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>

.clang-format

@@ -68,19 +68,26 @@ ForEachMacros:
   - BOOST_FOREACH
 IncludeBlocks:   Regroup
 IncludeCategories:
-  - Regex:           '^<ext/.*\.h>'
-    Priority:        2
-    SortPriority:    0
-  - Regex:           '^<.*\.h>'
-    Priority:        1
-    SortPriority:    0
-  - Regex:           '^<.*'
-    Priority:        2
-    SortPriority:    0
-  - Regex:           '.*'
-    Priority:        3
-    SortPriority:    0
-IncludeIsMainRegex: '([-_](test|unittest))?$'
+  # C standard library headers
+  #
+  # https://en.cppreference.com/w/cpp/header:
+  #  * C compatibility headers
+  #  * Special C compatibility headers
+  #  * Empty C headers
+  #  * Meaningless C headers
+  #  * Unsupported C headers
+  - Regex:        '^<(assert\.h|ctype\.h|errno\.h|fenv\.h|float\.h|inttypes\.h|limits\.h|locale\.h|math\.h|setjmp\.h|signal\.h|stdarg\.h|stddef\.h|stdint\.h|stdio\.h|stdlib\.h|string\.h|time\.h|uchar\.h|wchar\.h|wctype\.h|stdatomic\.h|ccomplex|complex\.h|ctgmath|tgmath\.h|ciso646|cstdalign|cstdbool|iso646\.h|stdalign\.h|stdbool\.h|stdatomic\.h|stdnoreturn\.h|threads\.h)>'
+    Priority:     1
+  # C++ standard library headers (lowercase and underscores with no .h suffix)
+  - Regex:        '^<[a-z_]+>'
+    Priority:     2
+  # Other library headers (angle brackets)
+  - Regex:        '^<.*'
+    Priority:     3
+  # Project headers (double quotes)
+  - Regex:        '^".*'
+    Priority:     4
+IncludeIsMainRegex: '(Test|_test)?$'
 IncludeIsMainSourceRegex: ''
 IndentCaseLabels: true
 IndentGotoLabels: true
@@ -136,7 +143,7 @@ RawStringFormats:
     CanonicalDelimiter: ''
     BasedOnStyle:    google
 ReflowComments:  true
-SortIncludes:    false
+SortIncludes:    true
 SortUsingDeclarations: true
 SpaceAfterCStyleCast: false
 SpaceAfterLogicalNot: false

.gitattributes

@@ -35,3 +35,6 @@
 *.so binary
 *.dll binary
 *.webp binary
+
+# autogenerated constrained solve pnp code
+photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/**/* linguist-generated

.github/CODEOWNERS

@@ -1,2 +1,6 @@
 # These owners will be the default owners for everything in the repo.
 *	@PhotonVision/program-devs
+docs/* @PhotonVision/doc-maintainers
+photonlib-java-examples/* @PhotonVision/doc-maintainers
+photonlib-cpp-examples/* @PhotonVision/doc-maintainers
+photonlib-python-examples/* @PhotonVision/doc-maintainers

.github/ISSUE_TEMPLATE/bug_report.md

@@ -22,6 +22,7 @@ If applicable, add screenshots to help explain your problem. Additionally, provi
 
 **Platform:**
  - Hardware Platform (ex. Raspberry Pi 4, Windows x64):
+   - How is it powered? (ex. Zinc-V, Pololu Buck Converter, Battery Bank):
  - Network Configuration (Connection between the Radio and any devices in between, such as a Network Switch):
  - PhotonVision Version:
  - Browser (with Version) (Chrome, Edge, Firefox, etc.):

.github/ISSUE_TEMPLATE/docs_issue.md

@@ -0,0 +1,17 @@
+---
+name: Documentation Request
+about: Something needs to be documented/updated in the documentation
+title: ''
+labels: documentation
+assignees: ''
+
+---
+
+**Are you requesting documentation for a new feature, or updated documentation for an old feature?**
+Put the feature you are requesting documentation for here, along with whether the documentation is stale and needs to be updated, or whether the documentation does not exist, and needs to be created.
+
+**Where is it?**
+Put the location of the documentation that needs to be updated here.  If you're requesting documenation for a new feature, put where you think it should go.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/labeler.yml

@@ -0,0 +1,15 @@
+"backend":
+  - changed-files:
+      - any-glob-to-any-file: [photon-core/**, photon-server/**]
+"documentation":
+  - changed-files:
+      - any-glob-to-any-file: [docs/**, photon-docs/**]
+"frontend":
+  - changed-files:
+      - any-glob-to-any-file: photon-client/**
+"photonlib":
+  - changed-files:
+      - any-glob-to-any-file: photon-lib*/**
+"website":
+  - changed-files:
+      - any-glob-to-any-file: website/**

.github/pull_request_template.md

@@ -0,0 +1,19 @@
+## Description
+
+What changed? Why? (the code + comments should speak for itself on the "how")
+
+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`.
+
+## 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_, 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

.github/workflows/build.yml

@@ -1,332 +1,677 @@
 name: Build
 
 on:
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ master ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ master ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  IMAGE_VERSION: v2027.0.0
 
 jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
+
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-  build-examples:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
+
+  # build-examples:
+
+  #     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
+        uses: actions/checkout@v6
+      - name: Install pnpm
+        uses: pnpm/action-setup@v5
         with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
         with:
-          java-version: 17
+          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
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
-      - name: Publish photonlib to maven local
+      - 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: |
-          chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
+          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-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
-      # Checkout code.
       - 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@v3
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+      - 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: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+        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/checkout@v6
+      - uses: actions/setup-python@v6
         with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
+          python-version: 3.14
+      - name: Install graphviz
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install graphviz
       - name: Install dependencies
+        working-directory: docs
         run: |
           python -m pip install --upgrade pip
           pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
           pip install -r requirements.txt
       - name: Build the docs
+        working-directory: docs
         run: |
           make html
-      - uses: actions/upload-artifact@master
+      - uses: actions/upload-artifact@v7
         with:
           name: built-docs
-          path: build/html
+          path: docs/build/html
+
+  build-photonlib-vendorjson:
+    name: "Build Vendor JSON"
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - uses: actions/setup-java@v5
+        with:
+          java-version: 25
+          distribution: temurin
+
+      # grab all tags
+      - run: git fetch --tags --force
+
+      # Generate the JSON and give it the ""standard""" name maven gives it
+      - run: |
+          ./gradlew photon-lib:generateVendorJson
+          export VERSION=$(git describe --tags --match=v*)
+          mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json
+
+      # Upload it here so it shows up in releases
+      - uses: actions/upload-artifact@v7
+        with:
+          archive: false
+          path: photon-lib/build/generated/vendordeps/photonlib-*.json
+
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 12
+      MACOSX_DEPLOYMENT_TARGET: 14
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2022
-            artifact-name: Win64
-            architecture: x64
-          - os: macos-12
-            artifact-name: macOS
-            architecture: x64
-          - 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
       - run: git fetch --tags --force
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
+      - run: ./gradlew photon-targeting:build photon-lib:build
+        name: Build with Gradle
       - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+      # Copy artifacts to build/outputs/maven
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
+      - uses: actions/upload-artifact@v7
+        with:
+          name: maven-${{ matrix.artifact-name }}
+          path: build/outputs
+
   build-photonlib-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
-            artifact-name: Athena
-          - 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
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            build-options: "-Ponlylinuxarm32"
+          - 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
         run: |
           git config --global --add safe.directory /__w/photonvision/photonvision
       - name: Build PhotonLib
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
+        # We don't need to run tests, since we specify only non-native platforms
+        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
       - name: Publish
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:publish
+        run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
+        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 ${{ matrix.build-options }}
+      - uses: actions/upload-artifact@v7
+        with:
+          name: maven-${{ matrix.artifact-name }}
+          path: build/outputs
+
+  combine:
+    name: Combine
+    needs: [build-photonlib-docker, build-photonlib-host]
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - run: git fetch --tags --force
+      # download all maven-* artifacts to outputs/
+      - uses: actions/download-artifact@v8
+        with:
+          merge-multiple: true
+          path: output
+          pattern: maven-*
+      - run: find .
+      - run: zip -r photonlib-$(git describe --tags --match=v*).zip .
+        name: ZIP stuff up
+        working-directory: output
+      - run: ls output
+      - uses: actions/upload-artifact@v7
+        with:
+          name: photonlib-offline
+          path: output/*.zip
+
+  build-package-linux:
+    needs: [build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
+            artifact-name: Linux
+            arch-override: linuxx86-64
+          - os: ubuntu-24.04
+            artifact-name: LinuxArm64
+            arch-override: linuxarm64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps: &build-package-steps
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - 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:
+          node-version: 24
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+      - name: Install Arm64 Toolchain
+        run: ./gradlew installArm64Toolchain
+        if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
+      - uses: actions/download-artifact@v8
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+      - run: ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
+        if: ${{ (matrix.arch-override != 'none') }}
+      - run: ./gradlew photon-server:shadowJar
+        if: ${{ (matrix.arch-override == 'none') }}
+      - uses: actions/upload-artifact@v7
+        with:
+          archive: false
+          path: photon-server/build/libs
+      - uses: actions/upload-artifact@v7
+        with:
+          name: photon-targeting_jar-${{ matrix.artifact-name }}
+          path: photon-targeting/build/libs
+
+  build-package-macos:
+    needs: [build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - 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: Win64
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-latest
-            artifact-name: LinuxArm32
-            architecture: x64
-            arch-override: linuxarm32
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            architecture: x64
-            arch-override: linuxarm64
+            artifact-name: Win
+            arch-override: winx86-64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
 
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: |
-          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p photon-server/src/main/resources/web/docs
-        if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: |
-          del photon-server\src\main\resources\web\*.*
-          mkdir photon-server\src\main\resources\web\docs
-        if: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
-        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
-        if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-          path: photon-server/build/libs
-  build-image:
-    needs: [build-package]
+    steps: *build-package-steps
 
