets);
   previousTargets = [];
 
   targets.forEach((target) => {
-    if (target.pose === undefined) return;
+    if (!target.pose) return;
 
     const geometry = new BoxGeometry(0.3 / 5, 0.2, 0.2);
     const material = new MeshNormalMaterial();
@@ -70,6 +87,22 @@ const drawTargets = (targets: PhotonTarget[]) => {
     previousTargets.push(arrow);
   });
 
+  if (calibrationCoeffs) {
+    // And show camera frustum
+    const calibCamera = await createPerspectiveCamera(
+      calibrationCoeffs.resolution,
+      calibrationCoeffs.cameraIntrinsics,
+      10
+    );
+    const helper = new CameraHelper(calibCamera);
+    const helperGroup = new Group();
+    helperGroup.add(helper);
+    // Flip to +Z forward
+    helperGroup.rotateX(-Math.PI / 2.0);
+    helperGroup.rotateY(-Math.PI / 2.0);
+    previousTargets.push(helperGroup);
+  }
+
   if (previousTargets.length > 0) {
     scene.add(...previousTargets);
   }
@@ -78,7 +111,7 @@ const onWindowResize = () => {
   const container = document.getElementById("container");
   const canvas = document.getElementById("view");
 
-  if (container === null || canvas === null || camera === undefined || renderer === undefined) {
+  if (!container || !canvas || !camera || !renderer) {
     return;
   }
 
@@ -89,7 +122,7 @@ const onWindowResize = () => {
   renderer.setSize(canvas.clientWidth, canvas.clientHeight);
 };
 const resetCamFirstPerson = () => {
-  if (scene === undefined || camera === undefined || controls === undefined) {
+  if (!scene || !camera || !controls) {
     return;
   }
 
@@ -103,7 +136,7 @@ const resetCamFirstPerson = () => {
   }
 };
 const resetCamThirdPerson = () => {
-  if (scene === undefined || camera === undefined || controls === undefined) {
+  if (!scene || !camera || !controls) {
     return;
   }
 
@@ -122,10 +155,11 @@ onMounted(async () => {
   camera = new PerspectiveCamera(75, 800 / 800, 0.1, 1000);
 
   const canvas = document.getElementById("view");
-  if (canvas === null) return;
+  if (!canvas) return;
   renderer = new WebGLRenderer({ canvas: canvas });
 
-  scene.background = new Color(0xa9a9a9);
+  if (theme.global.current.value.dark) scene.background = new Color(0x000000);
+  else scene.background = new Color(0xa9a9a9);
 
   onWindowResize();
   window.addEventListener("resize", onWindowResize);
@@ -169,7 +203,7 @@ onMounted(async () => {
   controls.update();
 
   const animate = () => {
-    if (scene === undefined || camera === undefined || renderer === undefined || controls === undefined) {
+    if (!scene || !camera || !renderer || !controls) {
       return;
     }
 
@@ -179,31 +213,44 @@ onMounted(async () => {
     renderer.render(scene, camera);
   };
 
-  drawTargets(props.targets);
+  await drawTargets(props.targets);
   animate();
 });
 onBeforeUnmount(() => {
   window.removeEventListener("resize", onWindowResize);
 });
 watchEffect(() => {
-  drawTargets(props.targets);
+  void drawTargets(props.targets);
 });
 </script>
 
 <template>
   <div id="container" style="width: 100%">
-    <v-row>
-      <v-col align-self="stretch" style="display: flex; justify-content: center">
-        <canvas id="view" />
+    <div class="d-flex flex-wrap pt-0 pb-2">
+      <v-col cols="12" md="6" class="pl-0">
+        <v-card-title class="pa-0"> Target Visualization </v-card-title>
       </v-col>
-    </v-row>
-    <v-row style="margin-bottom: 24px">
-      <v-col style="display: flex; justify-content: center">
-        <v-btn color="secondary" @click="resetCamFirstPerson"> First Person </v-btn>
+      <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pl-6 pl-md-3">
+        <v-btn
+          style="width: 100%"
+          color="buttonActive"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+          @click="resetCamFirstPerson"
+        >
+          First Person
+        </v-btn>
       </v-col>
-      <v-col style="display: flex; justify-content: center">
-        <v-btn color="secondary" @click="resetCamThirdPerson"> Third Person </v-btn>
+      <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pr-0">
+        <v-btn
+          style="width: 100%"
+          color="buttonActive"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+          @click="resetCamThirdPerson"
+        >
+          Third Person
+        </v-btn>
       </v-col>
-    </v-row>
+    </div>
+    <canvas id="view" class="w-100" />
   </div>
 </template>

