Tidy up of python autogenerated messages (#1594 )

This fixes mostly formatting issues so there is no longer any diff with things after rerunning the generation script. Yes, most of this can be fixed by running wpiformat but that doesn't exist as a pre-commit hook atm, so I think this is nicer. It also removes any reference to the java encode/decode within the python message gen
add file marker for type checking (#1598 )
2026-06-25 01:41:40 +00:00 · 2024-11-21 04:43:33 +00:00 · 2024-11-21 04:43:05 +00:00 · 2024-11-21 04:42:30 +00:00 · 2024-11-21 03:01:08 +00:00 · 2024-11-19 05:22:33 +00:00
101 changed files with 2858 additions and 1148 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -16,6 +16,7 @@ on:
      - '**'
      - '!docs/**'
      - '.github/**'
+  merge_group:

 jobs:
  build-client:
@@ -68,23 +69,14 @@ jobs:
      - name: Install RoboRIO Toolchain
        run: ./gradlew installRoboRioToolchain
      # 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
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
+        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
      - name: Build Java examples
        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build
+        run: ./gradlew build
      - name: Build C++ examples
        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build
+        run: ./gradlew build
  build-gradle:
    name: "Gradle Build"
    runs-on: ubuntu-22.04
@@ -104,9 +96,7 @@ jobs:
      - name: Install mrcal deps
        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
+        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
      - name: Gradle Tests
        run: ./gradlew testHeadless -i --stacktrace
      - name: Gradle Coverage
@@ -165,7 +155,6 @@ jobs:

      # Generate the JSON and give it the ""standard""" name maven gives it
      - run: |
-          chmod +x gradlew
          ./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
@@ -205,9 +194,7 @@ jobs:
          distribution: temurin
          architecture: ${{ matrix.architecture }}
      - run: git fetch --tags --force
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-targeting:build photon-lib:build -i
+      - run: ./gradlew photon-targeting:build photon-lib:build -i
        name: Build with Gradle
      - run: ./gradlew photon-lib:publish photon-targeting:publish
        name: Publish
@@ -248,13 +235,9 @@ jobs:
          git config --global --add safe.directory /__w/photonvision/photonvision
      - name: Build PhotonLib
        # We don't need to run tests, since we specify only non-native platforms
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
+        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
      - name: Publish
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
+        run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
        env:
          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
@@ -350,13 +333,9 @@ jobs:
        with:
          name: built-docs
          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
+      - run: ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar
+      - run: ./gradlew photon-server:shadowJar
        if: ${{ (matrix.arch-override == 'none') }}
      - uses: actions/upload-artifact@v4
        with:
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -16,6 +16,7 @@ on:
      - '**'
      - '!docs/**'
      - '.github/**'
+  merge_group:

 concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
@@ -61,9 +62,7 @@ jobs:
        with:
          java-version: 17
          distribution: temurin
-      - run: |
-          chmod +x gradlew
-          ./gradlew spotlessCheck
+      - run: ./gradlew spotlessCheck
        name: Run spotless

  client-lint-format:
--- a/.github/workflows/photon-code-docs.yml
+++ b/.github/workflows/photon-code-docs.yml
@@ -16,6 +16,7 @@ on:
      - '**'
      - '!docs/**'
      - '.github/**'
+  merge_group:

 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
 permissions:
--- a/.github/workflows/photonvision-docs.yml
+++ b/.github/workflows/photonvision-docs.yml
@@ -11,6 +11,10 @@ on:
    paths:
      - 'docs/**'
      - '.github/**'
+  merge_group:
+
+env:
+  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

 jobs:
  build:
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -18,6 +18,7 @@ on:
      - '**'
      - '!docs/**'
      - '.github/**'
+  merge_group:

 jobs:
  buildAndDeploy:
--- a/.gitignore
+++ b/.gitignore
@@ -131,27 +131,12 @@ New client/photon-client/*
 *.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/*
@@ -161,10 +146,7 @@ photonlib-cpp-examples/*/vendordeps/*
 photonlib-cpp-examples/*/networktables.json.bck
 photonlib-java-examples/*/networktables.json.bck
 *.sqlite
-photon-server/src/main/resources/web/index.html
-photon-lib/src/generate/native/cpp/PhotonVersion.cpp
-
+photon-server/src/main/resources/web/*
 venv
-
 .venv/*
 .venv
--- a/.styleguide
+++ b/.styleguide
@@ -20,6 +20,8 @@ modifiableFileExclude {
  \.ico$
  \.rknn$
  gradlew
+  photon-lib/py/photonlibpy/generated/
+  photon-targeting/src/generated/
 }