-    if: ${{ github.event_name != 'pull_request' }}
+  run-smoketest-native:
+    needs: [build-package-linux, build-package-macos, build-package-windows]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+          - os: ubuntu-24.04
+            artifact-name: photonvision-*-linuxx86-64.jar
+            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
+          - os: windows-latest
+            artifact-name: photonvision-*-winx86-64.jar
+          - os: macos-latest
+            artifact-name: photonvision-*-macarm64.jar
+          - os: ubuntu-24.04-arm
+            artifact-name: photonvision-*-linuxarm64.jar
+
 
     runs-on: ${{ matrix.os }}
-    name: "Build image - ${{ matrix.image_url }}"
+
+    steps:
+      - uses: actions/setup-java@v5
+        with:
+          java-version: 25
+          distribution: temurin
+      - uses: actions/download-artifact@v8
+        with:
+          pattern: ${{ matrix.artifact-name }}
+      # The jar is run twice to exercise different code paths.
+      - run: |
+          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 }
+          ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
+        if: ${{ (matrix.os) == 'windows-latest' }}
+
+  build-image:
+    needs: [build-package-linux]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04-arm
+            image_suffix: RaspberryPi
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
+            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/$IMAGE_VERSION/photonvision_limelight.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
+            image_suffix: limelight3
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
+            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/$IMAGE_VERSION/photonvision_limelight3g.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
+            image_suffix: limelight4
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
+            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/$IMAGE_VERSION/photonvision_luma_p1.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
+            image_suffix: orangepi5
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
+            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/$IMAGE_VERSION/photonvision_opi5b.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            image_suffix: orangepi5plus
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
+            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/$IMAGE_VERSION/photonvision_opi5pro.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            image_suffix: orangepi5max
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
+            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/$IMAGE_VERSION/photonvision_rock5c.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            image_suffix: rubikpi3
+            plat_override: LINUX_QCS6490
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$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 }}
-      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - name: Generate image
+          pattern: photonvision-*-linuxarm64.jar
+      - uses: photonvision/photon-image-runner@HEAD
+        name: Generate image
+        id: generate_image
+        with:
+          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: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
-      - uses: actions/upload-artifact@v4
-        name: Upload image
+          set -ex
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          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
+
+      - name: Tar built image (Rubik)
+        # Build the RubikPi3-specific tar file
+        if: ${{ startsWith(matrix.image_suffix, 'rubik') }}
+        run: |
+          set -ex
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          tardir=$(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 }}" >> $GITHUB_ENV
+
+      - uses: actions/upload-artifact@v7
         with:
-          name: image-${{ matrix.image_suffix }}
+          archive: false
           path: photonvision*.xz
-  release:
-    needs: [build-package, build-image]
-    runs-on: ubuntu-22.04
+
+        # 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:
-      # Download literally every single artifact. This also downloads client and docs,
-      # but the filtering below won't pick these up (I hope)
-      - uses: actions/download-artifact@v4
+      - run: ${{!contains(needs.*.result, 'failure')}}
+
+  release:
+    # 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@v8
+        with:
+          merge-multiple: true
+          pattern: photonvision-*.jar
+      # Download offline photonlib
+      - uses: actions/download-artifact@v8
+        with:
+          merge-multiple: true
+          pattern: photonlib-offline
+      # Download vendor json
+      - uses: actions/download-artifact@v8
+        with:
+          pattern: photonlib-*.json
+      # Download all images
+      - uses: actions/download-artifact@v8
+        with:
+          merge-multiple: true
+          pattern: photonvision-*.xz
+
       - run: find
       # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
+      - uses: pyTooling/Actions/releaser@r6
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
           tag: 'Dev'
           rm: true
+          snapshots: false
           files: |
             **/*.xz
-            **/*.jar
+            **/*linux*.jar
+            **/*win*.jar
+            **/photonlib*.json
+            **/photonlib*.zip
         if: github.event_name == 'push'
-      # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
+      - name: Create Vendor JSON Repo PR
+        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
         with:
-          files: |
-            **/*.xz
-            **/*.jar
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          repo: PhotonVision/vendor-json-repo
+          token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
+          vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
+          pr_title: Update photonlib to ${{ github.ref_name }}
+          pr_branch: photonlib-${{ github.ref_name }}
+        if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')

.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/documentation.yml

@@ -1,92 +0,0 @@
-name: Documentation
-
-on:
-  push:
-    # For now, run on all commits to master
-    branches: [ master ]
-    # and also all tags starting with v
-    tags:
-      - 'v*'
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build-demo
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-
-  run_docs:
-    runs-on: "ubuntu-22.04"
-    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@v3
-      with:
-        java-version: 17
-        distribution: temurin
-
-    - name: Build javadocs/doxygen
-      run: |
-        chmod +x gradlew
-        ./gradlew docs:generateJavaDocs docs:doxygen
-
-    - uses: actions/upload-artifact@v4
-      with:
-        name: built-docs
-        path: docs/build/docs
-
-  release:
-    needs: [build-client, run_docs]
-
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-
-    runs-on: ubuntu-22.04
-    steps:
-
-      # Download literally every single artifact.
-      - uses: actions/download-artifact@v4
-
-      - run: find .
-
-      - name: Setup Pages
-        uses: actions/configure-pages@v4
-      - name: Upload artifact
-        uses: actions/upload-pages-artifact@v3
-        with:
-          # Upload entire repository
-          path: '.'
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v4

.github/workflows/labeler.yml

@@ -0,0 +1,14 @@
+name: "Pull Request Labeler"
+on:
+  - pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v6
+        with:
+          sync-labels: true

.github/workflows/lint-format.yml

@@ -1,88 +1,111 @@
 name: Lint and Format
 
 on:
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ master ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ master ]
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - 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@v3
+      - uses: actions/checkout@v6
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
-          git branch -f master origin/master
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+          git branch -f main origin/main
+      - name: Set up Python
+        uses: actions/setup-python@v6
         with:
-          python-version: 3.8
+          python-version: 3.14
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        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@v3
+      - uses: actions/upload-artifact@v7
         with:
-          name: wpiformat fixes
+          archive: false
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
   javaformat:
     name: "Java Formatting"
-    runs-on: ubuntu-22.04
+    needs: [validation]
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 25
           distribution: temurin
       - run: |
-          chmod +x gradlew
+          set +e
           ./gradlew spotlessCheck
-
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
+        name: Run spotless
   client-lint-format:
     name: "PhotonClient Lint and Formatting"
     defaults:
       run:
         working-directory: photon-client
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v3
-      - name: Setup Node.js
-        uses: actions/setup-node@v3
+      - uses: actions/checkout@v6
+      - name: Install pnpm
+        uses: pnpm/action-setup@v5
         with:
-          node-version: 18
+          version: 10
+      - uses: actions/setup-node@v6
+        with:
+          node-version: 24
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies
-        run: npm ci
+        run: pnpm i --frozen-lockfile
       - name: Check Linting
-        run: npm run lint-ci
-      - name: Check Formatting
-        run: npm run format-ci
-  server-index:
-    name: "Check server index.html not changed"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f master origin/master
-      - name: Check index.html not changed
-        run: git --no-pager diff --exit-code origin/master photon-server/src/main/resources/web/index.html
+          set +e
+          pnpm run lint-ci
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
+      - name: Check Formatting
+        run: |
+          set +e
+          pnpm run format-ci
+          exit_code=$?
+          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

@@ -0,0 +1,117 @@
+name: Photon API Documentation
+
+on:
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
+  push:
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - 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-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - uses: pnpm/action-setup@v5
+        with:
+          version: 10
+      - uses: actions/setup-node@v6
+        with:
+          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@v7
+        with:
+          name: built-demo
+          path: photon-client/dist/
+
+  run_java_cpp_docs:
+    name: Build Java and C++ API Docs
+    needs: [validation]
+    runs-on: "ubuntu-24.04"
+    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: Build javadocs/doxygen
+      run: |
+        chmod +x gradlew
+        ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
+    - uses: actions/upload-artifact@v7
+      with:
+        name: docs-java-cpp
+        path: photon-docs/build/docs
+
+  publish_api_docs:
+    name: Publish API Docs
+    needs: [run_java_cpp_docs]
+    runs-on: ubuntu-24.04
+    steps:
+      # Download docs artifact
+      - uses: actions/download-artifact@v8
+        with:
+          pattern: docs-*
+      - run: find .
+      - name: Publish Docs To Development
+        if: github.ref == 'refs/heads/main'
+        uses: up9cloud/action-rsync@v1.4
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{secrets.WEBMASTER_SSH_KEY}}
+          TARGET: /var/www/html/photonvision-docs/development/
+      - name: Publish Docs To Release
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: up9cloud/action-rsync@v1.4
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
+          TARGET: /var/www/html/photonvision-docs/release/
+
+  publish_demo:
+      name: Publish PhotonClient Demo
+      needs: [build_demo]
+      runs-on: ubuntu-24.04
+      steps:
+      - uses: actions/download-artifact@v8
+        with:
+          name: built-demo
+      - run: find .
+      - name: Publish demo
+        if: github.ref == 'refs/heads/main'
+        uses: up9cloud/action-rsync@v1.4
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
+          TARGET: /var/www/html/photonvision-demo

.github/workflows/photonvision-rtd.yml

@@ -0,0 +1,51 @@
+name: PhotonVision ReadTheDocs Checks
+
+on:
+  push:
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+jobs:
+  build:
+    name: Build and Check Docs
+    runs-on: ubuntu-24.04
+
+    steps:
+    - uses: actions/checkout@v6
+
+    - uses: actions/setup-python@v6
+      with:
+        python-version: 3.14
+
+    - name: Install and upgrade pip
+      run: python -m pip install --upgrade pip
+
+    - name: Install graphviz
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install graphviz
+
+    - name: Install Python dependencies
+      working-directory: docs
+      run: |
+        pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
+        pip install -r requirements.txt
+
+    - name: Check links
+      working-directory: docs
+      run: make linkcheck
+      continue-on-error: true
+
+    - name: Check lint
+      working-directory: docs
+      run: make lint
+
+    - name: Compile HTML
+      working-directory: docs
+      run: make html

.github/workflows/python.yml

@@ -5,56 +5,142 @@ permissions:
 
 on:
   push:
-    branches: [ master ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ master ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
 
 jobs:
-  buildAndDeploy:
-    runs-on: ubuntu-latest
+  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
+          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
-
+        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

@@ -0,0 +1,62 @@
+name: Website
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  rsync:
+    name: Build and Sync Files
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install pnpm
+        uses: pnpm/action-setup@v5
+        with:
+          version: 10
+      - uses: actions/setup-node@v6
+        with:
+          node-version: 24
+          cache: pnpm
+          cache-dependency-path: website/pnpm-lock.yaml
+      - name: Install packages
+        run: pnpm i --frozen-lockfile
+        working-directory: website
+      - name: Build project
+        run: pnpm run build
+        working-directory: website
+      - uses: up9cloud/action-rsync@v1.4
+        if: github.ref == 'refs/heads/main'
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{secrets.WEBMASTER_SSH_KEY}}
+          SOURCE: website/dist/*
+          TARGET: /var/www/html/photonvision-website
+
+  format-check:
+    name: Check Formatting
+    defaults:
+      run:
+        working-directory: website
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: pnpm/action-setup@v5
+        with:
+          version: 10
+      - uses: actions/setup-node@v6
+        with:
+          node-version: 24
+          cache: pnpm
+          cache-dependency-path: website/pnpm-lock.yaml
+      - name: Install Packages
+        run: pnpm i --frozen-lockfile
+      - run: |
+          set +e
+          pnpm run format-ci
+          exit_code=$?
+          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

@@ -1,19 +1,14 @@
-Python/__pycache__/WebSiteHandler\.cpython-37\.pyc
-
 \.idea/
 
 *.pyc
-
-Python/app/__pycache__/
-
-Python/app/handlers/__pycache__/
-
-\.vscode/
+__pycache__/
 
 /.vs
-
 backend/settings/
-/.vscode/
+.vscode/*
+!.vscode/settings.json
+# Docs
+_build
 # Compiled class file
 *.class
 
@@ -109,7 +104,6 @@ fabric.properties
 
 # Temporary build files
 **/.gradle
-**/target
 **/src/main/java/META-INF
 **/.settings
 **/.classpath
@@ -125,33 +119,16 @@ compile_commands.json
 .clangd/
 .cache/
 