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

@@ -0,0 +1,380 @@
+<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,
+  BoxGeometry,
+  CameraHelper,
+  Color,
+  ConeGeometry,
+  Group,
+  Mesh,
+  MeshNormalMaterial,
+  MeshPhongMaterial,
+  PerspectiveCamera,
+  Scene,
+  SphereGeometry,
+  WebGLRenderer
+} = await import("three");
+const { TrackballControls } = await import("three/examples/jsm/controls/TrackballControls.js");
+import type { BoardObservation, CameraCalibrationResult } from "@/types/SettingTypes";
+import axios from "axios";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useTheme } from "vuetify";
+import { createPerspectiveCamera } from "@/lib/ThreeUtils";
+
+const theme = useTheme();
+
+const props = defineProps<{
+  cameraUniqueName: string;
+  resolution: { width: number; height: number };
+  title: string;
+}>();
+
+let scene: SceneType | undefined;
+let camera: PerspectiveCameraType | undefined;
+let renderer: WebGLRendererType | undefined;
+let controls: TrackballControlsType | undefined;
+
+const createChessboard = (obs: BoardObservation, cal: CameraCalibrationResult): GroupType => {
+  const group = new Group();
+
+  if (obs.locationInImageSpace.length === 0) return group;
+
+  // Add corner spheres
+  obs.locationInObjectSpace.forEach((corner, idx) => {
+    if (corner.x < 0 || corner.y < 0) return;
+
+    const isOutlier = !obs.cornersUsed[idx];
+
+    const color = isOutlier ? 0xff3333 : 0x33ff33;
+
+    const sphereGeom = new SphereGeometry(cal.calobjectSpacing / 8, 8, 8);
+    const sphereMat = new MeshPhongMaterial({
+      color: color,
+      opacity: 1,
+      transparent: !isOutlier
+    });
+    const sphere = new Mesh(sphereGeom, sphereMat);
+    sphere.position.set(corner.x, corner.y, corner.z);
+    group.add(sphere);
+  });
+
+  return group;
+};
+
+let previousTargets: Object3D[] = [];
+let baseAspect: number | undefined;
+const drawCalibration = async (cal: CameraCalibrationResult | null) => {
+  // Check here, since if we check in watchEffect this never gets called
+  if (!cal || !scene || !camera || !renderer || !controls) {
+    return;
+  }
+
+  scene.remove(...previousTargets);
+  previousTargets = [];
+
+  // Draw all chessboards with transparency
+  cal.observations.forEach((obs) => {
+    const pose = obs.optimisedCameraToObject;
+
+    // Create chessboard
+    const board = createChessboard(obs, cal);
+    board.userData.isCalibrationObject = true;
+
+    // Apply transform from camera to chessboard
+    const pos = pose.translation;
+    board.position.set(pos.x, pos.y, pos.z);
+
+    if (pose.rotation.quaternion) {
+      const q = pose.rotation.quaternion;
+      board.quaternion.set(q.X, q.Y, q.Z, q.W);
+    }
+
+    previousTargets.push(board);
+  });
+
+  // And show camera frustum
+  const calibCamera = await createPerspectiveCamera(props.resolution, cal.cameraIntrinsics);
+  const helper = new CameraHelper(calibCamera);
+
+  // Flip to +Z forward
+  const helperGroup = new Group();
+  helperGroup.add(helper);
+  helperGroup.rotateY(Math.PI);
+
+  previousTargets.push(helperGroup);
+
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+
+const calibrationData: Ref<CameraCalibrationResult | null> = ref(null);
+const isLoading: Ref<boolean> = ref(true);
+const error: Ref<string | null> = ref(null);
+
+const fetchCalibrationData = async () => {
+  isLoading.value = true;
+  error.value = null;
+
+  try {
+    const response = await axios.get("/settings/camera/getCalibration", {
+      params: {
+        cameraUniqueName: props.cameraUniqueName,
+        width: props.resolution.width,
+        height: props.resolution.height
+      }
+    });
+    calibrationData.value = response.data;
+  } catch (err) {
+    console.error("Failed to fetch calibration data:", err);
+    error.value = "Failed to load calibration data";
+  } finally {
+    isLoading.value = false;
+  }
+};
+
+const onWindowResize = () => {
+  const container = document.getElementById("container");
+  const canvas = document.getElementById("view");
+
+  if (!container || !canvas || !camera || !renderer) {
+    return;
+  }
+
+  // Compute a concrete width from the container and derive height from a
+  // stable base aspect ratio (calculated on mount) to avoid feedback loops
+  // where updating canvas size changes container size while resizing
+  const width = Math.max(1, Math.floor(container.clientWidth));
+  let height: number;
+  if (baseAspect && baseAspect > 0) {
+    height = Math.max(1, Math.floor(width / baseAspect));
+  } else {
+    height = Math.max(1, Math.floor(container.clientHeight));
+  }
+
+  // Use updateStyle=false so Three.js does not write to canvas style,
+  // which can affect layout and re-trigger resize events
+  renderer.setSize(width, height, false);
+  camera.aspect = width / height;
+  camera.updateProjectionMatrix();
+};
+
+const resetCamFirstPerson = () => {
+  if (!scene || !camera || !controls) {
+    return;
+  }
+
+  controls.reset();
+  camera.position.set(0, 0, 0.05);
+  camera.up.set(0, -1, 0);
+  controls.target.set(0.0, 0.0, 1.0);
+  controls.update();
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+
+const resetCamThirdPerson = () => {
+  if (!scene || !camera || !controls) {
+    return;
+  }
+
+  controls.reset();
+  camera.position.set(-0.3, -0.2, -0.3);
+  camera.up.set(0, -1, 0);
+  controls.target.set(0.0, 0.0, 0.4);
+  controls.update();
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+
+let animationFrameId: number | null = null;
+
+onMounted(async () => {
+  scene = new Scene();
+  camera = new PerspectiveCamera(75, 800 / 800, 0.1, 1000);
+
+  const canvas = document.getElementById("view");
+  if (!canvas) return;
+  renderer = new WebGLRenderer({ canvas: canvas });
+
+  // Add lights
+  const ambientLight = new AmbientLight(0xffffff, 0.6);
+  scene.add(ambientLight);
+
+  if (theme.global.current.value.dark) scene.background = new Color(0x000000);
+  else scene.background = new Color(0xa9a9a9);
+
+  // Initialize a stable aspect ratio so subsequent resize events derive
+  // height from width, avoiding layout feedback during continuous resizing
+  try {
+    const initWidth = Math.max(1, Math.floor(document.getElementById("container")?.clientWidth || 1));
+    const initHeight = Math.max(1, Math.floor(document.getElementById("container")?.clientHeight || 1));
+    baseAspect = initWidth / Math.max(1, initHeight);
+  } catch {
+    baseAspect = undefined;
+  }
+
+  onWindowResize();
+  window.addEventListener("resize", onWindowResize);
+
+  const referenceFrameCues: Object3D[] = [];
+
+  // Draw the reference frame
+  referenceFrameCues.push(new AxesHelper(0.3));
+
+  // Draw the Camera Body
+  const camSize = 0.04;
+  const camBodyGeometry = new BoxGeometry(camSize, camSize, camSize);
+  const camLensGeometry = new ConeGeometry(camSize * 0.4, camSize * 0.8, 30);
+  const camMaterial = new MeshNormalMaterial();
+  const camBody = new Mesh(camBodyGeometry, camMaterial);
+  const camLens = new Mesh(camLensGeometry, camMaterial);
+  camBody.position.set(0, 0, 0);
+  camLens.rotateX(-Math.PI / 2);
+  camLens.position.set(0, 0, camSize * 0.8);
+  referenceFrameCues.push(camBody);
+  referenceFrameCues.push(camLens);
+
+  controls = new TrackballControls(camera, renderer.domElement);
+  controls.rotateSpeed = 1.0;
+  controls.zoomSpeed = 1.2;
+  controls.panSpeed = 0.8;
+  controls.noZoom = false;
+  controls.noPan = false;
+  controls.staticMoving = true;
+  controls.dynamicDampingFactor = 0.3;
+
+  scene.add(...referenceFrameCues);
+  resetCamThirdPerson();
+
+  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;
+    }
+
+    animationFrameId = requestAnimationFrame(animate);
+
+    controls.update();
+    renderer.render(scene, camera);
+  };
+
+  animate();
+});
+
+const cleanup = () => {
+  window.removeEventListener("resize", onWindowResize);
+
+  if (animationFrameId) {
+    cancelAnimationFrame(animationFrameId);
+  }
+
+  if (controls) {
+    controls.dispose();
+  }
+
+  if (renderer) {
+    renderer.dispose();
+    renderer.forceContextLoss();
+  }
+
+  if (scene) {
+    scene.traverse((object) => {
+      if (object instanceof Mesh) {
+        object.geometry?.dispose();
+        if (object.material) {
+          if (Array.isArray(object.material)) {
+            object.material.forEach((material) => material.dispose());
+          } else {
+            object.material.dispose();
+          }
+        }
+      }
+    });
+  }
+
+  scene = undefined;
+  camera = undefined;
+  renderer = undefined;
+  controls = undefined;
+  previousTargets = [];
+};
+
+onBeforeUnmount(cleanup);
+
+// If hot-reloading, cleanup on hot reload
+if (import.meta.hot) {
+  import.meta.hot.dispose(() => {
+    cleanup();
+  });
+}
+
+watchEffect(() => {
+  void drawCalibration(calibrationData.value);
+});
+
+watch(
+  () => [
+    props.cameraUniqueName,
+    props.resolution.width,
+    props.resolution.height,
+    useCameraSettingsStore().getCalibrationCoeffs(props.resolution)
+  ],
+  async () => {
+    console.log("Camera or resolution changed, refetching calibration");
+    await fetchCalibrationData();
+  }
+);
+</script>
+
+<template>
+  <div style="width: 100%; height: 100%" class="d-flex flex-column">
+    <div class="d-flex flex-wrap pt-0 pb-2">
+      <v-col cols="12" md="6" class="pl-0">
+        <v-card-title class="pa-0">
+          {{ props.title }}
+        </v-card-title>
+      </v-col>
+      <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pl-6 pl-md-3">
+        <v-btn
+          style="width: 100%"
+          color="buttonActive"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+          @click="resetCamFirstPerson"
+        >
+          First Person
+        </v-btn>
+      </v-col>
+      <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pr-0">
+        <v-btn
+          style="width: 100%"
+          color="buttonActive"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+          @click="resetCamThirdPerson"
+        >
+          Third Person
+        </v-btn>
+      </v-col>
+    </div>
+    <div id="container" style="flex: 1 1 auto">
+      <canvas id="view" class="w-100 h-100" />
+    </div>
+  </div>
+</template>

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

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, inject, ref, onBeforeUnmount } from "vue";
+import { computed, inject, onBeforeUnmount, useTemplateRef } from "vue";
 import { useStateStore } from "@/stores/StateStore";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import type { StyleValue } from "vue";
@@ -13,6 +13,7 @@ const props = defineProps<{
   cameraSettings: UiCameraConfiguration;
 }>();
 
+const backendHostname = inject<string>("backendHostname");
 const emptyStreamSrc = "//:0";
 const streamSrc = computed<string>(() => {
   const port = props.cameraSettings.stream[props.streamType === "Raw" ? "inputPort" : "outputPort"];
@@ -21,7 +22,7 @@ const streamSrc = computed<string>(() => {
     return emptyStreamSrc;
   }
 
-  return `http://${inject("backendHostname")}:${port}/stream.mjpg`;
+  return `http://${backendHostname}:${port}/stream.mjpg`;
 });
 const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
 const streamStyle = computed<StyleValue>(() => {
@@ -50,7 +51,7 @@ const containerStyle = computed<StyleValue>(() => {
 });
 
 const overlayStyle = computed<StyleValue>(() => {
-  if (useStateStore().colorPickingMode || streamSrc.value == emptyStreamSrc) {
+  if (useStateStore().colorPickingMode || streamSrc.value === emptyStreamSrc) {
     return { display: "none" };
   } else {
     return {};
@@ -67,26 +68,26 @@ const handleCaptureClick = () => {
 const handlePopoutClick = () => {
   window.open(streamSrc.value);
 };
-const handleFullscreenRequest = () => {
+const handleFullscreenRequest = async () => {
   const stream = document.getElementById(props.id);
   if (!stream) return;
-  stream.requestFullscreen();
+  await stream.requestFullscreen();
 };
 
-const mjpgStream: any = ref(null);
+const mjpgStream = useTemplateRef("mjpgStream");
 
 const handleStreamError = () => {
   if (streamSrc.value && streamSrc.value !== emptyStreamSrc) {
     console.error("Error loading stream:", streamSrc.value, " Trying again.");
     setTimeout(() => {
-      mjpgStream.value.src = streamSrc.value;
+      mjpgStream.value!.src = streamSrc.value;
     }, 100);
   }
 };
 
 onBeforeUnmount(() => {
   if (!mjpgStream.value) return;
-  mjpgStream.value["src"] = emptyStreamSrc;
+  mjpgStream.value.src = emptyStreamSrc;
 });
 </script>
 

photon-client/src/components/app/photon-error-snackbar.vue

@@ -14,7 +14,7 @@ import { useStateStore } from "@/stores/StateStore";
       {{ useStateStore().snackbarData.message }}
     </p>
     <v-progress-linear
-      v-if="useStateStore().snackbarData.progressBar != -1"
+      v-if="useStateStore().snackbarData.progressBar !== -1"
       v-model="useStateStore().snackbarData.progressBar"
       height="15"
       :color="useStateStore().snackbarData.progressBarColor"

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

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

photon-client/src/components/app/photon-sidebar.vue

@@ -25,8 +25,7 @@ const renderCompact = computed<boolean>(() => compact.value || !mdAndUp.value);
 <template>
   <v-navigation-drawer permanent :rail="renderCompact" color="sidebar">
     <v-list nav color="primary">
-      <!-- List item for the heading; note that there are some tricks in setting padding and image width make things look right -->
-      <v-list-item :class="renderCompact ? 'pr-0 pl-0' : ''" style="display: flex; justify-content: center">
+      <v-list-item class="pr-0 pl-0" style="display: flex; justify-content: center">
         <template #prepend>
           <img v-if="!renderCompact" class="logo" src="@/assets/images/logoLarge.svg" alt="large logo" />
           <img v-else class="logo" src="@/assets/images/logoSmallTransparent.svg" alt="small logo" />
@@ -39,7 +38,7 @@ const renderCompact = computed<boolean>(() => compact.value || !mdAndUp.value);
       <v-list-item link to="/settings" prepend-icon="mdi-cog">
         <v-list-item-title>Settings</v-list-item-title>
       </v-list-item>
-      <v-list-item ref="camerasTabOpener" link to="/cameras" prepend-icon="mdi-camera">
+      <v-list-item link to="/cameras" prepend-icon="mdi-camera">
         <v-list-item-title>Camera</v-list-item-title>
       </v-list-item>
       <v-list-item
@@ -74,7 +73,7 @@ const renderCompact = computed<boolean>(() => compact.value || !mdAndUp.value);
         </v-list-item>
         <v-list-item
           link
-          :prepend-icon="theme.global.name.value === 'LightTheme' ? 'mdi-white-balance-sunny' : 'mdi-weather-night'"
+          :prepend-icon="theme.global.current.value.dark ? 'mdi-weather-night' : 'mdi-white-balance-sunny'"
           @click="() => toggleTheme(theme)"
         >
           <v-list-item-title>Theme</v-list-item-title>