 includeProject {
--- a/build.gradle
+++ b/build.gradle
@@ -5,7 +5,7 @@ plugins {
    id "cpp"
    id "com.diffplug.spotless" version "6.24.0"
    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
    id 'edu.wpi.first.WpilibTools' version '1.3.0'
    id 'com.google.protobuf' version '0.9.3' apply false
    id 'edu.wpi.first.GradleJni' version '1.1.0'
@@ -30,7 +30,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"

 ext {
-    wpilibVersion = "2025.1.1-beta-1"
+    wpilibVersion = "2025.1.1-beta-2"
    wpimathVersion = wpilibVersion
    openCVYear = "2024"
    openCVversion = "4.8.0-4"
@@ -39,7 +39,7 @@ ext {
    libcameraDriverVersion = "dev-v2023.1.0-15-gc8988b3"
    rknnVersion = "dev-v2024.0.1-4-g0db16ac"
    frcYear = "2025"
-    mrcalVersion = "dev-v2024.0.0-24-gc1efcf0";
+    mrcalVersion = "dev-v2024.0.0-27-g41d7868";


    pubVersion = versionString
@@ -67,7 +67,7 @@ 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", "**/src/generated/**"
+            exclude '**/build/**', '**/build-*/**', '**/src/generated/**'
        }
        toggleOffOn()
        googleJavaFormat()
@@ -109,7 +109,7 @@ spotless {
 }

 wrapper {
-    gradleVersion '8.4'
+    gradleVersion '8.11'
 }

 ext.getCurrentArch = {
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -10,7 +10,8 @@
 # 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 os
+
 # import sys
 # sys.path.insert(0, os.path.abspath('.'))

@@ -138,9 +139,15 @@ 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 = ["https://www.raspberrypi.com/software/"]
+linkcheck_ignore = [R"https://www.raspberrypi.com/software/", R"http://10\..+"]
+
+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"]
--- a/docs/source/docs/advanced-installation/sw_install/romi.md
+++ b/docs/source/docs/advanced-installation/sw_install/romi.md
@@ -8,16 +8,36 @@ The WPILibPi image includes FRCVision, which reserves USB cameras; to use Photon

 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`.

-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 plugging into the ethernet jack on the Raspberry Pi will be the easiest solution. The pi must remain writable!
+:::.. 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!

-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`.
+:::..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 intall 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 2023.4.2
+```
+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 it reboots, you should be able to [locate the PhotonVision UI](https://photonvision.github.io/gloworm-docs/docs/quickstart/#finding-gloworm) at: `http://10.0.0.2:5800/`.
+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 {ref}`Settings <docs/settings: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.
+:::
--- a/docs/source/docs/contributing/building-photon.md
+++ b/docs/source/docs/contributing/building-photon.md
@@ -139,25 +139,7 @@ The `deploy` command is tested against Raspberry Pi coprocessors. Other similar

 ### Using PhotonLib Builds

-The build process includes the following task:
-
-```{eval-rst}
-.. tab-set::
-
-   .. tab-item:: Linux
-
-      ``./gradlew generateVendorJson``
-
-   .. tab-item:: macOS
-
-      ``./gradlew generateVendorJson``
-
-   .. tab-item:: Windows (cmd)
-
-      ``gradlew generateVendorJson``
-```
-
-This generates a vendordep JSON of your local build at `photon-lib/build/generated/vendordeps/photonlib.json`.
+The build process automatically generates a vendordep JSON of your local build at `photon-lib/build/generated/vendordeps/photonlib.json`.

 The photonlib source can be published to your local maven repository after building:

@@ -247,17 +229,15 @@ You can run one of the many built in examples straight from the command line, to

 #### Running C++/Java

-PhotonLib must first be published to your local maven repository, then the copy PhotonLib 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 not yet supported.
+PhotonLib must first be published to your local maven repository. This will also copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though not yet supported.

 ```
 ~/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
 ```

--- a/docs/source/docs/quick-start/networking.md
+++ b/docs/source/docs/quick-start/networking.md
@@ -88,4 +88,4 @@ The address in the code above (`photonvision.local`) is the hostname of the copr