-New client/photon-client/*
-
 *.prefs
 *.jfr
 .DS_Store
 # *.iml
-photon-server/build
-photon-server/photon-vision
-photon-server/src/main/resources/web
-photon-server/src/main/java/org/photonvision/PhotonVersion.java
-photon-server/src/main/generated/native/include/org_photonvision_raspi_PicamJNI.h
 *.bin
 .gradle
 .gradle/*
 photonvision_config
-build/spotlessJava
-build/*
-build
-photon-lib/src/main/java/org/photonvision/PhotonVersion.java
-photon-lib/bin/main/images/*
-/photonlib-java-examples/bin/
-photon-lib/src/generate/native/include/PhotonVersion.h
-.gitattributes
-lib/*
-photon-server/lib/libapriltag.so
-photon-server/bin/main/nativelibraries/apriltag/*
-photon-server/src/main/resources/nativelibraries/apriltag/*
+bin*/
+build*/
 
 photonlib-java-examples/*/vendordeps/*
 photonlib-cpp-examples/*/vendordeps/*
@@ -161,6 +138,28 @@ photonlib-cpp-examples/*/vendordeps/*
 photonlib-cpp-examples/*/networktables.json.bck
 photonlib-java-examples/*/networktables.json.bck
 *.sqlite
+venv
+.venv/*
+.venv
+networktables.json
+# Web stuff
+photon-server/src/main/resources/web/*
+node_modules
+dist
+dist-ssr
+components.d.ts
 photon-server/src/main/resources/web/index.html
 
-venv
+# 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

@@ -0,0 +1 @@
+3.14

.readthedocs.yaml

@@ -0,0 +1,30 @@
+version: 2
+
+sphinx:
+  builder: html
+  configuration: docs/source/conf.py
+  fail_on_warning: true
+
+build:
+  os: ubuntu-24.04
+  tools:
+    python: "3.12"
+  apt_packages:
+    - graphviz
+  jobs:
+    post_checkout:
+      # Cancel building pull requests when there aren't changed in the docs directory or YAML file.
+      # You can add any other files or directories that you'd like here as well,
+      # like your docs requirements file, or other files that will change your docs build.
+      #
+      # If there are no changes (git diff exits with 0) we force the command to return with 183.
+      # This is a special exit code on Read the Docs that will cancel the build immediately.
+      - |
+        if [ "$READTHEDOCS_VERSION_TYPE" = "external" ] && git diff --quiet origin/master -- docs/ .readthedocs.yaml;
+        then
+          exit 183;
+        fi
+
+python:
+  install:
+    - requirements: docs/requirements.txt

.styleguide

@@ -1,33 +0,0 @@
-cppHeaderFileInclude {
-  \.h$
-  \.hpp$
-  \.inc$
-  \.inl$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-modifiableFileExclude {
-  \.jpg$
-  \.jpeg$
-  \.png$
-  \.gif$
-  \.so$
-  \.dll$
-  \.webp$
-  \.ico$
-  gradlew
-}
-
-includeProject {
-  ^photonLib/
-}
-
-includeOtherLibs {
-  ^frc/
-  ^networktables/
-  ^units/
-  ^wpi/
-}

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true,
+    "python.testing.cwd": "photon-lib/py",
+    "java.configuration.updateBuildConfiguration": "automatic"
+}

.wpiformat

@@ -0,0 +1,13 @@
+cppHeaderFileInclude {
+  \.h$
+}
+
+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
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+      to the Licensor or its representatives, including but not limited to
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+      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
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+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
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+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
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+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
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+      meet the following conditions:
+
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+          Derivative Works a copy of this License; and
+
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+          stating that You changed the files; and
+
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+          that such additional attribution notices cannot be construed
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+
+      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
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+      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,
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+      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.
+
+      "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 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
+
+       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/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
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+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
+
+   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,
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ExternalLicenses/Ultralytics-License

@@ -0,0 +1,661 @@
+                    GNU AFFERO GENERAL PUBLIC LICENSE
+                       Version 3, 19 November 2007
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+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Remote Network Interaction; Use with the GNU General Public License.
+
+  Notwithstanding any other provision of this License, if you modify the
+Program, your modified version must prominently offer all users
+interacting with it remotely through a computer network (if your version
+supports such interaction) an opportunity to receive the Corresponding
+Source of your version by providing access to the Corresponding Source
+from a network server at no charge, through some standard or customary
+means of facilitating copying of software.  This Corresponding Source
+shall include the Corresponding Source for any work covered by version 3
+of the GNU General Public License that is incorporated pursuant to the
+following paragraph.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the work with which it is combined will remain governed by version
+3 of the GNU General Public License.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU Affero General Public License from time to time.  Such new versions
+will be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU Affero General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU Affero General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU Affero General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Affero General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Affero General Public License for more details.
+
+    You should have received a copy of the GNU Affero General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If your software can interact with users remotely through a computer
+network, you should also make sure that it provides a way for users to
+get its source.  For example, if your program is a web application, its
+interface could display a "Source" link that leads users to an archive
+of the code.  There are many ways you could offer source, and different
+solutions will be better for different programs; see section 13 for the
+specific requirements.
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU AGPL, see
+<https://www.gnu.org/licenses/>.

ExternalLicenses/WPILib-License

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

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
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+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
+
+   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/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
+
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+
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+   limitations under the License.

ExternalLicenses/zt-zip-License

@@ -0,0 +1,201 @@
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README.md

@@ -1,109 +1,83 @@
-# Photon Vision
+# PhotonVision
 
-[![CI](https://github.com/PhotonVision/photonvision/workflows/CI/badge.svg)](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [![codecov](https://codecov.io/gh/PhotonVision/photonvision/branch/master/graph/badge.svg)](https://codecov.io/gh/PhotonVision/photonvision) [![Discord](https://img.shields.io/discord/725836368059826228?color=%23738ADB&label=Join%20our%20Discord&logo=discord&logoColor=white)](https://discord.gg/wYxTwym)
+[![Discord](https://img.shields.io/discord/725836368059826228?color=%23738ADB&label=Join%20our%20Discord&logo=discord&logoColor=white)](https://discord.gg/wYxTwym)
 
 PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).
 
-A copy of the latest Raspberry Pi image is available [here](https://github.com/PhotonVision/photon-pi-gen/releases). A copy of the latest standalone JAR is available [here](https://github.com/PhotonVision/photonvision/releases). If you are a Gloworm user you can find the latest Gloworm image [here](https://github.com/gloworm-vision/pi-gen/releases).
+The latest release of platform-specific jars and images is found [here](https://github.com/PhotonVision/photonvision/releases).
 
 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>
 
+## 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).
+
+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-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
+
 ## Gradle Arguments
 
 Note that these are case sensitive!
 
-* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
-    * linuxathena
-    * linuxarm32
+* `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
+    * winx86-64
+    * winarm64
+    * macx86-64
+    * macarm64
+    * linuxx86-64
     * linuxarm64
-    * arm32
-    * arm64
-    * x86-64
-    * x86
-- `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
+    * linuxathena
+- `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
+- `-PtgtUser`: Specifies custom username for `./gradlew deploy` to SSH into
+- `-PtgtPw`: Specifies custom password for `./gradlew deploy` to SSH into
 - `-Pprofile`: enables JVM profiling
+- `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`
 
-## Building
-
-Gradle is used for all C++ and Java code, and NPM 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/photonvision/build-instructions.html?highlight=npm%20install#compiling-instructions).
-
-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-java-examples` and `photonlib-cpp-examples` subdirectories, respectively. The projects currently available include:
-
-- photonlib-java-examples:
-  - aimandrange:simulateJava
-  - aimattarget:simulateJava
-  - getinrange:simulateJava
-  - simaimandrange:simulateJava
-  - simposeest:simulateJava
-- photonlib-cpp-examples:
-  - aimandrange:simulateNative
-  - getinrange:simulateNative
-
-To run them, use the commands listed below. Photonlib must first be published to your local maven repository, then the `copyPhotonlib` task will 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 unsupported.
-
-```
-~/photonvision$ ./gradlew publishToMavenLocal
-
-~/photonvision$ cd photonlib-java-examples
-~/photonvision/photonlib-java-examples$ ./gradlew copyPhotonlib
-~/photonvision/photonlib-java-examples$ ./gradlew <example-name>:simulateJava
-
-~/photonvision$ cd photonlib-cpp-examples
-~/photonvision/photonlib-cpp-examples$ ./gradlew copyPhotonlib
-~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
-```
+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 additonal out-of-source repositories for building code.
+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
-
+- 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/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/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
-PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)
+
+PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html).
 
 ## Meeting Notes
-Our meeting notes can be found in the wiki section of this repository.
 
-* [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
-* [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)
-
-## Additional packages
-
-For now, using mrcal requires installing these additional packages on Linux systems:
-
-```
-sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
-```
-
-## Documentation
-
-- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
-- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
-- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/javadoc/))
-- C++ Doxygen  [cppdocs.photonvision.org](https://cppdocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/doxygen/html/))
+Our [meeting notes](https://github.com/PhotonVision/photonvision/wiki/PhotonVision-Meeting-Notes) can be found in the wiki section of this repository.

build.gradle

@@ -1,63 +1,76 @@
+import org.wpilib.toolchain.*
+
 plugins {
-    id "com.diffplug.spotless" version "6.22.0"
-    id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
-    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-    id 'com.google.protobuf' version '0.9.4' apply false
+    id "cpp"
+    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 '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/repository/internal/" }
-        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
+        maven { url = "https://maven.photonvision.org/releases" }
+        maven { url = "https://maven.photonvision.org/snapshots" }
     }
+    wpilibRepositories.use2027Repos()
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
 }
 
-// Configure the version number.
-apply from: "versioningHelper.gradle"
+ext.localMavenURL = file("$project.buildDir/outputs/maven")
+ext.allOutputsFolder = file("$project.buildDir/outputs")
 
 ext {
-    wpilibVersion = "2024.1.1"
-    wpimathVersion = wpilibVersion
-    openCVversion = "4.8.0-2"
-    joglVersion = "2.4.0-rc-20200307"
-    javalinVersion = "5.6.2"
-    photonGlDriverLibVersion = "dev-v2023.1.0-9-g75fc678"
-    frcYear = "2024"
-    mrcalVersion = "dev-v2024.0.0-7-gc976aaa";
+    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)
     println("Using OpenCV: " + openCVversion)
+
+
+    photonMavenURL = 'https://maven.photonvision.org/' + (isDev ? 'snapshots' : 'releases');
+    println("Publishing Photonlib to " + photonMavenURL)
 }
 
 spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', "photon-core\\src\\main\\java\\org\\photonvision\\PhotonVersion.java", "photon-lib\\src\\main\\java\\org\\photonvision\\PhotonVersion.java"
+            exclude '**/build/**', '**/build-*/**', '**/src/generated/**', "**/bin/generated-sources/**"
         }
         toggleOffOn()
         googleJavaFormat()
-        indentWithTabs(2)
-        indentWithSpaces(4)
+        leadingSpacesToTabs(2)
+        leadingTabsToSpaces(4)
         removeUnusedImports()
         trimTrailingWhitespace()
         endWithNewline()
@@ -68,31 +81,40 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         greclipse()
-        indentWithSpaces(4)
+        leadingTabsToSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }
-    format 'xml', {
-        target fileTree('.') {
-            include '**/*.xml'
-            exclude '**/build/**', '**/build-*/**', "**/.idea/**"
-        }
-        eclipseWtp('xml')
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
     format 'misc', {
         target fileTree('.') {
             include '**/*.md', '**/.gitignore'
-            exclude '**/build/**', '**/build-*/**'
+            exclude '**/build/**', '**/build-*/**', '**/node_modules/**'
         }
         trimTrailingWhitespace()
-        indentWithSpaces(2)
+        leadingTabsToSpaces(2)
         endWithNewline()
     }
 }
 
 wrapper {
-    gradleVersion '8.4'
+    gradleVersion = '9.4.0'
+}
+
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}
+
+subprojects {
+    tasks.withType(JavaCompile) {
+        options.compilerArgs.add '-XDstringConcat=inline'
+        options.encoding = 'UTF-8'
+    }
+
+    // Enables UTF-8 support in Javadoc
+    tasks.withType(Javadoc) {
+        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/calibrationUtils.py