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

@@ -14,11 +14,13 @@ import { getResolutionString, resolutionsAreEqual } from "@/lib/PhotonUtils";
 import CameraCalibrationInfoCard from "@/components/cameras/CameraCalibrationInfoCard.vue";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useTheme } from "vuetify";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
 
 const PromptRegular = import("@/assets/fonts/PromptRegular");
 const jspdf = import("jspdf");
 
 const theme = useTheme();
+const MM_PER_INCH = 25.4;
 
 const settingsValid = ref(true);
 
@@ -27,7 +29,7 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
   if (useCameraSettingsStore().currentCameraSettings.validVideoFormats.length === 0) return uniqueResolutions;
   useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format) => {
     const index = uniqueResolutions.findIndex((v) => resolutionsAreEqual(v.resolution, format.resolution));
-    const contains = index != -1;
+    const contains = index !== -1;
     let skip = false;
     if (contains && format.fps > uniqueResolutions[index].fps) {
       uniqueResolutions.splice(index, 1);
@@ -37,8 +39,14 @@ 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) {
-        // For each error, square it, sum the squares, and divide by total points N
+        // Mean overall reprojection error
+        // Calculated as average of each observation's mean error
         if (calib.meanErrors.length)
           format.mean = calib.meanErrors.reduce((a, b) => a + b, 0) / calib.meanErrors.length;
         else format.mean = NaN;
@@ -58,7 +66,10 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
           ) *
           (180 / Math.PI);
       }
-      uniqueResolutions.push(format);
+
+      if (resArea >= minPixelCount) {
+        uniqueResolutions.push(format);
+      }
     }
   });
   uniqueResolutions.sort(
@@ -79,18 +90,26 @@ const calibrationDivisors = computed(() =>
   })
 );
 
-const uniqueVideoResolutionString = ref("");
+const uniqueVideoResolutionIndex = ref(getUniqueVideoResolutionStrings()?.[0]?.value);
 
 // Use a watchEffect so the value is populated/reacts when the stores become available or update.
 // This avoids trying to index into an array that may be empty during page reload.
 watchEffect(() => {
-  const currentIndex = useCameraSettingsStore().currentVideoFormat.index ?? 0;
-  useStateStore().calibrationData.videoFormatIndex = currentIndex;
   const names = useCameraSettingsStore().currentCameraSettings.validVideoFormats.map((f) =>
     getResolutionString(f.resolution)
   );
-  uniqueVideoResolutionString.value = names[currentIndex] ?? names[0] ?? "";
+  const currentFormatIndex = useCameraSettingsStore().currentVideoFormat.index ?? 0;
+  // Checks if the current resolution is present in the list of valid formats, if not defaults to the last index (which is usually the highest resolution)
+  const currentIndex =
+    getUniqueVideoResolutionStrings()
+      .map((x) => x.name)
+      .find((n) => n === names[currentFormatIndex]) !== undefined
+      ? currentFormatIndex
+      : names.length - 1;
+  useStateStore().calibrationData.videoFormatIndex = currentIndex;
+  uniqueVideoResolutionIndex.value = currentIndex;
 });
+const dimensionUnit = ref<"in" | "mm">("in");
 const squareSizeIn = ref(1);
 const markerSizeIn = ref(0.75);
 const patternWidth = ref(8);
@@ -98,6 +117,29 @@ const patternHeight = ref(8);
 const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
 const useOldPattern = ref(false);
 const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
+const requestedVideoFormatIndex = ref(0);
+
+const convertInchesToDisplay = (valueInInches: number) =>
+  dimensionUnit.value === "mm" ? valueInInches * MM_PER_INCH : valueInInches;
+
+const convertDisplayToInches = (displayValue: number) =>
+  dimensionUnit.value === "mm" ? displayValue / MM_PER_INCH : displayValue;
+
+const squareSize = computed({
+  get: () => convertInchesToDisplay(squareSizeIn.value),
+  set(value) {
+    squareSizeIn.value = convertDisplayToInches(value);
+  }
+});
+
+const markerSize = computed({
+  get: () => convertInchesToDisplay(markerSizeIn.value),
+  set(value) {
+    markerSizeIn.value = convertDisplayToInches(value);
+  }
+});
+
+const dimensionStep = computed(() => (dimensionUnit.value === "mm" ? 0.1 : 0.01));
 
 // Emperical testing - with stack size limit of 1MB, we can handle at -least- 700k points
 const tooManyPoints = computed(
@@ -129,7 +171,7 @@ const downloadCalibBoard = async () => {
           const yPos = chessboardStartY + squareY * squareSizeIn.value;
 
           // Only draw the odd squares to create the chessboard pattern
-          if (squareY % 2 != squareX % 2) {
+          if (squareY % 2 !== squareX % 2) {
             doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
           }
         }
@@ -173,7 +215,7 @@ const downloadCalibBoard = async () => {
 };
 
 const isCalibrating = computed(
-  () => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d
+  () => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d.valueOf()
 );
 
 const startCalibration = () => {
@@ -190,6 +232,7 @@ const startCalibration = () => {
   useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
   // isCalibrating.value = true;
   calibCanceled.value = false;
+  requestedVideoFormatIndex.value = useStateStore().calibrationData.videoFormatIndex;
 };
 const showCalibEndDialog = ref(false);
 const calibCanceled = ref(false);
@@ -199,7 +242,7 @@ const endCalibration = () => {
   calibSuccess.value = undefined;
   calibEndpointFail.value = false;
 
-  if (!useStateStore().calibrationData.hasEnoughImages) {
+  if (!hasEnoughImages.value) {
     calibCanceled.value = true;
   }
 
@@ -227,6 +270,10 @@ const endCalibration = () => {
 
 const drawAllSnapshots = ref(true);
 