 ## Camera Stream Ports

-The camera streams start at they begin at 1181 with two ports for each camera (ex. 1181 and 1182 for camera one, 1183 and 1184 for camera two, etc.). The easiest way to identify the port of the camera that you want is by double clicking on the stream, which opens it in a separate page. The port will be listed below the stream.
+The camera streams start at 1181 with two ports for each camera (ex. 1181 and 1182 for camera one, 1183 and 1184 for camera two, etc.). The easiest way to identify the port of the camera that you want is by double clicking on the stream, which opens it in a separate page. The port will be listed below the stream.
--- a/docs/source/docs/quick-start/quick-configure.md
+++ b/docs/source/docs/quick-start/quick-configure.md
@@ -8,7 +8,7 @@ In order for photonvision to connect to the roborio it needs to know your team n

 ### Camera Nickname

-You **must** nickname your cameras in photonvision to ensure that every camera has a unique name. This is how we will identify cameras in robot code. The camera can be nickname using the edit button next to the camera name in the upper right of the Dashboard tab.
+You **must** nickname your cameras in PhotonVision to ensure that every camera has a unique name. This is how you will identify cameras in robot code. The camera can be nicknamed using the edit button next to the camera name in the upper right of the Dashboard tab.

 ```{image} images/editCameraName.png
 :align: center
@@ -38,7 +38,7 @@ When detecting AprilTags, it's important to minimize 'motion blur' as much as po
 - Fixes
  - Lower your exposure as low as possible. Using gain and brightness to account for lack of brightness.
 - Other Options:
-  - Don't use/rely vision measurements while moving.
+  - Don't use/rely on vision measurements while moving.

 ```{image} images/motionblur.png
 :align: center
@@ -51,7 +51,7 @@ When using an Orange Pi 5 with an OV9782 teams will usually change the following
 - Resolution:
  - Resolutions higher than 640x640 may not result in any higher detection accuracy and may lower {ref}`performance<docs/objectDetection/about-object-detection:Letterboxing>`.
 - Confidence:
-  - 0.75 - 0.95 Lower values are fpr detecting warn game pieces or less ideal game pieces. Higher for less warn, more ideal game pieces.
+  - 0.75 - 0.95 Lower values are for detecting worn game pieces or less ideal game pieces. Higher for less worn, more ideal game pieces.
 - White Balance Temperature:
  - Adjust this to achieve better color accuracy. This may be needed to increase confidence.
 - Set arducam specific camera type selector to OV9782
--- a/gradle.properties
+++ b/gradle.properties
@@ -6,3 +6,4 @@ org.gradle.jvmargs= \
  --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
  --add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
  --add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED
+org.ysb33r.gradle.doxygen.download.url=https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen
--- a/gradle/wrapper/gradle-wrapper.jar
+++ b/gradle/wrapper/gradle-wrapper.jar
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
--- a/7
+++ b/7
@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#

 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit

 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -13,6 +13,8 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem

@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute

-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2

 goto fail

@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe

 if exist "%JAVA_EXE%" goto execute

-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2

 goto fail

--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -82,6 +82,11 @@ const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
 const useOldPattern = ref(false);
 const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);

+// Emperical testing - with stack size limit of 1MB, we can handle at -least- 700k points
+const tooManyPoints = computed(
+  () => useStateStore().calibrationData.imageCount * patternWidth.value * patternHeight.value > 700000
+);
+
 const downloadCalibBoard = () => {
  const doc = new JsPDF({ unit: "in", format: "letter" });

@@ -413,12 +418,17 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
          </v-col>
        </v-row>
        <v-row>
+          <v-col v-if="tooManyPoints" :cols="12">
+            <v-banner rounded color="red" text-color="white" class="mt-3" icon="mdi-alert-circle-outline">
+              Too many corners - finish calibration now!
+            </v-banner>
+          </v-col>
          <v-col :cols="6">
            <v-btn
              small
              color="secondary"
              style="width: 100%"
-              :disabled="!settingsValid"
+              :disabled="!settingsValid || tooManyPoints"
              @click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
            >
              <v-icon left class="calib-btn-icon"> {{ isCalibrating ? "mdi-camera" : "mdi-flag-outline" }} </v-icon>
--- a/photon-core/.gitignore
+++ b/photon-core/.gitignore
@@ -11,5 +11,3 @@ photonvision/*
 photonvision_config/*
 photon-server/lib/*
 photon-server/package-lock.json
-
-src/main/java/org/photonvision/PhotonVersion.java
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -65,9 +65,13 @@ dependencies {
 }

 task writeCurrentVersion {
-    def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
-    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
-            versionString)
+    doLast {
+        def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
+        writePhotonVersionFile(versionFileIn, Path.of("$buildDir", "generated", "java", "org", "photonvision", "PhotonVersion.java"),
+                versionString)
+    }
 }
+// https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/build.gradle#L52
+sourceSets.main.java.srcDir "${buildDir}/generated/java/"