@@ -1,19 +1,17 @@
 import argparse
-import base64
-from dataclasses import dataclass
 import json
 import os
-from typing import Union
-import cv2
-import numpy as np
+from dataclasses import dataclass
+
 import mrcal
+import numpy as np
 from wpimath.geometry import Quaternion as _Quat
 
 
 @dataclass
 class Size:
-    width: int
-    height: int
+    width: float
+    height: float
 
 
 @dataclass
@@ -24,14 +22,6 @@ class JsonMatOfDoubles:
     data: list[float]
 
 
-@dataclass
-class JsonMat:
-    rows: int
-    cols: int
-    type: int
-    data: str  # Base64-encoded PNG data
-
-
 @dataclass
 class Point2:
     x: float
@@ -84,8 +74,7 @@ class Observation:
     # If we should use this observation when re-calculating camera calibration
     includeObservationInCalibration: bool
     snapshotName: str
-    # The actual image the snapshot is from
-    snapshotData: JsonMat
+    snapshotDataLocation: str
 
 
 @dataclass
@@ -97,6 +86,7 @@ class CameraCalibration:
     calobjectWarp: list[float]
     calobjectSize: Size
     calobjectSpacing: float
+    lensmodel: str
 
 
 def __convert_cal_to_mrcal_cameramodel(
@@ -127,6 +117,13 @@ def __convert_cal_to_mrcal_cameramodel(
         ]
         return np.concatenate((r, t))
 
+    imagersize = (int(cal.resolution.width), int(cal.resolution.height))
+
+    def fill_missing_corners(observations: list[list[float]], width: int, height: int):
+        num_corners = width * height
+        observations += [[0, 0, -1] for x in range(num_corners - len(observations))]
+        return observations
+
     imagersize = (cal.resolution.width, cal.resolution.height)
 
     # Always weight=1 for Photon data
@@ -135,8 +132,12 @@ def __convert_cal_to_mrcal_cameramodel(
         [
             # note that we expect row-major observations here. I think this holds
             np.array(
-                list(map(lambda it: [it.x, it.y, WEIGHT], o.locationInImageSpace))
-            ).reshape((cal.calobjectSize.width, cal.calobjectSize.height, 3))
+                fill_missing_corners(
+                    list(map(lambda it: [it.x, it.y, WEIGHT], o.locationInImageSpace)),
+                    int(cal.calobjectSize.width),
+                    int(cal.calobjectSize.height),
+                )
+            ).reshape((int(cal.calobjectSize.width), int(cal.calobjectSize.height), 3))
             for o in cal.observations
         ]
     )
@@ -162,9 +163,9 @@ def __convert_cal_to_mrcal_cameramodel(
         "indices_point_camintrinsics_camextrinsics": None,
         "lensmodel": model,
         "imagersizes": np.array([imagersize], dtype=np.int32),
-        "calobject_warp": np.array(cal.calobjectWarp)
-        if len(cal.calobjectWarp) > 0
-        else None,
+        "calobject_warp": (
+            np.array(cal.calobjectWarp) if len(cal.calobjectWarp) > 0 else None
+        ),
         # We always do all the things
         "do_optimize_intrinsics_core": True,
         "do_optimize_intrinsics_distortions": True,
@@ -206,14 +207,6 @@ def convert_photon_to_mrcal(photon_cal_json_path: str, output_folder: str):
         if not os.path.exists(output_folder):
             os.makedirs(output_folder)
 
-        # Decode each image and save it as a png
-        for obs in camera_cal_data.observations:
-            image = obs.snapshotData.data
-            decoded_data = base64.b64decode(image)
-            np_data = np.frombuffer(decoded_data, np.uint8)
-            img = cv2.imdecode(np_data, cv2.IMREAD_UNCHANGED)
-            cv2.imwrite(f"{output_folder}/{obs.snapshotName}", img)
-
         # And create a VNL file for use with mrcal
         with open(f"{output_folder}/corners.vnl", "w+") as vnl_file:
             vnl_file.write("# filename x y level\n")

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/LICENSE

@@ -0,0 +1,395 @@
+Attribution 4.0 International
+
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+  a. The Licensor shall not be bound by any additional or different
+     terms or conditions communicated by You unless expressly agreed.
+
+  b. Any arrangements, understandings, or agreements regarding the
+     Licensed Material not stated herein are separate from and
+     independent of the terms and conditions of this Public License.
+
+
+Section 8 -- Interpretation.
+
+  a. For the avoidance of doubt, this Public License does not, and
+     shall not be interpreted to, reduce, limit, restrict, or impose
+     conditions on any use of the Licensed Material that could lawfully
+     be made without permission under this Public License.
+
+  b. To the extent possible, if any provision of this Public License is
+     deemed unenforceable, it shall be automatically reformed to the
+     minimum extent necessary to make it enforceable. If the provision
+     cannot be reformed, it shall be severed from this Public License
+     without affecting the enforceability of the remaining terms and
+     conditions.
+
+  c. No term or condition of this Public License will be waived and no
+     failure to comply consented to unless expressly agreed to by the
+     Licensor.
+
+  d. Nothing in this Public License constitutes or may be interpreted
+     as a limitation upon, or waiver of, any privileges and immunities
+     that apply to the Licensor or You, including from the legal
+     processes of any jurisdiction or authority.
+
+
+=======================================================================
+
+Creative Commons is not a party to its public
+licenses. Notwithstanding, Creative Commons may elect to apply one of
+its public licenses to material it publishes and in those instances
+will be considered the “Licensor.” The text of the Creative Commons
+public licenses is dedicated to the public domain under the CC0 Public
+Domain Dedication. Except for the limited purpose of indicating that
+material is shared under a Creative Commons public license or as
+otherwise permitted by the Creative Commons policies published at
+creativecommons.org/policies, Creative Commons does not authorize the
+use of the trademark "Creative Commons" or any other trademark or logo
+of Creative Commons without its prior written consent including,
+without limitation, in connection with any unauthorized modifications
+to any of its public licenses or any other arrangements,
+understandings, or agreements concerning use of licensed material. For
+the avoidance of doubt, this paragraph does not form part of the
+public licenses.
+
+Creative Commons may be contacted at creativecommons.org.

docs/Makefile

@@ -0,0 +1,24 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    = -W --keep-going
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = source
+LINTER        = doc8
+LINTEROPTS    = --ignore D001 # D001 is linelength
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+lint:
+	@$(LINTER) $(LINTEROPTS) $(SOURCEDIR)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README.MD

@@ -0,0 +1,9 @@
+# PhotonVision ReadTheDocs
+
+[![Documentation Status](https://readthedocs.org/projects/photonvision-docs/badge/?version=latest)](https://docs.photonvision.org/en/latest/?badge=latest)
+
+PhotonVision is a free open-source vision processing software for FRC teams.
+
+This repository is the source code for our ReadTheDocs documentation, which can be found [here](https://docs.photonvision.org).
+
+[Contribution and formatting guidelines for this project](https://docs.photonvision.org/en/latest/docs/contributing/index.html)