+const bypassVal = ref(false);
+const minCount = computed(() => (bypassVal.value ? 10 : 100));
+const hasEnoughImages = computed(() => useStateStore().calibrationData.imageCount >= minCount.value);
+
 const showCalDialog = ref(false);
 const selectedVideoFormat = ref<VideoFormat | undefined>(undefined);
 const setSelectedVideoFormat = (format: VideoFormat) => {
@@ -240,7 +287,14 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
     <v-card class="mb-3 rounded-12" color="surface" dark>
       <v-card-title>Camera Calibration</v-card-title>
       <v-card-text v-if="!isCalibrating" class="pb-0">
-        <v-card-subtitle class="pa-0 pb-3 text-white">Current Calibrations</v-card-subtitle>
+        <div class="pb-3">
+          <tooltipped-label
+            label="Curent Calibrations"
+            icon="mdi-information"
+            location="top"
+            tooltip="Click on a resolution to view detailed calibration information and import/export a calibration."
+          />
+        </div>
         <v-table fixed-header height="100%" density="compact">
           <thead>
             <tr>
@@ -249,66 +303,58 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               <th>Horizontal FOV</th>
               <th>Vertical FOV</th>
               <th>Diagonal FOV</th>
-              <th>Info</th>
             </tr>
           </thead>
           <tbody style="cursor: pointer">
-            <tr v-for="(value, index) in getUniqueVideoFormatsByResolution()" :key="index">
-              <td>{{ getResolutionString(value.resolution) }}</td>
-              <td>
-                {{ value.mean !== undefined ? (isNaN(value.mean) ? "Unknown" : value.mean.toFixed(2) + "px") : "-" }}
-              </td>
-              <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
-              <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
-              <td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
-              <v-tooltip location="bottom">
-                <template #activator="{ props }">
-                  <td v-bind="props" @click="setSelectedVideoFormat(value)">
-                    <v-icon size="small" color="primary">mdi-information</v-icon>
+            <v-tooltip
+              v-for="(value, index) in getUniqueVideoFormatsByResolution()"
+              :key="index"
+              transition=""
+              location="bottom"
+              :open-delay="100"
+            >
+              <template #activator="{ props }">
+                <tr :key="index" v-bind="props" @click="setSelectedVideoFormat(value)">
+                  <td>{{ getResolutionString(value.resolution) }}</td>
+                  <td>
+                    {{
+                      value.mean !== undefined ? (isNaN(value.mean) ? "Unknown" : value.mean.toFixed(2) + "px") : "-"
+                    }}
                   </td>
-                </template>
-                <span>View calibration information</span>
-              </v-tooltip>
-            </tr>
+                  <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
+                  <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
+                  <td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
+                </tr>
+              </template>
+              <span>View calibration information</span>
+            </v-tooltip>
           </tbody>
         </v-table>
       </v-card-text>
       <v-card-text class="pt-0">
         <div v-if="useCameraSettingsStore().isConnected" class="d-flex flex-column">
-          <v-card-subtitle v-if="!isCalibrating" class="pl-0 pb-3 pt-3 text-white"
+          <v-card-subtitle v-if="!isCalibrating" class="pl-0 pb-3 pt-4 opacity-100"
             >Configure New Calibration</v-card-subtitle
           >
-          <v-form ref="form" v-model="settingsValid">
-            <v-alert
-              closable
-              density="compact"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
-              :color="useSettingsStore().general.mrCalWorking ? 'buttonPassive' : 'error'"
-              :icon="useSettingsStore().general.mrCalWorking ? 'mdi-check' : 'mdi-close'"
-              :text="
-                useSettingsStore().general.mrCalWorking
-                  ? 'Mrcal was successfully loaded and will be used!'
-                  : 'MrCal failed to load, check journalctl logs for details.'
-              "
-            />
+          <v-form v-model="settingsValid">
             <pv-select
-              v-model="uniqueVideoResolutionString"
+              v-model="uniqueVideoResolutionIndex"
               label="Resolution"
               :select-cols="8"
               :disabled="isCalibrating"
               tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
               :items="getUniqueVideoResolutionStrings()"
-              @update:model-value="
-                useStateStore().calibrationData.videoFormatIndex =
-                  getUniqueVideoResolutionStrings().find((v) => v.value === $event)?.value || 0
-              "
+              @update:model-value="(value) => (useStateStore().calibrationData.videoFormatIndex = value)"
             />
             <pv-select
               v-model="boardType"
               label="Board Type"
               tooltip="Calibration board pattern to use"
               :select-cols="8"
-              :items="['Chessboard', 'ChArUco']"
+              :items="[
+                { value: CalibrationBoardTypes.Charuco, name: 'ChArUco' },
+                { value: CalibrationBoardTypes.Chessboard, name: 'Chessboard' }
+              ]"
               :disabled="isCalibrating"
             />
             <v-alert
@@ -338,25 +384,43 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               label="Tag Family"
               tooltip="Dictionary of ArUco markers on the ChArUco board"
               :select-cols="8"
-              :items="['Dict_4X4_1000', 'Dict_5X5_1000', 'Dict_6X6_1000', 'Dict_7X7_1000']"
+              :items="[
+                { value: CalibrationTagFamilies.Dict_4X4_1000, name: 'Dict_4X4_1000' },
+                { value: CalibrationTagFamilies.Dict_5X5_1000, name: 'Dict_5X5_1000' },
+                { value: CalibrationTagFamilies.Dict_6X6_1000, name: 'Dict_6X6_1000' },
+                { value: CalibrationTagFamilies.Dict_7X7_1000, name: 'Dict_7X7_1000' }
+              ]"
+              :disabled="isCalibrating"
+            />
+            <pv-select
+              v-model="dimensionUnit"
+              label="Dimension Unit"
+              tooltip="Units used for pattern spacing and marker size inputs"
+              :select-cols="8"
+              :items="[
+                { value: 'in', name: 'Inches' },
+                { value: 'mm', name: 'Millimeters' }
+              ]"
               :disabled="isCalibrating"
             />
             <pv-number-input
-              v-model="squareSizeIn"
-              label="Pattern Spacing (in)"
-              tooltip="Spacing between pattern features in inches"
+              v-model="squareSize"
+              :label="`Pattern Spacing (${dimensionUnit})`"
+              :tooltip="`Spacing between pattern features in ${dimensionUnit === 'mm' ? 'millimeters' : 'inches'}`"
               :disabled="isCalibrating"
               :rules="[(v) => v > 0 || 'Size must be positive']"
               :label-cols="4"
+              :step="dimensionStep"
             />
             <pv-number-input
               v-if="boardType === CalibrationBoardTypes.Charuco"
-              v-model="markerSizeIn"
-              label="Marker Size (in)"
-              tooltip="Size of the tag markers in inches must be smaller than pattern spacing"
+              v-model="markerSize"
+              :label="`Marker Size (${dimensionUnit})`"
+              :tooltip="`Size of the tag markers in ${dimensionUnit === 'mm' ? 'millimeters' : 'inches'}; must be smaller than pattern spacing`"
               :disabled="isCalibrating"
               :rules="[(v) => v > 0 || 'Size must be positive']"
               :label-cols="4"
+              :step="dimensionStep"
             />
             <pv-number-input
               v-model="patternWidth"
@@ -463,22 +527,46 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
             "
           />
         </div>
-        <div v-if="isCalibrating" class="d-flex justify-center align-center pt-10px pb-5">
+        <v-alert
+          closable
+          density="compact"
+          class="mb-5"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
+          :color="useSettingsStore().general.mrCalWorking ? 'buttonPassive' : 'error'"
+          :icon="useSettingsStore().general.mrCalWorking ? 'mdi-check' : 'mdi-close'"
+          :text="
+            useSettingsStore().general.mrCalWorking
+              ? 'Mrcal was successfully loaded and will be used!'
+              : 'MrCal failed to load, check journalctl logs for details.'
+          "
+        />
+        <div v-if="isCalibrating" class="d-flex justify-center align-center pb-5">
           <v-chip
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+            :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
             label
-            :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonPassive' : 'light-grey'"
+            :color="hasEnoughImages ? 'buttonPassive' : 'light-grey'"
           >
             Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
-            {{ useStateStore().calibrationData.minimumImageCount }}
+            {{ minCount }}
           </v-chip>
+          <v-spacer />
+          <pv-switch
+            v-model="bypassVal"
+            color="error"
+            hide-details
+            class="ml-4"
+            label="Bypass minimum"
+            :label-cols="6"
+            :switch-cols="6"
+            tooltip="Bypass the minimum recommended amount of snapshots for a calibration. Should only be used for dev work or temporary tests not competitions. Still requires 10 images to calibrate."
+          />
         </div>
         <div>
           <v-btn
             color="buttonPassive"
             size="small"
             block
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             :disabled="!settingsValid"
             @click="downloadCalibBoard"
           >
@@ -493,7 +581,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           density="compact"
           text="Too many corners. Finish calibration now!"
           icon="mdi-alert-circle-outline"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
         />
         <div class="d-flex pt-5">
           <v-col cols="6" class="pa-0 pr-2">
@@ -501,7 +589,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               size="small"
               block
               color="buttonActive"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               :disabled="!settingsValid || tooManyPoints"
               @click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
             >
@@ -515,17 +603,15 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
             <v-btn
               size="small"
               block
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
-              :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonActive' : 'error'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+              :color="hasEnoughImages ? 'buttonActive' : 'error'"
               :disabled="!isCalibrating || !settingsValid"
               @click="endCalibration"
             >
               <v-icon start class="calib-btn-icon" size="large">
-                {{ useStateStore().calibrationData.hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
+                {{ hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
               </v-icon>
-              <span class="calib-btn-label">{{
-                useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration"
-              }}</span>
+              <span class="calib-btn-label">{{ hasEnoughImages ? "Finish Calibration" : "Cancel Calibration" }}</span>
             </v-btn>
           </v-col>
         </div>
@@ -554,7 +640,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               {{
                 useCameraSettingsStore().currentCameraSettings.validVideoFormats.map((f) =>
                   getResolutionString(f.resolution)
-                )[useStateStore().calibrationData.videoFormatIndex]
+                )[requestedVideoFormatIndex]
               }}!
             </v-card-text>
           </template>

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

@@ -1,47 +1,47 @@
 <script setup lang="ts">
+import PhotonCalibrationVisualizer from "@/components/app/photon-calibration-visualizer.vue";
 import type { CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { computed, inject, ref } from "vue";
+import { computed, inject, ref, useTemplateRef } from "vue";
 import { axiosPost, getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";
 import { useTheme } from "vuetify";
 import PvDeleteModal from "@/components/common/pv-delete-modal.vue";
 
 const theme = useTheme();
-
 const props = defineProps<{
   videoFormat: VideoFormat;
 }>();
 
-const confirmRemoveDialog = ref({ show: false, vf: props.videoFormat as VideoFormat });
+const confirmRemoveDialog = ref({ show: false, vf: props.videoFormat });
 
-const removeCalibration = (vf: VideoFormat) => {
-  axiosPost("/calibration/remove", "delete a camera calibration", {
+const removeCalibration = async (vf: VideoFormat) => {
+  await axiosPost("/calibration/remove", "delete a camera calibration", {
     cameraUniqueName: useCameraSettingsStore().currentCameraSettings.uniqueName,
     width: vf.resolution.width,
     height: vf.resolution.height
   });
 };
 
-const exportCalibration = ref();
+const exportCalibration = useTemplateRef("exportCalibration");
 const openExportCalibrationPrompt = () => {
-  exportCalibration.value.click();
+  exportCalibration.value?.click();
 };
 
-const importCalibrationFromPhotonJson = ref();
+const importCalibrationFromPhotonJson = useTemplateRef("importCalibrationFromPhotonJson");
 const openUploadPhotonCalibJsonPrompt = () => {
-  importCalibrationFromPhotonJson.value.click();
+  importCalibrationFromPhotonJson.value?.click();
 };
 const importCalibration = async () => {
-  const files = importCalibrationFromPhotonJson.value.files;
-  if (files.length === 0) return;
+  const files = importCalibrationFromPhotonJson.value?.files;
+  if (!files?.length) return;
   const uploadedJson = files[0];
 
   const data = await parseJsonFile<CameraCalibrationResult>(uploadedJson);
 
   if (
-    data.resolution.height != props.videoFormat.resolution.height ||
-    data.resolution.width != props.videoFormat.resolution.width
+    data.resolution.height !== props.videoFormat.resolution.height ||
+    data.resolution.width !== props.videoFormat.resolution.width
   ) {
     useStateStore().showSnackbarMessage({
       color: "error",
@@ -79,8 +79,10 @@ const importCalibration = async () => {
 };
 
 interface ObservationDetails {
-  mean: number;
   index: number;
+  mean: number;
+  numOutliers: number;
+  numMissing: number;
 }
 
 const currentCalibrationCoeffs = computed<CameraCalibrationResult | undefined>(() =>
@@ -92,7 +94,9 @@ const getObservationDetails = (): ObservationDetails[] | undefined => {
 
   return coefficients?.meanErrors.map((m, i) => ({
     index: i,
-    mean: parseFloat(m.toFixed(2))
+    mean: parseFloat(m.toFixed(2)),
+    numOutliers: coefficients.numOutliers[i],
+    numMissing: coefficients.numMissing[i]
   }));
 };
 