-build.dependsOn writeCurrentVersion
+compileJava.dependsOn writeCurrentVersion
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -89,6 +89,21 @@ public class NetworkConfig {
        setShouldManage(shouldManage);
    }

+    public NetworkConfig(NetworkConfig config) {
+        this(
+                config.ntServerAddress,
+                config.connectionType,
+                config.staticIp,
+                config.hostname,
+                config.runNTServer,
+                config.shouldManage,
+                config.shouldPublishProto,
+                config.networkManagerIface,
+                config.setStaticCommand,
+                config.setDHCPcommand,
+                config.matchCamerasOnlyByPath);
+    }
+
    public Map<String, Object> toHashMap() {
        try {
            var ret = new ObjectMapper().convertValue(this, JacksonUtils.UIMap.class);
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -21,19 +21,6 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import java.util.Collection;
 import java.util.HashMap;
 import java.util.List;
-import java.util.Map;
-import java.util.stream.Collectors;
-import org.photonvision.PhotonVersion;
-import org.photonvision.common.hardware.Platform;
-import org.photonvision.common.networking.NetworkManager;
-import org.photonvision.common.networking.NetworkUtils;
-import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.mrcal.MrCalJNILoader;
-import org.photonvision.raspi.LibCameraJNILoader;
-import org.photonvision.vision.calibration.UICameraCalibrationCoefficients;
-import org.photonvision.vision.camera.QuirkyCamera;
-import org.photonvision.vision.processes.VisionModule;
-import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;

 public class PhotonConfiguration {
@@ -124,81 +111,6 @@ public class PhotonConfiguration {
        return cameraConfigurations.remove(name) != null;
    }