docs/build.gradle

@@ -1,287 +0,0 @@
-// From allwpilib/docs. Licensed under the WPILib BSD License
-
-plugins {
-    id 'java'
-    id "org.ysb33r.doxygen" version "0.7.0"
-}
-
-
-evaluationDependsOn ':photon-targeting'
-evaluationDependsOn ':photon-core'
-evaluationDependsOn ':photon-server'
-evaluationDependsOn ':photon-lib'
-
-
-def baseArtifactIdCpp = 'documentation'
-def artifactGroupIdCpp = 'org.photonvision.wpilibc'
-def zipBaseNameCpp = '_GROUP_org.photonvision_cpp_ID_documentation_CLS'
-
-def baseArtifactIdJava = 'documentation'
-def artifactGroupIdJava = 'org.photonvision.wpilibj'
-def zipBaseNameJava = '_GROUP_org.photonvision_java_ID_documentation_CLS'
-
-def outputsFolder = file("$project.buildDir/outputs")
-
-def cppProjectZips = []
-def cppIncludeRoots = []
-
-cppProjectZips.add(project(':photon-lib').cppHeadersZip)
-cppProjectZips.add(project(':photon-targeting').cppHeadersZip)
-
-doxygen {
-    // Doxygen binaries are only provided for x86_64 platforms
-    // Other platforms will need to provide doxygen via their system
-    // See below maven and https://doxygen.nl/download.html for provided binaries
-
-    String arch = System.getProperty("os.arch");
-    if (arch.equals("x86_64") || arch.equals("amd64")) {
-        executables {
-            doxygen version : '1.9.4',
-            baseURI : 'https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen'
-        }
-    }
-}
-
-doxygen {
-    generate_html true
-    html_extra_stylesheet 'theme.css'
-
-    cppProjectZips.each {
-        dependsOn it
-        source it.source
-        it.ext.includeDirs.each {
-            cppIncludeRoots.add(it.absolutePath)
-        }
-    }
-    cppIncludeRoots << '../ntcore/build/generated/main/native/include/'
-
-    if (project.hasProperty('docWarningsAsErrors')) {
-        // Eigen
-        exclude 'Eigen/**'
-        exclude 'unsupported/**'
-
-        // LLVM
-        exclude 'wpi/AlignOf.h'
-        exclude 'wpi/Casting.h'
-        exclude 'wpi/Chrono.h'
-        exclude 'wpi/Compiler.h'
-        exclude 'wpi/ConvertUTF.h'
-        exclude 'wpi/DenseMap.h'
-        exclude 'wpi/DenseMapInfo.h'
-        exclude 'wpi/Endian.h'
-        exclude 'wpi/EpochTracker.h'
-        exclude 'wpi/Errc.h'
-        exclude 'wpi/Errno.h'
-        exclude 'wpi/ErrorHandling.h'
-        exclude 'wpi/bit.h'
-        exclude 'wpi/fs.h'
-        exclude 'wpi/FunctionExtras.h'
-        exclude 'wpi/function_ref.h'
-        exclude 'wpi/Hashing.h'
-        exclude 'wpi/iterator.h'
-        exclude 'wpi/iterator_range.h'
-        exclude 'wpi/ManagedStatic.h'
-        exclude 'wpi/MapVector.h'
-        exclude 'wpi/MathExtras.h'
-        exclude 'wpi/MemAlloc.h'
-        exclude 'wpi/PointerIntPair.h'
-        exclude 'wpi/PointerLikeTypeTraits.h'
-        exclude 'wpi/PointerUnion.h'
-        exclude 'wpi/raw_os_ostream.h'
-        exclude 'wpi/raw_ostream.h'
-        exclude 'wpi/SmallPtrSet.h'
-        exclude 'wpi/SmallSet.h'
-        exclude 'wpi/SmallString.h'
-        exclude 'wpi/SmallVector.h'
-        exclude 'wpi/StringExtras.h'
-        exclude 'wpi/StringMap.h'
-        exclude 'wpi/SwapByteOrder.h'
-        exclude 'wpi/type_traits.h'
-        exclude 'wpi/VersionTuple.h'
-        exclude 'wpi/WindowsError.h'
-
-        // fmtlib
-        exclude 'fmt/**'
-
-        // libuv
-        exclude 'uv.h'
-        exclude 'uv/**'
-        exclude 'wpinet/uv/**'
-
-        // json
-        exclude 'wpi/adl_serializer.h'
-        exclude 'wpi/byte_container_with_subtype.h'
-        exclude 'wpi/detail/**'
-        exclude 'wpi/json.h'
-        exclude 'wpi/json_fwd.h'
-        exclude 'wpi/ordered_map.h'
-        exclude 'wpi/thirdparty/**'
-
-        // memory
-        exclude 'wpi/memory/**'
-
-        // mpack
-        exclude 'wpi/mpack.h'
-
-        // units
-        exclude 'units/**'
-    }
-
-    //TODO: building memory docs causes search to break
-    exclude 'wpi/memory/**'
-
-    exclude '*.pb.h'
-
-    // Save space by excluding protobuf and eigen
-    exclude 'Eigen/**'
-    exclude 'google/protobuf/**'
-
-    aliases 'effects=\\par <i>Effects:</i>^^',
-            'notes=\\par <i>Notes:</i>^^',
-            'requires=\\par <i>Requires:</i>^^',
-            'requiredbe=\\par <i>Required Behavior:</i>^^',
-            'concept{2}=<a href=\"md_doc_concepts.html#\1\">\2</a>',
-            'defaultbe=\\par <i>Default Behavior:</i>^^'
-    case_sense_names false
-    extension_mapping 'inc=C++', 'no_extension=C++'
-    extract_all true
-    extract_static true
-    file_patterns '*'
-    full_path_names true
-    generate_html true
-    generate_latex false
-    generate_treeview true
-    html_extra_stylesheet 'theme.css'
-    html_timestamp true
-    javadoc_autobrief true
-    project_name 'PhotonVision C++'
-    project_logo '../wpiutil/src/main/native/resources/wpilib-128.png'
-    project_number pubVersion
-    quiet true
-    recursive true
-    strip_code_comments false
-    strip_from_inc_path cppIncludeRoots as String[]
-    strip_from_path cppIncludeRoots as String[]
-    use_mathjax true
-    warnings false
-    warn_if_incomplete_doc true
-    warn_if_undocumented false
-    warn_no_paramdoc true
-
-    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix MotorController docs
-    enable_preprocessing true
-    macro_expansion true
-    expand_only_predef true
-    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]\"\\\n" +
-            "\"__cplusplus\"\\\n" +
-            "\"HAL_ENUM(name)=enum name : int32_t"
-
-    if (project.hasProperty('docWarningsAsErrors')) {
-        warn_as_error 'FAIL_ON_WARNINGS'
-    }
-}
-
-tasks.register("zipCppDocs", Zip) {
-    archiveBaseName = zipBaseNameCpp
-    destinationDirectory = outputsFolder
-    dependsOn doxygen
-    from ("$buildDir/docs/doxygen/html")
-    into '/'
-}
-
-// Java
-configurations {
-    javaSource {
-        transitive false
-    }
-}
-
-ext {
-    sharedCvConfigs = [:]
-    staticCvConfigs = [:]
-    useJava = true
-    useCpp = false
-    skipDev = true
-    useDocumentation = true
-}
-
-task generateJavaDocs(type: Javadoc) {
-    def exportedProjects = [
-        ':photon-core',
-        ':photon-server',
-        ':photon-targeting',
-        ':photon-lib'
-    ]
-
-    source exportedProjects.collect { project(it).sourceSets.main.allJava }
-    classpath = files(exportedProjects.collect { project(it).sourceSets.main.compileClasspath })
-    dependsOn project(':photon-core').writeCurrentVersion
-
-    options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
-    options.addStringOption("tag", "pre:a:Pre-Condition")
-    options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
-    options.addBooleanOption('html5', true)
-    failOnError = true
-
-    title = "PhotonVision $pubVersion"
-    ext.entryPoint = "$destinationDir/index.html"
-
-    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
-        // Treat javadoc warnings as errors.
-        //
-        // The second argument '-quiet' is a hack. The one parameter
-        // addStringOption() doesn't work, so we add '-quiet', which is added
-        // anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
-        //
-        // See JDK-8200363 (https://bugs.openjdk.java.net/browse/JDK-8200363)
-        // for information about the nonstandard -Xwerror option. JDK 15+ has
-        // -Werror.
-        options.addStringOption('Xwerror', '-quiet')
-    }
-
-    if (JavaVersion.current().isJava11Compatible()) {
-        if (!JavaVersion.current().isJava12Compatible()) {
-            options.addBooleanOption('-no-module-directories', true)
-        }
-        doLast {
-            // This is a work-around for https://bugs.openjdk.java.net/browse/JDK-8211194. Can be removed once that issue is fixed on JDK's side
-            // Since JDK 11, package-list is missing from javadoc output files and superseded by element-list file, but a lot of external tools still need it
-            // Here we generate this file manually
-            new File(destinationDir, 'package-list').text = new File(destinationDir, 'element-list').text
-        }
-    }
-}
-
-tasks.register("zipJavaDocs", Zip) {
-    archiveBaseName = zipBaseNameJava
-    destinationDirectory = outputsFolder
-    dependsOn generateJavaDocs
-    from ("$buildDir/docs/javadoc")
-    into '/'
-}
-
-tasks.register("zipDocs") {
-    dependsOn zipCppDocs
-    dependsOn zipJavaDocs
-}
-
-apply plugin: 'maven-publish'
-
-publishing {
-    publications {
-        java(MavenPublication) {
-            artifact zipJavaDocs
-
-            artifactId = "${baseArtifactIdJava}"
-            groupId artifactGroupIdJava
-            version pubVersion
-        }
-        cpp(MavenPublication) {
-            artifact zipCppDocs
-
-            artifactId = "${baseArtifactIdCpp}"
-            groupId artifactGroupIdCpp
-            version pubVersion
-        }
-    }
-}

docs/make.bat

@@ -0,0 +1,36 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+set SPHINXOPTS=-W --keep-going
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+
+:end
+popd

docs/requirements.txt

@@ -0,0 +1,57 @@
+alabaster==0.7.16
+anyio==4.9.0
+babel==2.17.0
+beautifulsoup4==4.13.4
+certifi==2025.4.26
+charset-normalizer==3.4.2
+click==8.1.8
+colorama==0.4.6
+doc8==1.1.2
+docopt==0.6.2
+docutils==0.20.1
+furo==2024.8.6
+h11==0.16.0
+idna==3.10
+imagesize==1.4.1
+Jinja2==3.1.6
+markdown-it-py==3.0.0
+MarkupSafe==3.0.2
+mdit-py-plugins==0.4.2
+mdurl==0.1.2
+myst-parser==4.0.1
+packaging==25.0
+pbr==6.1.1
+Pygments==2.19.1
+PyYAML==6.0.2
+requests==2.32.4
+restructuredtext-lint==1.4.0
+roman-numerals-py==3.1.0
+setuptools==80.3.1
+six==1.17.0
+sniffio==1.3.1
+snowballstemmer==3.0.0.1
+soupsieve==2.7
+Sphinx==8.1.3
+sphinx-autobuild==2024.10.3
+sphinx-basic-ng==1.0.0b2
+sphinx-notfound-page==1.1.0
+sphinx-rtd-theme==3.0.2
+sphinx_design==0.6.1
+sphinxcontrib-applehelp==2.0.0
+sphinxcontrib-devhelp==2.0.0
+sphinxcontrib-ghcontributors==0.2.3
+sphinxcontrib-htmlhelp==2.1.0
+sphinxcontrib-jquery==4.1
+sphinxcontrib-jsmath==1.0.1
+sphinxcontrib-qthelp==2.0.0
+sphinxcontrib-serializinghtml==2.0.0
+sphinxext-opengraph==0.10.0
+sphinxext-remoteliteralinclude==0.5.0
+starlette==0.47.2
+stevedore==5.4.1
+typing_extensions==4.13.2
+urllib3==2.5.0
+uvicorn==0.34.2
+watchfiles==1.1.1
+websockets==15.0.1
+yarg==0.1.9

docs/source/404.md

@@ -0,0 +1,7 @@
+---
+orphan: true
+---
+
+# Requested Page Not Found
+
+This page you were looking for was not found. If you think this is a mistake, [file an issue on our GitHub.](https://github.com/PhotonVision/photonvision-docs/issues)

docs/source/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/source/_static/css/pv-icons.css

@@ -0,0 +1,4 @@
+.code-block-caption>.headerlink, dl dt>.headerlink, h1>.headerlink, h2>.headerlink, h3>.headerlink, h4>.headerlink, h5>.headerlink, h6>.headerlink, p.caption>.headerlink, table>caption>.headerlink {
+    font-family: FontAwesome;
+    font-size: 0.75em;
+}

docs/source/_static/css/v4-font-face.min.css

@@ -0,0 +1,6 @@
+/*!
+ * Font Awesome Free 6.7.2 by @fontawesome - https://fontawesome.com
+ * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)
+ * Copyright 2024 Fonticons, Inc.
+ */
+@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-solid-900.woff2) format("woff2"),url(../webfonts/fa-solid-900.ttf) format("truetype")}@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-brands-400.woff2) format("woff2"),url(../webfonts/fa-brands-400.ttf) format("truetype")}@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-regular-400.woff2) format("woff2"),url(../webfonts/fa-regular-400.ttf) format("truetype");unicode-range:u+f003,u+f006,u+f014,u+f016-f017,u+f01a-f01b,u+f01d,u+f022,u+f03e,u+f044,u+f046,u+f05c-f05d,u+f06e,u+f070,u+f087-f088,u+f08a,u+f094,u+f096-f097,u+f09d,u+f0a0,u+f0a2,u+f0a4-f0a7,u+f0c5,u+f0c7,u+f0e5-f0e6,u+f0eb,u+f0f6-f0f8,u+f10c,u+f114-f115,u+f118-f11a,u+f11c-f11d,u+f133,u+f147,u+f14e,u+f150-f152,u+f185-f186,u+f18e,u+f190-f192,u+f196,u+f1c1-f1c9,u+f1d9,u+f1db,u+f1e3,u+f1ea,u+f1f7,u+f1f9,u+f20a,u+f247-f248,u+f24a,u+f24d,u+f255-f25b,u+f25d,u+f271-f274,u+f278,u+f27b,u+f28c,u+f28e,u+f29c,u+f2b5,u+f2b7,u+f2ba,u+f2bc,u+f2be,u+f2c0-f2c1,u+f2c3,u+f2d0,u+f2d2,u+f2d4,u+f2dc}@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-v4compatibility.woff2) format("woff2"),url(../webfonts/fa-v4compatibility.ttf) format("truetype");unicode-range:u+f041,u+f047,u+f065-f066,u+f07d-f07e,u+f080,u+f08b,u+f08e,u+f090,u+f09a,u+f0ac,u+f0ae,u+f0b2,u+f0d0,u+f0d6,u+f0e4,u+f0ec,u+f10a-f10b,u+f123,u+f13e,u+f148-f149,u+f14c,u+f156,u+f15e,u+f160-f161,u+f163,u+f175-f178,u+f195,u+f1f8,u+f219,u+f27a}