@@ -101,220 +105,243 @@ const exportCalibrationURL = computed<string>(() =>
 );
 const calibrationImageURL = (index: number) =>
   useCameraSettingsStore().getCalImageUrl(inject<string>("backendHost") as string, props.videoFormat.resolution, index);
+
+const tab = ref("details");
+const viewingImg = ref(0);
 </script>
+
 <template>
   <v-card color="surface" dark>
-    <div class="d-flex flex-wrap pt-2 pl-2 pr-2 align-center">
-      <v-col cols="12" md="6">
-        <v-card-title class="pa-0"> Calibration Details </v-card-title>
-      </v-col>
-      <v-col cols="12" md="6" class="d-flex align-center pt-0 pt-md-3">
-        <v-btn
-          color="buttonPassive"
-          class="mr-2"
-          style="flex: 1"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
-          @click="openUploadPhotonCalibJsonPrompt"
-        >
-          <v-icon start size="large">mdi-import</v-icon>
-          <span>Import</span>
-        </v-btn>
-        <input
-          ref="importCalibrationFromPhotonJson"
-          type="file"
-          accept=".json"
-          style="display: none"
-          @change="importCalibration"
-        />
-        <v-btn
-          color="buttonPassive"
-          class="mr-2"
-          :disabled="!currentCalibrationCoeffs"
-          style="flex: 1"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
-          @click="openExportCalibrationPrompt"
-        >
-          <v-icon start size="large">mdi-export</v-icon>
-          <span>Export</span>
-        </v-btn>
-        <a
-          ref="exportCalibration"
-          style="color: black; text-decoration: none; display: none"
-          :href="exportCalibrationURL"
-          target="_blank"
-        />
-        <v-btn
-          color="error"
-          :disabled="!currentCalibrationCoeffs"
-          style="flex: 1"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
-          @click="() => (confirmRemoveDialog = { show: true, vf: props.videoFormat })"
-        >
-          <v-icon start size="large">mdi-delete</v-icon>
-          <span>Delete</span>
-        </v-btn>
-      </v-col>
-    </div>
-    <v-card-title class="pt-0 pb-0"
-      >{{ useCameraSettingsStore().currentCameraName }}@{{ getResolutionString(videoFormat.resolution) }}</v-card-title
-    >
-    <v-card-text v-if="!currentCalibrationCoeffs">
-      <v-alert
-        class="pt-3 pb-3"
-        color="primary"
-        density="compact"
-        text="The selected video format has not been calibrated."
-        icon="mdi-alert-circle-outline"
-        :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
-      />
-    </v-card-text>
-    <v-card-text class="pt-0">
-      <v-table density="compact" style="width: 100%">
-        <template #default>
-          <thead>
-            <tr>
-              <th class="text-left">Name</th>
-              <th class="text-left">Value</th>
-            </tr>
-          </thead>
-          <tbody>
-            <tr>
-              <td>Fx</td>
-              <td>
-                {{
-                  useCameraSettingsStore()
-                    .getCalibrationCoeffs(props.videoFormat.resolution)
-                    ?.cameraIntrinsics.data[0].toFixed(2) || 0.0
-                }}
-                mm
-              </td>
-            </tr>
-            <tr>
-              <td>Fy</td>
-              <td>
-                {{
-                  useCameraSettingsStore()
-                    .getCalibrationCoeffs(props.videoFormat.resolution)
-                    ?.cameraIntrinsics.data[4].toFixed(2) || 0.0
-                }}
-                mm
-              </td>
-            </tr>
-            <tr>
-              <td>Cx</td>
-              <td>
-                {{
-                  useCameraSettingsStore()
-                    .getCalibrationCoeffs(props.videoFormat.resolution)
-                    ?.cameraIntrinsics.data[2].toFixed(2) || 0.0
-                }}
-                px
-              </td>
-            </tr>
-            <tr>
-              <td>Cy</td>
-              <td>
-                {{
-                  useCameraSettingsStore()
-                    .getCalibrationCoeffs(props.videoFormat.resolution)
-                    ?.cameraIntrinsics.data[5].toFixed(2) || 0.0
-                }}
-                px
-              </td>
-            </tr>
-            <tr>
-              <td>Distortion</td>
-              <td>
-                {{
-                  useCameraSettingsStore()
-                    .getCalibrationCoeffs(props.videoFormat.resolution)
-                    ?.distCoeffs.data.map((it) => parseFloat(it.toFixed(3))) || []
-                }}
-              </td>
-            </tr>
-            <tr>
-              <td>Mean Err</td>
-              <td>
-                {{
-                  videoFormat.mean !== undefined
-                    ? isNaN(videoFormat.mean)
-                      ? "NaN"
-                      : videoFormat.mean.toFixed(2) + "px"
-                    : "-"
-                }}
-              </td>
-            </tr>
-            <tr>
-              <td>Horizontal FOV</td>
-              <td>
-                {{ videoFormat.horizontalFOV !== undefined ? videoFormat.horizontalFOV.toFixed(2) + "°" : "-" }}
-              </td>
-            </tr>
-            <tr>
-              <td>Vertical FOV</td>
-              <td>{{ videoFormat.verticalFOV !== undefined ? videoFormat.verticalFOV.toFixed(2) + "°" : "-" }}</td>
-            </tr>
-            <tr>
-              <td>Diagonal FOV</td>
-              <td>{{ videoFormat.diagonalFOV !== undefined ? videoFormat.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
-            </tr>
-            <!-- Board warp, only shown for mrcal-calibrated cameras -->
-            <tr v-if="currentCalibrationCoeffs?.calobjectWarp?.length === 2">
-              <td>Board warp, X/Y</td>
-              <td>
-                {{
-                  useCameraSettingsStore()
-                    .getCalibrationCoeffs(props.videoFormat.resolution)
-                    ?.calobjectWarp?.map((it) => (it * 1000).toFixed(2) + " mm")
-                    .join(" / ")
-                }}
-              </td>
-            </tr>
-          </tbody>
-        </template>
-      </v-table>
-    </v-card-text>
-    <v-card-title v-if="currentCalibrationCoeffs" class="pt-0 pb-0">Individual Observations</v-card-title>
-    <v-card-text v-if="currentCalibrationCoeffs" class="pt-0">
-      <v-data-table
-        density="compact"
-        style="width: 100%"
-        :headers="[
-          { title: 'Observation Id', key: 'index' },
-          { title: 'Mean Reprojection Error', key: 'mean' },
-          { title: '', key: 'data-table-expand' }
-        ]"
-        :items="getObservationDetails()"
-        item-value="index"
-        show-expand
-      >
-        <template #item.data-table-expand="{ internalItem, toggleExpand }">
+    <v-card-title class="pb-2">
+      <div class="d-flex flex-wrap">
+        <v-col cols="12" md="6" class="pa-0">
+          <v-card-title class="pa-0"> Calibration Details </v-card-title>
+        </v-col>
+        <v-col cols="6" md="3" class="d-flex align-center pt-0 pb-0 pl-0">
           <v-btn
-            icon="mdi-eye"
-            class="text-none"
-            color="medium-emphasis"
-            size="small"
-            variant="text"
-            slim
-            @click="toggleExpand(internalItem)"
-          ></v-btn>
-        </template>
+            color="buttonPassive"
+            style="width: 100%"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+            @click="openUploadPhotonCalibJsonPrompt"
+          >
+            <v-icon start size="large"> mdi-import</v-icon>
+            <span>Import</span>
+          </v-btn>
+          <input
+            ref="importCalibrationFromPhotonJson"
+            type="file"
+            accept=".json"
+            style="display: none"
+            @change="importCalibration"
+          />
+        </v-col>
+        <v-col cols="6" md="3" class="d-flex align-center pt-0 pb-0 pr-0">
+          <v-btn
+            color="buttonPassive"
+            :disabled="!currentCalibrationCoeffs"
+            style="width: 100%"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+            @click="openExportCalibrationPrompt"
+          >
+            <v-icon start size="large">mdi-export</v-icon>
+            <span>Export</span>
+          </v-btn>
+          <a
+            ref="exportCalibration"
+            style="color: black; text-decoration: none; display: none"
+            :href="exportCalibrationURL"
+            target="_blank"
+          />
+        </v-col>
+      </div>
+    </v-card-title>
 