-    public Map<String, Object> toHashMap() {
-        Map<String, Object> map = new HashMap<>();
-        var settingsSubmap = new HashMap<String, Object>();
-
-        // Hack active interfaces into networkSettings
-        var netConfigMap = networkConfig.toHashMap();
-        netConfigMap.put("networkInterfaceNames", NetworkUtils.getAllActiveWiredInterfaces());
-        netConfigMap.put("networkingDisabled", NetworkManager.getInstance().networkingIsDisabled);
-
-        settingsSubmap.put("networkSettings", netConfigMap);
-
-        var lightingConfig = new UILightingConfig();
-        lightingConfig.brightness = hardwareSettings.ledBrightnessPercentage;
-        lightingConfig.supported = !hardwareConfig.ledPins.isEmpty();
-        settingsSubmap.put("lighting", SerializationUtils.objectToHashMap(lightingConfig));
-        // General Settings
-        var generalSubmap = new HashMap<String, Object>();
-        generalSubmap.put("version", PhotonVersion.versionString);
-        generalSubmap.put(
-                "gpuAcceleration",
-                LibCameraJNILoader.isSupported()
-                        ? "Zerocopy Libcamera Working"
-                        : ""); // TODO add support for other types of GPU accel
-        generalSubmap.put("mrCalWorking", MrCalJNILoader.getInstance().isLoaded());
-        generalSubmap.put("availableModels", NeuralNetworkModelManager.getInstance().getModels());
-        generalSubmap.put(
-                "supportedBackends", NeuralNetworkModelManager.getInstance().getSupportedBackends());
-        generalSubmap.put(
-                "hardwareModel",
-                hardwareConfig.deviceName.isEmpty()
-                        ? Platform.getHardwareModel()
-                        : hardwareConfig.deviceName);
-        generalSubmap.put("hardwarePlatform", Platform.getPlatformName());
-        settingsSubmap.put("general", generalSubmap);
-        // AprilTagFieldLayout
-        settingsSubmap.put("atfl", this.atfl);
-
-        map.put(
-                "cameraSettings",
-                VisionModuleManager.getInstance().getModules().stream()
-                        .map(VisionModule::toUICameraConfig)
-                        .map(SerializationUtils::objectToHashMap)
-                        .collect(Collectors.toList()));
-        map.put("settings", settingsSubmap);
-
-        return map;
-    }
-
-    public static class UILightingConfig {
-        public int brightness = 0;
-        public boolean supported = true;
-    }
-
-    public static class UICameraConfiguration {
-        @SuppressWarnings("unused")
-        public double fov;
-
-        public String nickname;
-        public String uniqueName;
-        public HashMap<String, Object> currentPipelineSettings;
-        public int currentPipelineIndex;
-        public List<String> pipelineNicknames;
-        public HashMap<Integer, HashMap<String, Object>> videoFormatList;
-        public int outputStreamPort;
-        public int inputStreamPort;
-        public List<UICameraCalibrationCoefficients> calibrations;
-        public boolean isFovConfigurable = true;
-        public QuirkyCamera cameraQuirks;
-        public boolean isCSICamera;
-        public double minExposureRaw;
-        public double maxExposureRaw;
-        public double minWhiteBalanceTemp;
-        public double maxWhiteBalanceTemp;
-    }
-
    @Override
    public String toString() {
        return "PhotonConfiguration [\n  hardwareConfig="
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -32,6 +32,7 @@ import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.hardware.HardwareManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
@@ -165,7 +166,8 @@ public class NetworkTablesManager {
            DataChangeService.getInstance()
                    .publishEvent(
                            new OutgoingUIEvent<>(
-                                    "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
+                                    "fullsettings",
+                                    UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
        } catch (IOException e) {
            logger.error("Error deserializing atfl!");
            logger.error(atfl_json);
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java
@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.websocket;
+
+import java.util.HashMap;
+import java.util.List;
+import org.photonvision.vision.calibration.UICameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
+
+public class UICameraConfiguration {
+    @SuppressWarnings("unused")
+    public double fov;
+
+    public String nickname;
+    public String uniqueName;
+    public HashMap<String, Object> currentPipelineSettings;
+    public int currentPipelineIndex;
+    public List<String> pipelineNicknames;
+    public HashMap<Integer, HashMap<String, Object>> videoFormatList;
+    public int outputStreamPort;
+    public int inputStreamPort;
+    public List<UICameraCalibrationCoefficients> calibrations;
+    public boolean isFovConfigurable = true;
+    public QuirkyCamera cameraQuirks;
+    public boolean isCSICamera;
+    public double minExposureRaw;
+    public double maxExposureRaw;
+    public double minWhiteBalanceTemp;
+    public double maxWhiteBalanceTemp;
+}
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIGeneralSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIGeneralSettings.java
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.websocket;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+
+public class UIGeneralSettings {
+    public UIGeneralSettings(
+            String version,
+            String gpuAcceleration,
+            boolean mrCalWorking,
+            Map<String, ArrayList<String>> availableModels,
+            List<String> supportedBackends,
+            String hardwareModel,
+            String hardwarePlatform) {
+        this.version = version;
+        this.gpuAcceleration = gpuAcceleration;
+        this.mrCalWorking = mrCalWorking;
+        this.availableModels = availableModels;
+        this.supportedBackends = supportedBackends;
+        this.hardwareModel = hardwareModel;
+        this.hardwarePlatform = hardwarePlatform;
+    }
+
+    public String version;
+    public String gpuAcceleration;
+    public boolean mrCalWorking;
+    public Map<String, ArrayList<String>> availableModels;
+    public List<String> supportedBackends;
+    public String hardwareModel;
+    public String hardwarePlatform;
+}
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UILightingConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UILightingConfig.java
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.websocket;
+
+public class UILightingConfig {
+    public UILightingConfig(int brightness, boolean supported) {
+        this.brightness = brightness;
+        this.supported = supported;
+    }
+
+    public int brightness = 0;
+    public boolean supported = true;
+}
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UINetConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UINetConfig.java
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.websocket;
+
+import java.util.List;
+import org.photonvision.common.configuration.NetworkConfig;
+import org.photonvision.common.networking.NetworkUtils.NMDeviceInfo;
+
+public class UINetConfig extends NetworkConfig {
+    public UINetConfig(
+            NetworkConfig config, List<NMDeviceInfo> networkInterfaceNames, boolean networkingDisabled) {
+        super(config);
+        this.networkInterfaceNames = networkInterfaceNames;
+        this.networkingDisabled = networkingDisabled;
+    }
+
+    public List<NMDeviceInfo> networkInterfaceNames;
+    public boolean networkingDisabled;
+}
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.websocket;
+
+import java.util.List;
+import java.util.stream.Collectors;
+import org.photonvision.PhotonVersion;
+import org.photonvision.common.configuration.NeuralNetworkModelManager;
+import org.photonvision.common.configuration.PhotonConfiguration;
+import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.networking.NetworkManager;
+import org.photonvision.common.networking.NetworkUtils;
+import org.photonvision.mrcal.MrCalJNILoader;
+import org.photonvision.raspi.LibCameraJNILoader;
+import org.photonvision.vision.processes.VisionModule;
+import org.photonvision.vision.processes.VisionModuleManager;
+
+public class UIPhotonConfiguration {
+    public List<UICameraConfiguration> cameraSettings;
+    public UIProgramSettings settings;
+
+    public UIPhotonConfiguration(
+            UIProgramSettings settings, List<UICameraConfiguration> cameraSettings) {
+        this.cameraSettings = cameraSettings;
+        this.settings = settings;
+    }
+
+    public static UIPhotonConfiguration programStateToUi(PhotonConfiguration c) {
+        return new UIPhotonConfiguration(
+                new UIProgramSettings(
+                        new UINetConfig(
+                                c.getNetworkConfig(),
+                                NetworkUtils.getAllActiveWiredInterfaces(),
+                                NetworkManager.getInstance().networkingIsDisabled),
+                        new UILightingConfig(
+                                c.getHardwareSettings().ledBrightnessPercentage,
+                                !c.getHardwareConfig().ledPins.isEmpty()),
+                        new UIGeneralSettings(
+                                PhotonVersion.versionString,
+                                // TODO add support for other types of GPU accel
+                                LibCameraJNILoader.isSupported() ? "Zerocopy Libcamera Working" : "",
+                                MrCalJNILoader.getInstance().isLoaded(),
+                                NeuralNetworkModelManager.getInstance().getModels(),
+                                NeuralNetworkModelManager.getInstance().getSupportedBackends(),
+                                c.getHardwareConfig().deviceName.isEmpty()
+                                        ? Platform.getHardwareModel()
+                                        : c.getHardwareConfig().deviceName,
+                                Platform.getPlatformName()),
+                        c.getApriltagFieldLayout()),
+                VisionModuleManager.getInstance().getModules().stream()
+                        .map(VisionModule::toUICameraConfig)
+                        .collect(Collectors.toList()));
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.websocket;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+
+public class UIProgramSettings {
+    public UIProgramSettings(
+            UINetConfig networkSettings,
+            UILightingConfig lighting,
+            UIGeneralSettings general,
+            AprilTagFieldLayout atfl) {
+        this.networkSettings = networkSettings;
+        this.lighting = lighting;
+        this.general = general;
+        this.atfl = atfl;
+    }
+
+    public UINetConfig networkSettings;
+    public UILightingConfig lighting;
+    public UIGeneralSettings general;
+    public AprilTagFieldLayout atfl;
+}
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -26,6 +26,7 @@ import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.pipeline.*;
@@ -231,7 +232,8 @@ public class PipelineManager {
        DataChangeService.getInstance()
                .publishEvent(
                        new OutgoingUIEvent<>(
-                                "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
+                                "fullsettings",
+                                UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
    }