docs/source/conf.py

@@ -0,0 +1,184 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+# -- Project information -----------------------------------------------------
+
+project = "PhotonVision"
+copyright = "2024, PhotonVision"
+author = "Banks Troutman, Matt Morley"
+
+# -- Git configuration -----------------------------------------------------
+import subprocess
+
+try:
+    # Use closest tag
+    git_tag_ref = (
+        subprocess.check_output(
+            [
+                "git",
+                "describe",
+                "--tags",
+            ],
+            stderr=subprocess.DEVNULL,
+        )
+        .strip()
+        .decode()
+    )
+except subprocess.CalledProcessError:
+    # Couldn't find closest tag, fallback to main
+    git_tag_ref = "main"
+
+myst_substitutions = {"git_tag_ref": git_tag_ref}
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx_rtd_theme",
+    "sphinx.ext.autosectionlabel",
+    "sphinx.ext.todo",
+    "notfound.extension",
+    "sphinxext.remoteliteralinclude",
+    "sphinxext.opengraph",
+    "sphinxcontrib.ghcontributors",
+    "sphinx_design",
+    "myst_parser",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.graphviz",
+]
+
+# Configure OpenGraph support
+
+ogp_site_url = "https://docs.photonvision.org/en/latest/"
+ogp_site_name = "PhotonVision Documentation"
+ogp_image = "https://raw.githubusercontent.com/PhotonVision/photonvision-docs/main/source/assets/RectLogo.png"
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# Enable hover content on glossary term
+hoverxref_roles = ["term"]
+
+# Autosection labels prefix document path and filename
+autosectionlabel_prefix_document = True
+
+# -- Options for HTML output -------------------------------------------------
+
+html_title = "PhotonVision Docs"
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+html_theme = "furo"
+html_favicon = "assets/RoundLogo.png"
+
+# Specify canonical root
+# This tells search engines that this domain is preferred
+html_baseurl = "https://docs.photonvision.org/en/latest/"
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+source_suffix = [".rst", ".md"]
+
+
+def setup(app):
+    app.add_css_file("css/v4-font-face.min.css")
+    app.add_css_file("css/pv-icons.css")
+
+
+pygments_style = "sphinx"
+
+html_theme_options = {
+    "sidebar_hide_name": True,
+    "top_of_page_buttons": ["view", "edit"],
+    "source_edit_link": "https://github.com/PhotonVision/photonvision/edit/main/docs/source/{filename}",
+    "source_view_link": "https://github.com/PhotonVision/photonvision/blob/main/docs/source/{filename}",
+    "light_logo": "assets/PhotonVision-Header-onWhite.png",
+    "dark_logo": "assets/PhotonVision-Header-noBG.png",
+    "light_css_variables": {
+        "font-stack": "-apple-system, BlinkMacSystemFont, avenir next, avenir, segoe ui, helvetica neue, helvetica, Ubuntu, roboto, noto, arial, sans-serif;",
+        "admonition-font-size": "1rem",
+        "admonition-title-font-size": "1rem",
+        "color-background-primary": "#ffffff",
+        "color-background-secondary": "#f7f7f7",
+        "color-background-hover": "#efeff400",
+        "color-background-hover--transparent": "#efeff400",
+        "color-brand-primary": "#006492",
+        "color-brand-content": "#006492",
+        "color-foreground-primary": "#2d2d2d",
+        "color-foreground-secondary": "#39a4d5",
+        "color-foreground-muted": "#2d2d2d",
+        "color-foreground-border": "#ffffff",
+        "color-background-border": "ffffff",
+        "color-api-overall": "#101010",
+    },
+    "dark_css_variables": {
+        "color-background-primary": "#242c37",
+        "color-background-secondary": "#006492",
+        "color-background-hover": "#efeff400",
+        "color-background-hover--transparent": "#efeff400",
+        "color-brand-primary": "#ffd843",
+        "color-brand-secondary": "#39a4d5",
+        "color-brand-content": "#ffd843",
+        "color-foreground-primary": "#ffffff",
+        "color-foreground-secondary": "#ffffff",
+        "color-foreground-muted": "#ffffff",
+        "color-foreground-border": "transparent",
+        "color-background-border": "transparent",
+        "color-api-overall": "#101010",
+        "color-inline-code-background": "#0d0d0d",
+    },
+    "footer_icons": [
+        {
+            "name": "GitHub",
+            "url": "https://github.com/photonvision/photonvision",
+            "html": """
+                <svg stroke="currentColor" fill="currentColor" stroke-width="0" viewBox="0 0 16 16">
+                    <path fill-rule="evenodd" d="M8 0C3.58 0 0 3.58 0 8c0 3.54 2.29 6.53 5.47 7.59.4.07.55-.17.55-.38 0-.19-.01-.82-.01-1.49-2.01.37-2.53-.49-2.69-.94-.09-.23-.48-.94-.82-1.13-.28-.15-.68-.52-.01-.53.63-.01 1.08.58 1.23.82.72 1.21 1.87.87 2.33.66.07-.52.28-.87.51-1.07-1.78-.2-3.64-.89-3.64-3.95 0-.87.31-1.59.82-2.15-.08-.2-.36-1.02.08-2.12 0 0 .67-.21 2.2.82.64-.18 1.32-.27 2-.27.68 0 1.36.09 2 .27 1.53-1.04 2.2-.82 2.2-.82.44 1.1.16 1.92.08 2.12.51.56.82 1.27.82 2.15 0 3.07-1.87 3.75-3.65 3.95.29.25.54.73.54 1.48 0 1.07-.01 1.93-.01 2.2 0 .21.15.46.55.38A8.013 8.013 0 0 0 16 8c0-4.42-3.58-8-8-8z"></path>
+                </svg>
+            """,
+            "class": "",
+        },
+    ],
+}
+
+suppress_warnings = ["epub.unknown_project_files"]
+
+sphinx_tabs_valid_builders = ["epub", "linkcheck"]
+
+# -- Options for linkcheck -------------------------------------------------
+
+# Excluded links for linkcheck
+# These should be periodically checked by hand to ensure that they are still functional
+linkcheck_ignore = [
+    R"https://www.raspberrypi.com/software/",
+    R"http://10\..+",
+    R"https://www.gnu.org/",
+]
+
+token = os.environ.get("GITHUB_TOKEN", None)
+if token:
+    linkcheck_auth = [(R"https://github.com/.+", token)]
+
+# MyST configuration (https://myst-parser.readthedocs.io/en/latest/configuration.html)
+myst_enable_extensions = ["colon_fence", "substitution", "attrs_inline"]

docs/source/docs/additional-resources/best-practices.md

@@ -0,0 +1,37 @@
+# Best Practices For Competition
+
+## Before Competition
+
+- Ensure you have spares of the relevant electronics if you can afford it (switch, coprocessor, cameras, etc.).
+- Stay on the latest version of PhotonVision until you have tested your full robot system to be functional.
+- Some time before the competition, lock down the version you are using and do not upgrade unless you encounter a critical bug.
+- Have a copy of the installation image for the version you are using on your programming laptop, in case re-imaging (without internet) is needed.
+- Extensively test at your home setup. Practice tuning from scratch under different lighting conditions.
+- Confirm you have followed all the recommendations under the {ref}`Networking<docs/quick-start/networking:Networking>` documentation (network switch and static IP).
+- Only use high quality ethernet cables that have been rigorously tested.
+
+## Camera Streaming
+- All camera streams are published under the NetworkTables table `CameraPublisher`.
+- The only subtable under `CameraPublisher` that will work for viewing a driver mode camera stream is the one that contains `Output` in the name.
+- To view a camera stream in a dashboard, drag the correct subtable from the NetworkTables tree into your dashboard.
+- Use the latest driver dashboard recommended by [WPILib](https://docs.wpilib.org/en/stable/docs/software/dashboards/dashboard-intro.html) on your driver station laptop.
+
+## During the Competition
+
+- Use the field calibration time given at the start of the event:
+  - Bring your robot to the field at the allotted time.
+  - Make sure the field has match-accurate lighting conditions active.
+  - Turn on your robot and pull up the dashboard on your driver station.
+  - Point your robot at the targets and ensure you get a consistent tracking (you hold one targets consistently, the ceiling lights aren't detected, etc.).
+  - If you have problems with your pipeline, retune the pipeline following the {ref}`camera tuning <docs/pipelines/input:Camera Tuning / Input>` documentation.
+  - Move the robot close, far, angled, and around the field to ensure no extra targets are found.
+  - Monitor camera feeds during a practice match to ensure everything is working correctly.
+- After field calibration, use the "Export Settings" button in the "Settings" page to create a backup.
+  - Do this for each coprocessor on your robot that runs PhotonVision, and name your exports with meaningful names.
+  - This will contain camera information/calibration, pipeline information, network settings, etc.
+  - In the event of software/hardware failures (IE lost SD Card, broken device), you can then use the "Import Settings" button and select "All Settings" to restore your settings.
+  - This effectively works as a snapshot of your PhotonVision data that can be restored at any point.
+- Before every match:
+  - Check the ethernet and USB connectors are seated fully.
+  - Close streaming dashboards when you don't need them to reduce bandwidth.
+- Stream at as low of a resolution as possible while still detecting AprilTags to stay within field bandwidth limits.

docs/source/docs/additional-resources/config.md

@@ -0,0 +1,53 @@
+# Filesystem Directory
+
+PhotonVision stores and loads settings in the {code}`photonvision_config` directory, in the same folder as the PhotonVision JAR is stored. On supported hardware, this is in the {code}`/opt/photonvision` directory. The contents of this directory can be exported as a zip archive from the settings page of the interface, under "export settings". This export will contain everything detailed below. These settings can later be uploaded using "import settings", to restore configurations from previous backups.
+
+## Directory Structure
+
+The directory structure is outlined below.
+
+```{image} images/configDir.png
+:alt: Config directory structure
+:width: 600
+```
+
+- calibImgs
+  - Images saved from the last run of the calibration routine
+- cameras
+  - Contains a subfolder for each camera. This folder contains the following files:
+    - pipelines folder, which contains a {code}`json` file for each user-created pipeline.
+    - config.json, which contains all camera-specific configuration. This includes FOV, pitch, current pipeline index, and calibration data
+    - drivermode.json, which contains settings for the driver mode pipeline
+- imgSaves
+  - Contains images saved with the input/output save commands.
+- logs
+  - Contains timestamped logs in the format {code}`photonvision-YYYY-MM-D_HH-MM-SS.log`. These timestamps will likely be significantly behind the real time. Coprocessors on the robot have no way to get current time.
+- hardwareSettings.json
+  - Contains hardware settings. Currently this includes only the LED brightness.
+- networkSettings.json
+  - Contains network settings, including team number (or remote network tables address), static/dynamic settings, and hostname.
+
+## Importing and Exporting Settings
+
+The entire settings directory can be exported as a ZIP archive from the settings page.
+
+```{raw} html
+<video width="85%" controls>
+    <source src="../../_static/assets/import-export-settings.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+</video>
+```
+
+A variety of files can be imported back into PhotonVision:
+
+- ZIP Archive ({code}`.zip`)
+  - Useful for restoring a full configuration from a different PhotonVision instance.
+- Single Config File
+  - Currently-supported Files
+    - {code}`hardwareConfig.json`
+    - {code}`hardwareSettings.json`
+    - {code}`networkSettings.json`
+  - Useful for simple hardware or network configuration tasks without overwriting all settings.
+
+
+