-        <template #expanded-row="{ columns, item }">
-          <td :colspan="columns.length">
-            <div style="display: flex; justify-content: center; width: 100%">
-              <img :src="calibrationImageURL(item.index)" alt="observation image" class="snapshot-preview pt-2 pb-2" />
-            </div>
-          </td>
-        </template>
-      </v-data-table>
+    <v-card-text class="d-flex flex-row pt-0">
+      <v-col cols="4" class="pa-0">
+        <v-tabs v-model="tab" grow bg-color="surface" height="48" slider-color="buttonActive">
+          <v-tab key="details" value="details">Details</v-tab>
+          <v-tab key="observations" value="observations">Observations</v-tab>
+        </v-tabs>
+        <v-tabs-window v-model="tab" class="pt-3">
+          <v-tabs-window-item key="details" value="details">
+            <v-table style="width: 100%" density="compact">
+              <template #default>
+                <tbody>
+                  <tr>
+                    <td>Camera</td>
+                    <td>
+                      {{ useCameraSettingsStore().currentCameraName }}
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Resolution</td>
+                    <td>
+                      {{ getResolutionString(videoFormat.resolution) }}
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Fx</td>
+                    <td>
+                      {{
+                        useCameraSettingsStore()
+                          .getCalibrationCoeffs(props.videoFormat.resolution)
+                          ?.cameraIntrinsics.data[0].toFixed(2) || 0.0
+                      }}
+                      px
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Fy</td>
+                    <td>
+                      {{
+                        useCameraSettingsStore()
+                          .getCalibrationCoeffs(props.videoFormat.resolution)
+                          ?.cameraIntrinsics.data[4].toFixed(2) || 0.0
+                      }}
+                      px
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Cx</td>
+                    <td>
+                      {{
+                        useCameraSettingsStore()
+                          .getCalibrationCoeffs(props.videoFormat.resolution)
+                          ?.cameraIntrinsics.data[2].toFixed(2) || 0.0
+                      }}
+                      px
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Cy</td>
+                    <td>
+                      {{
+                        useCameraSettingsStore()
+                          .getCalibrationCoeffs(props.videoFormat.resolution)
+                          ?.cameraIntrinsics.data[5].toFixed(2) || 0.0
+                      }}
+                      px
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Distortion</td>
+                    <td>
+                      {{
+                        useCameraSettingsStore()
+                          .getCalibrationCoeffs(props.videoFormat.resolution)
+                          ?.distCoeffs.data.map((it) => parseFloat(it.toFixed(3))) || []
+                      }}
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Mean Err</td>
+                    <td>
+                      {{
+                        videoFormat.mean !== undefined
+                          ? isNaN(videoFormat.mean)
+                            ? "NaN"
+                            : videoFormat.mean.toFixed(2) + "px"
+                          : "-"
+                      }}
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Horizontal FOV</td>
+                    <td>
+                      {{ videoFormat.horizontalFOV !== undefined ? videoFormat.horizontalFOV.toFixed(2) + "°" : "-" }}
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Vertical FOV</td>
+                    <td>
+                      {{ videoFormat.verticalFOV !== undefined ? videoFormat.verticalFOV.toFixed(2) + "°" : "-" }}
+                    </td>
+                  </tr>
+                  <tr>
+                    <td>Diagonal FOV</td>
+                    <td>
+                      {{ videoFormat.diagonalFOV !== undefined ? videoFormat.diagonalFOV.toFixed(2) + "°" : "-" }}
+                    </td>
+                  </tr>
+                  <!-- Board warp, only shown for mrcal-calibrated cameras -->
+                  <tr v-if="currentCalibrationCoeffs?.calobjectWarp?.length === 2">
+                    <td>Board warp, X/Y</td>
+                    <td>
+                      {{
+                        currentCalibrationCoeffs?.calobjectWarp?.map((it) => (it * 1000).toFixed(2) + " mm").join(" / ")
+                      }}
+                    </td>
+                  </tr>
+                </tbody>
+              </template>
+            </v-table>
+          </v-tabs-window-item>
+          <v-tabs-window-item key="observations" value="observations">
+            <v-data-table
+              id="observations-table"
+              items-per-page-text="Page size:"
+              density="compact"
+              style="width: 100%"
+              :headers="[
+                { title: 'Id', key: 'index' },
+                { title: 'Mean Reprojection Error', key: 'mean' }
+              ]"
+              :items="getObservationDetails()"
+              item-value="index"
+              show-expand
+            >
+              <template #item.data-table-expand="{ internalItem }">
+                <v-btn
+                  class="text-none"
+                  size="small"
+                  variant="text"
+                  slim
+                  rounded
+                  @click="viewingImg = internalItem.index"
+                >
+                  <v-icon
+                    size="large"
+                    :color="viewingImg === internalItem.index ? 'buttonActive' : 'rgba(255, 255, 255, 0.7)'"
+                    >mdi-eye</v-icon
+                  >
+                </v-btn>
+              </template>
+            </v-data-table>
+          </v-tabs-window-item>
+        </v-tabs-window>
+      </v-col>
+      <v-col cols="8" class="pa-0 pl-6">
+        <v-card-text class="pa-0 fill-height d-flex justify-center align-center">
+          <div v-if="!currentCalibrationCoeffs">
+            <v-alert
+              class="pt-3 pb-3"
+              color="primary"
+              text="The selected video format has not been calibrated."
+              icon="mdi-alert-circle-outline"
+              :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
+            />
+          </div>
+          <Suspense v-else-if="tab === 'details'">
+            <!-- Allows us to import three js when it's actually needed  -->
+            <PhotonCalibrationVisualizer
+              :camera-unique-name="useCameraSettingsStore().currentCameraSettings.uniqueName"
+              :resolution="props.videoFormat.resolution"
+              title="Camera to Board Transforms"
+            />
+            <template #fallback> Loading... </template>
+          </Suspense>
+          <div v-else style="display: flex; justify-content: center; width: 100%">
+            <img :src="calibrationImageURL(viewingImg)" alt="observation image" class="snapshot-preview pt-2 pb-2" />
+          </div>
+        </v-card-text>
+      </v-col>
     </v-card-text>
   </v-card>
 
   <pv-delete-modal
     v-model="confirmRemoveDialog.show"
     :width="500"
-    :title="'Delete Calibration'"
+    title="Delete Calibration"
     :description="`Are you sure you want to delete the calibration for '${confirmRemoveDialog.vf.resolution.width}x${confirmRemoveDialog.vf.resolution.height}'? This action cannot be undone.`"
     :on-confirm="() => removeCalibration(confirmRemoveDialog.vf)"
   />
@@ -322,11 +349,7 @@ const calibrationImageURL = (index: number) =>
 
 <style scoped>
 .snapshot-preview {
-  max-width: 55%;
-}
-@media only screen and (max-width: 512px) {
-  .snapshot-preview {
-    max-width: 100%;
-  }
+  max-width: 100%;
+  max-height: 100%;
 }
 </style>

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

@@ -53,7 +53,7 @@ const fetchSnapshots = () => {
     .get("/utils/getImageSnapshots")
     .then((response) => {
       imgData.value = response.data.map(
-        (snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index) => {
+        (snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index: number) => {
           const metadata = getSnapshotMetadataFromName(snapshotData.snapshotName);
 
           return {
@@ -99,7 +99,7 @@ const expanded = ref([]);
     <v-card-text class="pt-0">
       <v-btn
         color="buttonPassive"
-        :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+        :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
         @click="fetchSnapshots"
       >
         <v-icon start class="open-icon" size="large"> mdi-folder </v-icon>
@@ -115,7 +115,7 @@ const expanded = ref([]);
             density="compact"
             text="There are currently no saved snapshots."
             icon="mdi-information-outline"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+            :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
           />
         </v-card-text>
         <v-card-text v-else class="pt-0">
@@ -125,7 +125,7 @@ const expanded = ref([]);
             density="compact"
             text="Snapshot timestamps depend on when the coprocessor was last connected to the internet."
             icon="mdi-information-outline"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+            :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
           />
           <v-data-table
             v-model:expanded="expanded"

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

@@ -9,6 +9,7 @@ import { computed, ref, watchEffect } from "vue";
 import { type CameraSettingsChangeRequest, ValidQuirks } from "@/types/SettingTypes";
 import { useTheme } from "vuetify";
 import { axiosPost } from "@/lib/PhotonUtils";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
 
 const theme = useTheme();
 
@@ -20,7 +21,7 @@ const focusMode = computed<boolean>({
   get: () => useCameraSettingsStore().isFocusMode,
   set: (v) =>
     useCameraSettingsStore().changeCurrentPipelineIndex(
-      v ? -3 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      v ? WebsocketPipelineType.FocusCamera : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
       true
     )
 });
@@ -65,11 +66,11 @@ const settingsHaveChanged = (): boolean => {
   const a = tempSettingsStruct.value;
   const b = useCameraSettingsStore().currentCameraSettings;
 
-  for (const q in ValidQuirks) {
-    if (a.quirksToChange[q] != b.cameraQuirks.quirks[q]) return true;
+  for (const quirk of Object.values(ValidQuirks)) {
+    if (a.quirksToChange[quirk] !== b.cameraQuirks.quirks[quirk]) return true;
   }
 
-  return a.fov != b.fov.value;
+  return a.fov !== b.fov.value;
 };
 
 const resetTempSettingsStruct = () => {
@@ -120,12 +121,12 @@ watchEffect(() => {
 });
 
 const showDeleteCamera = ref(false);
-const deleteThisCamera = () => {
-  axiosPost("/utils/nukeOneCamera", "delete this camera", {
+const deleteThisCamera = async () => {
+  await axiosPost("/utils/nukeOneCamera", "delete this camera", {
     cameraUniqueName: useStateStore().currentCameraUniqueName
   });
 };
-const wrappedCameras = computed<SelectItem[]>(() =>
+const wrappedCameras = computed<SelectItem<string>[]>(() =>
   Object.keys(useCameraSettingsStore().cameras).map((cameraUniqueName) => ({
     name: useCameraSettingsStore().cameras[cameraUniqueName].nickname,
     value: cameraUniqueName
@@ -159,7 +160,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
         v-model="arducamSelectWrapper"
         label="Arducam Model"
         :items="[
-          { name: 'None', value: 0, disabled: true },
+          { name: 'None', value: 0 },
           { name: 'OV9281', value: 1 },
           { name: 'OV2311', value: 2 },
           { name: 'OV9782', value: 3 }
@@ -177,9 +178,9 @@ const wrappedCameras = computed<SelectItem[]>(() =>
         <v-btn
           block
           size="small"
-          color="primary"
+          color="buttonActive"
           :disabled="!settingsHaveChanged()"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="saveCameraSettings"
         >
           <v-icon start size="large"> mdi-content-save </v-icon>
@@ -191,7 +192,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
           block
           size="small"
           color="error"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="() => (showDeleteCamera = true)"
         >
           <v-icon start size="large"> mdi-trash-can-outline </v-icon>

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

@@ -6,6 +6,7 @@ import { PipelineType } from "@/types/PipelineTypes";
 import { useStateStore } from "@/stores/StateStore";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useTheme } from "vuetify";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
 
 const theme = useTheme();
 
@@ -15,7 +16,7 @@ const driverMode = computed<boolean>({
   get: () => useCameraSettingsStore().isDriverMode,
   set: (v) =>
     useCameraSettingsStore().changeCurrentPipelineIndex(
-      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      v ? WebsocketPipelineType.DriverMode : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
       true
     )
 });
@@ -103,7 +104,7 @@ const fpsTooLow = computed<boolean>(() => {
         <v-btn
           color="buttonPassive"
           class="fill"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           :disabled="
             useCameraSettingsStore().isDriverMode ||
             useCameraSettingsStore().isCalibrationMode ||
@@ -116,7 +117,7 @@ const fpsTooLow = computed<boolean>(() => {
         <v-btn
           color="buttonPassive"
           class="fill"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           :disabled="
             useCameraSettingsStore().isDriverMode ||
             useCameraSettingsStore().isCalibrationMode ||

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

@@ -1,69 +1,51 @@
 <script setup lang="ts">
-import { PVCameraInfo } from "@/types/SettingTypes";
+import type { PVCameraInfo } from "@/types/SettingTypes";
 
-const { camera } = defineProps({
-  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 {};
-};
+const { camera } = defineProps<{ camera: PVCameraInfo }>();
 </script>
 
 <template>
   <div>
     <v-table density="compact" :style="{ backgroundColor: 'var(--v-primary-base)' }">
       <tbody>
-        <tr v-if="cameraInfoFor(camera).dev !== undefined && cameraInfoFor(camera).dev !== null">
+        <tr v-if="'dev' in camera && camera.dev !== null">
           <td>Device Number:</td>
-          <td>{{ cameraInfoFor(camera).dev }}</td>
+          <td>{{ camera.dev }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).name !== undefined && cameraInfoFor(camera).name !== null">
+        <tr v-if="'name' in camera && camera.name !== null">
           <td>Name:</td>
-          <td>{{ cameraInfoFor(camera).name }}</td>
+          <td>{{ camera.name }}</td>
         </tr>
         <tr>
           <td>Type:</td>
-          <td v-if="camera.PVUsbCameraInfo" class="mb-3">USB Camera</td>
-          <td v-else-if="camera.PVCSICameraInfo" class="mb-3">CSI Camera</td>
-          <td v-else-if="camera.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-if="camera.type === '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.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).baseName !== undefined && cameraInfoFor(camera).baseName !== null">
+        <tr v-if="'baseName' in camera && camera.baseName !== null">
           <td>Base Name:</td>
-          <td>{{ cameraInfoFor(camera).baseName }}</td>
+          <td>{{ camera.baseName }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).vendorId !== undefined && cameraInfoFor(camera).vendorId !== null">
+        <tr v-if="'vendorId' in camera && camera.vendorId !== null">
           <td>Vendor ID:</td>
-          <td>{{ cameraInfoFor(camera).vendorId }}</td>
+          <td>{{ camera.vendorId }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).productId !== undefined && cameraInfoFor(camera).productId !== null">
+        <tr v-if="'productId' in camera && camera.productId !== null">
           <td>Product ID:</td>
-          <td>{{ cameraInfoFor(camera).productId }}</td>
+          <td>{{ camera.productId }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).path !== undefined && cameraInfoFor(camera).path !== null">
+        <tr v-if="'path' in camera && camera.path !== null">
           <td>Path:</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(camera).path }}</td>
+          <td style="word-break: break-all">{{ camera.path }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).uniquePath !== undefined && cameraInfoFor(camera).uniquePath !== null">
+        <tr v-if="'uniquePath' in camera && camera.uniquePath !== null">
           <td>Unique Path:</td>
-          <td style="word-break: break-all">{{ cameraInfoFor(camera).uniquePath }}</td>
+          <td style="word-break: break-all">{{ camera.uniquePath }}</td>
         </tr>
-        <tr v-if="cameraInfoFor(camera).otherPaths !== undefined && cameraInfoFor(camera).otherPaths !== null">
+        <tr v-if="'otherPaths' in camera && camera.otherPaths !== null">
           <td>Other Paths:</td>
-          <td>{{ cameraInfoFor(camera).otherPaths }}</td>
+          <td>{{ camera.otherPaths }}</td>
         </tr>
       </tbody>
     </v-table>

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

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { PVCameraInfo } from "@/types/SettingTypes";
+import type { PVCameraInfo } from "@/types/SettingTypes";
 
 function isEqual<T>(a: T, b: T): boolean {
   if (a === b) {
@@ -15,29 +15,7 @@ function isEqual<T>(a: T, b: T): boolean {
   );
 }
 
-const { saved, current } = defineProps({
-  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 {};
-};
+const { saved, current } = defineProps<{ saved: PVCameraInfo; current: PVCameraInfo }>();
 </script>
 
 <template>
@@ -50,79 +28,70 @@ const cameraInfoFor = (camera: PVCameraInfo): any => {
           <th>Current</th>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).dev !== undefined && cameraInfoFor(saved).dev !== null"
-          :class="cameraInfoFor(saved).dev !== cameraInfoFor(current).dev ? 'mismatch' : ''"
+          v-if="'dev' in saved && 'dev' in current && saved.dev !== null"
+          :class="saved.dev !== current.dev ? 'mismatch' : ''"
         >
           <td>Device Number:</td>
-          <td>{{ cameraInfoFor(saved).dev }}</td>
-          <td>{{ cameraInfoFor(current).dev }}</td>
+          <td>{{ saved.dev }}</td>
+          <td>{{ current.dev }}</td>
         </tr>
-        <tr
-          v-if="cameraInfoFor(saved).name !== undefined && cameraInfoFor(saved).name !== null"
-          :class="cameraInfoFor(saved).name !== cameraInfoFor(current).name ? 'mismatch' : ''"
-        >
+        <tr v-if="saved.name !== null" :class="saved.name !== current.name ? 'mismatch' : ''">
           <td>Name:</td>
-          <td>{{ cameraInfoFor(saved).name }}</td>
-          <td>{{ cameraInfoFor(current).name }}</td>
+          <td>{{ saved.name }}</td>
+          <td>{{ current.name }}</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).baseName !== undefined && cameraInfoFor(saved).baseName !== null"
-          :class="cameraInfoFor(saved).baseName !== cameraInfoFor(current).baseName ? 'mismatch' : ''"
+          v-if="'baseName' in saved && 'baseName' in current && saved.baseName !== null"
+          :class="saved.baseName !== current.baseName ? 'mismatch' : ''"
         >
           <td>Base Name:</td>
-          <td>{{ cameraInfoFor(saved).baseName }}</td>
-          <td>{{ cameraInfoFor(current).baseName }}</td>
+          <td>{{ saved.baseName }}</td>
+          <td>{{ current.baseName }}</td>
         </tr>
         <tr>
           <td>Type:</td>
-          <td v-if="saved.PVUsbCameraInfo" class="mb-3">USB Camera</td>
-          <td v-else-if="saved.PVCSICameraInfo" class="mb-3">CSI Camera</td>
-          <td v-else-if="saved.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-if="saved.type === '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.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
-          <td v-if="current.PVUsbCameraInfo" class="mb-3">USB Camera</td>
-          <td v-else-if="current.PVCSICameraInfo" class="mb-3">CSI Camera</td>
-          <td v-else-if="current.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-if="current.type === '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.type === 'PVFileCameraInfo'" class="mb-3">File Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).vendorId !== undefined && cameraInfoFor(saved).vendorId !== null"
-          :class="cameraInfoFor(saved).vendorId !== cameraInfoFor(current).vendorId ? 'mismatch' : ''"
+          v-if="'vendorId' in saved && 'vendorId' in current && saved.vendorId !== null"
+          :class="saved.vendorId !== current.vendorId ? 'mismatch' : ''"
         >
           <td>Vendor ID:</td>
-          <td>{{ cameraInfoFor(saved).vendorId }}</td>
-          <td>{{ cameraInfoFor(current).vendorId }}</td>
+          <td>{{ saved.vendorId }}</td>
+          <td>{{ current.vendorId }}</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).productId !== undefined && cameraInfoFor(saved).productId !== null"
-          :class="cameraInfoFor(saved).productId !== cameraInfoFor(current).productId ? 'mismatch' : ''"
+          v-if="'productId' in saved && 'productId' in current && saved.productId !== null"
+          :class="saved.productId !== current.productId ? 'mismatch' : ''"
         >
           <td>Product ID:</td>
-          <td>{{ cameraInfoFor(saved).productId }}</td>
-          <td>{{ cameraInfoFor(current).productId }}</td>
+          <td>{{ saved.productId }}</td>
+          <td>{{ current.productId }}</td>
         </tr>
-        <tr
-          v-if="cameraInfoFor(saved).path !== undefined && cameraInfoFor(saved).path !== null"
-          :class="cameraInfoFor(saved).path !== cameraInfoFor(current).path ? 'mismatch' : ''"
-        >
+        <tr v-if="saved.path !== null" :class="saved.path !== 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>
+          <td style="word-break: break-all">{{ saved.path }}</td>
+          <td style="word-break: break-all">{{ current.path }}</td>
         </tr>
-        <tr
-          v-if="cameraInfoFor(saved).uniquePath !== undefined && cameraInfoFor(saved).uniquePath !== null"
-          :class="cameraInfoFor(saved).uniquePath !== cameraInfoFor(current).uniquePath ? 'mismatch' : ''"
-        >
+        <tr v-if="saved.uniquePath !== null" :class="saved.uniquePath !== 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>
+          <td style="word-break: break-all">{{ saved.uniquePath }}</td>
+          <td style="word-break: break-all">{{ current.uniquePath }}</td>
         </tr>
         <tr
-          v-if="cameraInfoFor(saved).otherPaths !== undefined && cameraInfoFor(saved).otherPaths !== null"
-          :class="isEqual(cameraInfoFor(saved).otherPaths, cameraInfoFor(current).otherPaths) ? '' : 'mismatch'"
+          v-if="'otherPaths' in saved && 'otherPaths' in current && saved.otherPaths !== null"
+          :class="isEqual(saved.otherPaths, current.otherPaths) ? '' : 'mismatch'"
         >
           <td>Other Paths:</td>
-          <td>{{ cameraInfoFor(saved).otherPaths }}</td>
-          <td>{{ cameraInfoFor(current).otherPaths }}</td>
+          <td>{{ saved.otherPaths }}</td>
+          <td>{{ current.otherPaths }}</td>
         </tr>
       </tbody>
     </v-table>

photon-client/src/components/common/pv-delete-modal.vue

@@ -49,7 +49,7 @@ const confirmationText = ref("");
               color="buttonActive"
               style="float: right"
               width="100%"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="onBackup"
             >
               <v-icon start class="open-icon" size="large"> mdi-export </v-icon>
@@ -65,7 +65,7 @@ const confirmationText = ref("");
                   ? confirmationText.toLowerCase() !== expectedConfirmationText.toLowerCase()
                   : false
               "
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="
                 onConfirm();
                 confirmationText = '';