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

@@ -0,0 +1,64 @@
+# NetworkTables API
+
+## Usage
+
+:::{warning}
+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
+
+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
+
+| Key             | Type       | Description                                                              |
+| --------------- | ---------- | ------------------------------------------------------------------------ |
+| `rawBytes`      | `byte[]`   | A byte-packed string that contains target info from the same timestamp.  |
+| `latencyMillis` | `double`   | The latency of the pipeline in milliseconds.                             |
+| `hasTarget`     | `boolean`  | Whether the pipeline is detecting targets or not.                        |
+| `targetPitch`   | `double`   | The pitch of the target in degrees (positive up).                        |
+| `targetYaw`     | `double`   | The yaw of the target in degrees (positive right).                       |
+| `targetArea`    | `double`   | The area (percent of bounding box in screen) as a percent (0-100).       |
+| `targetSkew`    | `double`   | The skew of the target in degrees (counter-clockwise positive).          |
+| `targetPose`    | `double[]` | The pose of the target relative to the robot (x, y, z, qw, qx, qy, qz)   |
+| `targetPixelsX` | `double`   | The target crosshair location horizontally, in pixels (origin top-right) |
+| `targetPixelsY` | `double`   | The target crosshair location vertically, in pixels (origin top-right)   |
+
+### Changing Settings
+
+| Key             | Type      | Description                 |
+| --------------- | --------- | --------------------------- |
+| `pipelineIndex` | `int`     | Changes the pipeline index. |
+| `driverMode`    | `boolean` | Toggles driver mode.        |
+
+### Saving Images
+
+PhotonVision can save images to file on command. The image is saved when PhotonVision detects the command went from `false` to `true`.
+
+PhotonVision will automatically set these back to `false` after 500ms.
+
+Be careful saving images rapidly - it will slow vision processing performance and take up disk space very quickly.
+
+Images are returned as part of the .zip package from the "Export" operation in the Settings tab.
+
+| Key                | Type      | Description                                       |
+| ------------------ | --------- | ------------------------------------------------- |
+| `inputSaveImgCmd`  | `boolean` | Triggers saving the current input image to file.  |
+| `outputSaveImgCmd` | `boolean` | Triggers saving the current output image to file. |
+
+:::{warning}
+If you manage to make calls to these commands faster than 500ms (between calls), additional photos will not be captured.
+:::
+
+### Global Entries
+
+These entries are global, meaning that they should be called on the main `photonvision` table.
+
+| Key       | Type  | Description                                              |
+| --------- | ----- | -------------------------------------------------------- |
+| `ledMode` | `int` | Sets the LED Mode (-1: default, 0: off, 1: on, 2: blink) |

docs/source/docs/advanced-installation/index.md

@@ -0,0 +1,18 @@
+# Advanced Installation
+
+This page will help you install PhotonVision on non-supported coprocessor.
+
+## Step 1: Software Install
+
+This section will walk you through how to install PhotonVision on your coprocessor. Your coprocessor is the device that has the camera and you are using to detect targets (ex. if you are using a Limelight / Raspberry Pi, that is your coprocessor and you should follow those instructions).
+
+:::{warning}
+You only need to install PhotonVision on the coprocessor/device that is being used to detect targets, you do NOT need to install it on the device you use to view the webdashboard. All you need to view the webdashboard is for a device to be on the same network as your vision coprocessor and an internet browser.
+:::
+
+```{toctree}
+:maxdepth: 3
+
+sw_install/index
+prerelease-software
+```

docs/source/docs/advanced-installation/prerelease-software.md

@@ -0,0 +1,23 @@
+# Installing Pre-Release Versions
+
+Pre-release/development version of PhotonVision can be tested by installing/downloading artifacts from Github Actions (see below), which are built automatically on commits to open pull requests and to PhotonVision's `main` branch, or by {ref}`compiling PhotonVision locally <docs/contributing/building-photon:Build Instructions>`.
+
+:::{warning}
+If testing a pre-release version of PhotonVision with a robot, PhotonLib must be updated to match the version downloaded! If not, packet schema definitions may not match and unexpected things will occur. To update PhotonLib, refer to {ref}`installing specific version of PhotonLib<docs/programming/photonlib/adding-vendordep:Install Specific Version - Java/C++>`.
+:::
+
+GitHub Actions builds pre-release version of PhotonVision automatically on PRs and on each commit merged to main. To test a particular commit to main, navigate to the [PhotonVision commit list](https://github.com/PhotonVision/photonvision/commits/main/) and click on the check mark (below). Scroll to "Build / Build fat JAR - PLATFORM", click details, and then summary. From here, JAR and image files can be downloaded to be flashed or uploaded using "Offline Update".
+
+```{image} images/gh_actions_1.png
+:alt: Github Actions Badge
+```
+
+```{image} images/gh_actions_2.png
+:alt: Github Actions artifact list
+```
+
+Built JAR files (but not image files) can also be downloaded from PRs before they are merged. Navigate to the PR in GitHub, and select Checks at the top. Click on "Build" to display the same artifact list as above.
+
+```{image} images/gh_actions_3.png
+:alt: Github Actions artifacts from PR
+```

docs/source/docs/advanced-installation/sw_install/advanced-cmd.md

@@ -0,0 +1,56 @@
+# Advanced Command Line Usage
+
+PhotonVision exposes some command line options which may be useful for customizing execution on Debian-based installations.
+
+## Running a JAR File
+
+Assuming `java` has been installed, and the appropriate environment variables have been set upon installation (a package manager like `apt` should automatically set these), you can use `java -jar` to run a JAR file. If you downloaded the latest stable JAR of PhotonVision from the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases), you can run the following to start the program:
+
+```bash
+java -jar /path/to/photonvision/photonvision.jar
+```
+
+## Updating a JAR File
+
+When you need to update your JAR file, run the following:
+
+```bash
+wget https://git.io/JqkQ9 -O update.sh
+sudo chmod +x update.sh
+sudo ./update.sh
+sudo reboot now
+```
+
+## Creating a `systemd` Service
+
+You can also create a systemd service that will automatically run on startup. To do so, first navigate to `/lib/systemd/system`. Create a file called `photonvision.service` (or name it whatever you want) using `touch photonvision.service`. Then open this file in the editor of your choice and paste the following text:
+
+```
+[Unit]
+Description=Service that runs PhotonVision
+
+[Service]
+WorkingDirectory=/path/to/photonvision
+# Optional: run photonvision at "nice" -10, which is higher priority than standard
+# Nice=-10
+ExecStart=/usr/bin/java -jar /path/to/photonvision/photonvision.jar
+
+[Install]
+WantedBy=multi-user.target
+```
+
+Then copy the `.service` file to `/etc/systemd/system/` using `cp photonvision.service /etc/systemd/system/photonvision.service`. Then modify the file to have `644` permissions using `chmod 644 /etc/systemd/system/photonvision.service`.
+
+:::{note}
+Many ARM processors have a big.LITTLE architecture where some of the CPU cores are more powerful than others. On this type of architecture, you may get more consistent performance by limiting which cores PhotonVision can use. To do this, add the parameter `AllowedCPUs` to the systemd service file in the `[Service]` section.
+
+For instance, for an Orange Pi 5, cores 4 through 7 are the fast ones, and you can target those cores with the line `AllowedCPUs=4-7`.
+:::
+
+## Installing the `systemd` Service
+
+To install the service, simply run `systemctl enable photonvision.service`.
+
+:::{note}
+It is recommended to reload configurations by running `systemctl daemon-reload`.
+:::

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

@@ -0,0 +1,10 @@
+{
+  "deviceName" : "Limelight 2+",
+  "ledPins" : [ 13, 18 ],
+  "ledsCanDim" : true,
+  "ledPWMFrequency" : 1000,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
+  "vendorFOV" : 75.76079874010732
+}

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

@@ -0,0 +1,9 @@
+{
+  "deviceName" : "Limelight 2",
+  "ledPins" : [ 17, 18 ],
+  "ledsCanDim" : false,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
+  "vendorFOV" : 75.76079874010732
+}

docs/source/docs/advanced-installation/sw_install/index.md

@@ -0,0 +1,21 @@
+# Software Installation
+
+## Desktop Environments
+
+```{toctree}
+:maxdepth: 1
+
+windows-pc
+linux-pc
+mac-os
+```
+
+## Other
+
+```{toctree}
+:maxdepth: 1
+
+other-coprocessors
+advanced-cmd
+romi
+```

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

@@ -0,0 +1,47 @@
+# Linux PC Installation
+
+PhotonVision may be run on a Debian-based Linux Desktop PC for basic testing and evaluation.
+
+:::{note}
+You do not need to install PhotonVision on a Windows PC in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
+:::
+
+## Installing Java
+
+PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). If you don't have JDK 17 already, run the following to install it:
+
+```
+$ sudo apt-get install openjdk-17-jdk
+```
+
+:::{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 your coprocessor has a 64 bit ARM based CPU architecture (OrangePi, Raspberry Pi, etc.), download the LinuxArm64.jar file.
+
+If your coprocessor has an 64 bit x86 based CPU architecture (Mini PC, laptop, etc.), download the Linuxx86-64.jar file.
+:::
+
+:::{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
+```
+
+If your computer has a compatible webcam connected, PhotonVision should startup without any error messages. If there are error messages, your webcam isn't supported or another issue has occurred. If it is the latter, please open an issue on the [PhotonVision issues page](https://github.com/PhotonVision/photonvision/issues).
+
+## 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.

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

@@ -0,0 +1,9 @@
+# MacOS Installation
+
+## Builds
+
+Builds for macOS are currently generated in CI for testing compatibility. This allows us to ensure that macOS remains a viable development platform.
+
+## Use as a coprocessor
+
+This is not a recommended path. MacOS is not officially supported, and your mileage may vary.

docs/source/docs/advanced-installation/sw_install/other-coprocessors.md

@@ -0,0 +1,39 @@
+# Other Debian-Based Co-Processor Installation
+
+:::{warning}
+Working with unsupported coprocessors requires some level of "know how" of your system. The install script has only been tested on Debian/Raspberry Pi OS Buster and Ubuntu Bionic. If any issues arise with your specific OS, please open an issue on our [issues page](https://github.com/PhotonVision/photonvision/issues).
+:::
+
+:::{note}
+We'd love to have your input! If you get PhotonVision working on another coprocessor, consider documenting your steps and submitting a [docs issue](https://github.com/PhotonVision/photonvision-docs/issues)., [pull request](https://github.com/PhotonVision/photonvision-docs/pulls) , or [ping us on Discord](https://discord.com/invite/wYxTwym). For example, Limelight and Romi install instructions came about because someone spent the time to figure it out, and did a writeup.
+:::
+
+## Installing PhotonVision
+
+We provide an [install script](https://git.io/JJrEP) for other Debian-based systems (with `apt`) that will automatically install PhotonVision and make sure that it runs on startup.
+
+```bash
+$ wget https://git.io/JJrEP -O install.sh
+$ sudo chmod +x install.sh
+$ sudo ./install.sh
+$ sudo reboot now
+```
+
+:::{note}
+Your co-processor will require an Internet connection for this process to work correctly.
+:::
+
+For installation on any other co-processors, we recommend reading the {ref}`advanced command line documentation <docs/advanced-installation/sw_install/advanced-cmd:Advanced Command Line Usage>`.
+
+## Updating PhotonVision
+
+PhotonVision can be updated by downloading the latest jar file, copying it onto the processor, and restarting the service.
+
+For example, from another computer, run the following commands. Substitute the correct username for "\[user\]" ( Provided images use username "pi")
+
+```bash
+$ scp [jar name].jar [user]@photonvision.local:~/
+$ ssh [user]@photonvision.local
+$ sudo mv [jar name].jar /opt/photonvision/photonvision.jar
+$ sudo systemctl restart photonvision.service
+```