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

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

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

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

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

@@ -18,16 +18,22 @@ const props = withDefaults(
 const emit = defineEmits<{ (e: "update:modelValue", value: number): void }>();
 
 // Debounce function
-function debounce(func: (...args: any[]) => void, wait: number) {
+function debounce(func: (...args: number[]) => void, wait: number) {
   let timeout: ReturnType<typeof setTimeout>;
-  return function (...args: any[]) {
+  return function (...args: number[]) {
     clearTimeout(timeout);
-    timeout = setTimeout(() => func.apply(this, args), wait);
+    timeout = setTimeout(() => func(...args), wait);
   };
 }
 
 const debouncedEmit = debounce((v: number) => {
-  emit("update:modelValue", v);
+  if (v < props.min) {
+    emit("update:modelValue", props.min);
+  } else if (v > props.max) {
+    emit("update:modelValue", props.max);
+  } else {
+    emit("update:modelValue", v);
+  }
 }, 20);
 
 const localValue = computed({

photon-client/src/components/common/pv-tooltipped-label.vue

@@ -2,14 +2,19 @@
 defineProps<{
   label?: string;
   tooltip?: string;
+  icon?: string;
+  location?: "top" | "bottom" | "left" | "right";
 }>();
 </script>
 
 <template>
   <div>
-    <v-tooltip :disabled="tooltip === undefined" location="right" open-delay="300">
+    <v-tooltip :disabled="tooltip === undefined" :location="location ?? 'right'" open-delay="300">
       <template #activator="{ props }">
         <span style="cursor: text !important" class="text-white" v-bind="props">{{ label }}</span>
+        <v-icon v-if="icon" small class="ml-2" color="primary" v-bind="props">
+          {{ icon }}
+        </v-icon>
       </template>
       <span>{{ tooltip }}</span>
     </v-tooltip>

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

@@ -13,28 +13,6 @@ import PvDeleteModal from "@/components/common/pv-delete-modal.vue";
 
 const theme = useTheme();
 
-const changeCurrentCameraUniqueName = (cameraUniqueName: string) => {
-  useCameraSettingsStore().setCurrentCameraUniqueName(cameraUniqueName, true);
-
-  switch (useCameraSettingsStore().cameras[cameraUniqueName].pipelineSettings.pipelineType) {
-    case PipelineType.Reflective:
-      pipelineType.value = WebsocketPipelineType.Reflective;
-      break;
-    case PipelineType.ColoredShape:
-      pipelineType.value = WebsocketPipelineType.ColoredShape;
-      break;
-    case PipelineType.AprilTag:
-      pipelineType.value = WebsocketPipelineType.AprilTag;
-      break;
-    case PipelineType.Aruco:
-      pipelineType.value = WebsocketPipelineType.Aruco;
-      break;
-    case PipelineType.ObjectDetection:
-      pipelineType.value = WebsocketPipelineType.ObjectDetection;
-      break;
-  }
-};
-
 // Common RegEx used for naming both pipelines and cameras
 const nameChangeRegex = /^[A-Za-z0-9_ \-)(]*[A-Za-z0-9][A-Za-z0-9_ \-)(.]*$/;
 
@@ -87,17 +65,17 @@ const cancelCameraNameEdit = () => {
 };
 
 // Pipeline Name Edit
-const pipelineNamesWrapper = computed<SelectItem[]>(() => {
+const pipelineNamesWrapper = computed(() => {
   const pipelineNames = useCameraSettingsStore().pipelineNames.map((name, index) => ({ name: name, value: index }));
 
   if (useCameraSettingsStore().isDriverMode) {
-    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
+    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode.valueOf() });
   }
   if (useCameraSettingsStore().isFocusMode) {
-    pipelineNames.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera });
+    pipelineNames.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera.valueOf() });
   }
   if (useCameraSettingsStore().isCalibrationMode) {
-    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
+    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d.valueOf() });
   }
 
   return pipelineNames;
@@ -240,7 +218,7 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
       break;
   }
 });
-const wrappedCameras = computed<SelectItem[]>(() =>
+const wrappedCameras = computed<SelectItem<string>[]>(() =>
   Object.keys(useCameraSettingsStore().cameras).map((cameraUniqueName) => ({
     name: useCameraSettingsStore().cameras[cameraUniqueName].nickname,
     value: cameraUniqueName
@@ -257,7 +235,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
           v-model="useStateStore().currentCameraUniqueName"
           label="Camera"
           :items="wrappedCameras"
-          @update:modelValue="changeCurrentCameraUniqueName"
+          @update:modelValue="pipelineType = useCameraSettingsStore().currentWebsocketPipelineType"
         />
         <pv-input
           v-else
@@ -407,14 +385,14 @@ const wrappedCameras = computed<SelectItem[]>(() =>
         <v-card-actions class="pr-5 pt-10px pb-5">
           <v-btn
             color="buttonPassive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="cancelPipelineCreation"
           >
             Cancel
           </v-btn>
           <v-btn
             color="buttonActive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             :disabled="checkPipelineName(newPipelineName) !== true"
             @click="createNewPipeline"
           >
@@ -441,7 +419,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
         <v-card-actions class="pa-5 pt-0">
           <v-btn
             color="buttonPassive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             class="text-black"
             @click="cancelChangePipelineType"
           >
@@ -449,7 +427,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
           </v-btn>
           <v-btn
             color="buttonActive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="confirmChangePipelineType"
           >
             Confirm

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

@@ -13,9 +13,9 @@ import OutputTab from "@/components/dashboard/tabs/OutputTab.vue";
 import TargetsTab from "@/components/dashboard/tabs/TargetsTab.vue";
 import PnPTab from "@/components/dashboard/tabs/PnPTab.vue";
 import Map3DTab from "@/components/dashboard/tabs/Map3DTab.vue";
+import { PipelineType } from "@/types/PipelineTypes";
 import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
-import { useDisplay } from "vuetify/lib/composables/display";
-import { useTheme } from "vuetify";
+import { useDisplay, useTheme } from "vuetify";
 
 const theme = useTheme();
 
@@ -106,6 +106,17 @@ const tabGroups = computed<ConfigOption[][]>(() => {
     .filter((it) => it.length); // Remove empty tab groups
 });
 
+// This boolean is used to satisfy type-checking requirements.
+const shouldUseWideSecondTabGroup = computed(() => {
+  const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+
+  return (
+    (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+      currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+    currentPipelineSettings.doMultiTarget
+  );
+});
+
 const onBeforeTabUpdate = () => {
   // Force the current tab to the input tab on driver mode change
   if (useCameraSettingsStore().isDriverMode) {
@@ -122,14 +133,14 @@ const onBeforeTabUpdate = () => {
         density="compact"
         text="Camera is not connected. Please check your connection and try again."
         icon="mdi-alert-circle-outline"
-        :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+        :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
       />
     </template>
     <template v-else>
       <v-col
         v-for="(tabGroupData, tabGroupIndex) in tabGroups"
         :key="tabGroupIndex"
-        :cols="tabGroupIndex == 1 && useCameraSettingsStore().currentPipelineSettings.doMultiTarget ? 7 : ''"
+        :cols="tabGroupIndex === 1 && shouldUseWideSecondTabGroup ? 7 : ''"
         :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
         @vue:before-update="onBeforeTabUpdate"
       >

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

@@ -35,7 +35,7 @@ const processingMode = computed<number>({
           <v-btn
             color="buttonPassive"
             :disabled="!useCameraSettingsStore().hasConnected"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             class="w-50"
           >
             <template #prepend>
@@ -48,10 +48,10 @@ const processingMode = computed<number>({
             :disabled="
               !useCameraSettingsStore().hasConnected ||
               !useCameraSettingsStore().isCurrentVideoFormatCalibrated ||
-              useCameraSettingsStore().currentPipelineSettings.pipelineType == PipelineType.ObjectDetection ||
-              useCameraSettingsStore().currentPipelineSettings.pipelineType == PipelineType.ColoredShape
+              useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.ObjectDetection ||
+              useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.ColoredShape
             "
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             class="w-50"
           >
             <template #prepend>
@@ -69,7 +69,7 @@ const processingMode = computed<number>({
           <v-btn
             color="buttonPassive"
             class="fill w-50"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           >
             <v-icon start class="mode-btn-icon" size="large">mdi-import</v-icon>
             <span class="mode-btn-label">Raw</span>
@@ -77,7 +77,7 @@ const processingMode = computed<number>({
           <v-btn
             color="buttonPassive"
             class="fill w-50"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           >
             <v-icon start class="mode-btn-icon" size="large">mdi-export</v-icon>
             <span class="mode-btn-label">Processed</span>