docs/source/docs/advanced-installation/sw_install/romi.md

@@ -0,0 +1,43 @@
+# Romi Installation
+
+The [Romi](https://docs.wpilib.org/en/latest/docs/romi-robot/index.html) is a small robot that can be controlled with the WPILib software. The main controller is a Raspberry Pi that must be imaged with [WPILibPi](https://docs.wpilib.org/en/latest/docs/romi-robot/imaging-romi.html) .
+
+## Installation
+
+The WPILibPi image includes FRCVision, which reserves USB cameras; to use PhotonVision, we need to edit the `/home/pi/runCamera` script to disable it. First we will need to make the file system writeable; the easiest way to do this is to go to `10.0.0.2` and choose "Writable" at the top.
+
+SSH into the Raspberry Pi (using Windows command line, or a tool like [Putty](https://www.chiark.greenend.org.uk/~sgtatham/putty/) ) at the Romi's default address `10.0.0.2`. The default user is `pi`, and the password is `raspberry`.
+
+:::.. The following paragraph can be restored when WPILibPi becomes compatible with the current version of PhotonVision.
+:::.. Follow the process for installing PhotonVision on {ref}`"Other Debian-Based Co-Processor Installation" <docs/advanced-installation/sw_install/other-coprocessors:Other Debian-Based Co-Processor Installation>`. As it mentions, this will require an internet connection so connecting the Raspberry Pi to an internet-connected router via an Ethernet cable will be the easiest solution. The pi must remain writable while you are following these steps!
+
+:::..Temporary instructions explaining how to install the older version of PhotonVision on a Romi. Remove when no longer needed.
+:::{attention}
+The version of WPILibPi for the Romi is 2023.2.1, which is not compatible with the current version of PhotonVision. **If you are using WPILibPi 2023.2.1 on your Romi, you must install PhotonVision v2023.4.2 or earlier!**
+
+To install a compatible version of PhotonVision, enter these commands in the SSH terminal connected to the Raspberry Pi. This will download and run the install script, which will install PhotonVision on your Raspberry Pi and configure it to run at startup.
+
+```bash
+$ wget https://git.io/JJrEP -O install.sh
+$ sudo chmod +x install.sh
+$ sudo ./install.sh -v v2023.4.2
+```
+The install script requires an internet connection, so connecting the Raspberry Pi to an internet-connected router via an Ethernet cable will be the easiest solution. The pi must remain writable while you are following these steps!
+:::
+:::..End of temporary instructions.
+
+Next, from the SSH terminal, run `sudo nano /home/pi/runCamera` then arrow down to the start of the exec line and press "Enter" to add a new line. Then add `#` before the exec command to comment it out. Then, arrow up to the new line and type `sleep 10000`. Hit "Ctrl + O" and then "Enter" to save the file. Finally press "Ctrl + X" to exit nano. Now, reboot the Romi by typing `sudo reboot now`.
+
+```{image} images/nano.png
+
+```
+
+After the Romi reboots, you should be able to open the PhotonVision UI at: [`http://10.0.0.2:5800/`](http://10.0.0.2:5800/). From here, you can adjust settings and configure {ref}`Pipelines <docs/pipelines/index:Pipelines>`.
+
+:::{warning}
+In order for settings, logs, etc. to be saved / take effect, ensure that PhotonVision is in writable mode.
+:::
+
+:::{attention}
+When using an older version of PhotonVision, the user interface and features may be different than what appears in the online documentation. The [Documentation](http://10.0.0.2:5800/#/docs) link in the User Interface will open a bundled version of the documentation that matches the PhotonVision version running on your coprocessor.
+:::

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

@@ -0,0 +1,37 @@
+# Windows PC Installation
+
+PhotonVision may be run on a Windows Desktop PC for basic testing and evaluation.
+
+:::{note}
+You do not need to install PhotonVision on a Windows PC in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
+:::
+
+## Install Bonjour
+
+Bonjour provides more stable networking when using Windows PCs. Install [Bonjour here](https://support.apple.com/downloads/DL999/en_US/BonjourPSSetup.exe) before continuing to ensure a stable experience while using PhotonVision.
+
+## Installing Java
+
+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 winx86-64.jar file.
+
+## Running PhotonVision
+
+To run PhotonVision, open a terminal window of your choice and run the following command:
+
+```
+> java -jar C:\path\to\photonvision\NAME OF JAR FILE GOES HERE.jar
+```
+
+If your computer has a compatible webcam connected, PhotonVision should startup without any error messages. If there are error messages, your webcam isn't supported or another issue has occurred. If it is the latter, please open an issue on the [PhotonVision issues page](https://github.com/PhotonVision/photonvision/issues).
+
+:::{warning}
+Using an integrated laptop camera may cause issues when trying to run PhotonVision. If you are unable to run PhotonVision on a laptop with an integrated camera, try disabling the camera's driver in Windows Device Manager.
+:::
+
+## 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.

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

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+# 2D AprilTag Tuning / Tracking
+
+## Tracking AprilTags
+
+Before you get started tracking AprilTags, ensure that you have followed the previous sections on installation, wiring and networking. Next, open the Web UI, go to the top right card, and switch to the "AprilTag" or "ArUco" type. You should see a screen similar to the one below.
+
+```{image} images/apriltag.png
+:align: center
+```
+
+You are now able to detect and track AprilTags in 2D (yaw, pitch, roll, etc.). In order to get 3D data from your AprilTags, please see {ref}`here. <docs/apriltag-pipelines/3D-tracking:3D Tracking>`
+
+## Tuning AprilTags
+
+AprilTag pipelines come with reasonable defaults to get you up and running with tracking. However, in order to optimize your performance and accuracy, you must tune your AprilTag pipeline using the settings below. Note that the settings below are different between the AprilTag and ArUco detectors but the concepts are the same.
+
+```{image} images/apriltag-tune.png
+:align: center
+:scale: 45 %
+```
+
+### Target Family
+
+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 2026 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/2bc821edb4eb7b408d13c6a590d326d8a9ec98f3/tag36h11).
+
+### Decimate
+
+Decimation (also known as down-sampling) is the process of reducing the sampling frequency of a signal (in our case, the image). Increasing decimate will lead to an increased detection rate while decreasing detection distance. We recommend keeping this at the default value.
+
+### Blur
+
+This controls the sigma of Gaussian blur for tag detection. In clearer terms, increasing blur will make the image blurrier, decreasing it will make it closer to the original image. We strongly recommend that you keep blur to a minimum (0) due to it's high performance intensity unless you have an extremely noisy image.
+
+### Threads
+
+Threads refers to the threads within your coprocessor's CPU. The theoretical maximum is device dependent, but we recommend that users to stick to one less than the amount of CPU threads that your coprocessor has. Increasing threads will increase performance at the cost of increased CPU load, temperature increase, etc. It may take some experimentation to find the most optimal value for your system.
+
+### Refine Edges
+
+The edges of the each polygon are adjusted to "snap to" high color differences surrounding it. It is recommended to use this in tandem with decimate as it can increase the quality of the initial estimate.
+
+### Pose Iterations
+
+Pose iterations represents the amount of iterations done in order for the AprilTag algorithm to converge on its pose solution(s). A smaller number between 0-100 is recommended. A smaller amount of iterations cause a more noisy set of poses when looking at the tag straight on, while higher values much more consistently stick to a (potentially wrong) pair of poses. WPILib contains many useful filter classes in order to account for a noisy tag reading.
+
+### Max Error Bits
+
+Max error bits, also known as hamming distance, is the number of positions at which corresponding pieces of data / tag are different. Put more generally, this is the number of bits (think of these as squares in the tag) that need to be changed / corrected in the tag to correctly detect it. A higher value means that more tags will be detected while a lower value cuts out tags that could be "questionable" in terms of detection.
+
+We recommend a value of 0 for the 16h5 and at most 3 for the 36h11 family.
+
+### Decision Margin Cutoff
+
+The decision margin cutoff is how much “margin” the detector has left before it rejects a tag; increasing this rejects poorer tags. We recommend you keep this value around a 30.

docs/source/docs/apriltag-pipelines/3D-tracking.md

@@ -0,0 +1,13 @@
+# 3D Tracking
+
+3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first {ref}`calibrate your camera <docs/calibration/calibration:Calibrating Your Camera>`. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see {ref}`the programming reference <docs/programming/index:Programming Reference>`.
+
+## Ambiguity
+
+Translating from 2D to 3D using data from the calibration and the four tag corners can lead to "pose ambiguity", where it appears that the AprilTag pose is flipping between two different poses. You can read more about this issue [here](https://docs.wpilib.org/en/stable/docs/software/vision-processing/apriltag/apriltag-intro.html#d-to-3d-ambiguity). Ambiguity is calculated as the ratio of reprojection errors between two pose solutions (if they exist), where reprojection error is the error corresponding to the image distance between where the apriltag's corners are detected vs where we expect to see them based on the tag's estimated camera relative pose.
+
+There are a few steps you can take to resolve/mitigate this issue:
+
+1. Mount cameras at oblique angles so it is less likely that the tag will be seen straight on.
+2. Use the {ref}`MultiTag system <docs/apriltag-pipelines/multitag:MultiTag Localization>` in order to combine the corners from multiple tags to get a more accurate and unambiguous pose.
+3. Reject all tag poses where the ambiguity ratio (available via PhotonLib) is greater than 0.2.

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

@@ -0,0 +1,14 @@
+# About AprilTags
+
+```{image} images/pv-apriltag.png
+:align: center
+:scale: 20 %
+```
+
+AprilTags are a common type of visual fiducial marker. Visual fiducial markers are artificial landmarks added to a scene to allow "localization" (finding your current position) via images. In simpler terms, tags mark known points of reference that you can use to find your current location. They are similar to QR codes in which they encode information, however, they hold only a single number. By placing AprilTags in known locations around the field and detecting them using PhotonVision, you can easily get full field localization / pose estimation. Alternatively, you can use AprilTags the same way you used retroreflective tape, simply using them to turn to goal without any pose estimation.
+
+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 2026 here](https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-apriltag-images-user-guide.pdf).
+:::

docs/source/docs/apriltag-pipelines/coordinate-systems.md

@@ -0,0 +1,40 @@
+# Coordinate Systems
+
+## Field and Robot Coordinate Frame
+
+PhotonVision follows the WPILib conventions for the robot and field coordinate systems, as defined [here](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html).
+
+You define the camera to robot transform in the robot coordinate frame.
+
+## Camera Coordinate Frame
+
+OpenCV by default uses x-left/y-down/z-out for camera transforms. PhotonVision applies a base rotation to this transformation to make robot to tag transforms more in line with the WPILib coordinate system. The x, y, and z axes are also shown in red, green, and blue in the 3D mini-map and targeting overlay in the UI.
+
+- The origin is the focal point of the camera lens
+- The x-axis points out of the camera
+- The y-axis points to the left
+- The z-axis points upwards
+
+```{image} images/camera-coord.png
+:align: center
+:scale: 45 %
+```
+
+```{image} images/multiple-tags.png
+:align: center
+:scale: 45 %
+```
+
+## AprilTag Coordinate Frame
+
+The AprilTag coordinate system is defined as follows, relative to the center of the AprilTag itself, and when viewing the tag as a robot would. Again, PhotonVision changes this coordinate system to be more in line with WPILib. This means that a robot facing a tag head-on would see a robot-to-tag transform with a translation only in x, and a rotation of 180 degrees about z. The tag coordinate system is also shown with x/y/z in red/green/blue in the UI target overlay and mini-map.
+
+- The origin is the center of the tag
+- The x-axis is normal to the plane the tag is printed on, pointing outward from the visible side of the tag.
+- The y-axis points to the right
+- The z-axis points upwards
+
+```{image} images/apriltag-coords.png
+:align: center
+:scale: 45 %
+```