    /**
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -30,13 +30,14 @@ import java.util.stream.Collectors;
 import org.opencv.core.Size;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.configuration.PhotonConfiguration;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.dataflow.networktables.NTDataPublisher;
 import org.photonvision.common.dataflow.statusLEDs.StatusLEDConsumer;
+import org.photonvision.common.dataflow.websocket.UICameraConfiguration;
 import org.photonvision.common.dataflow.websocket.UIDataPublisher;
+import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.hardware.HardwareManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -489,7 +490,8 @@ public class VisionModule {
        DataChangeService.getInstance()
                .publishEvent(
                        new OutgoingUIEvent<>(
-                                "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
+                                "fullsettings",
+                                UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
    }

    void saveAndBroadcastSelective(WsContext originContext, String propertyName, Object value) {
@@ -516,8 +518,8 @@ public class VisionModule {
        saveAndBroadcastAll();
    }

-    public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
-        var ret = new PhotonConfiguration.UICameraConfiguration();
+    public UICameraConfiguration toUICameraConfig() {
+        var ret = new UICameraConfiguration();

        ret.fov = visionSource.getSettables().getFOV();
        ret.isCSICamera = visionSource.getCameraConfiguration().cameraType == CameraType.ZeroCopyPicam;
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -29,6 +29,7 @@ import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.hardware.Platform.OSType;
 import org.photonvision.common.logging.LogGroup;
@@ -122,7 +123,8 @@ public class VisionSourceManager {
        DataChangeService.getInstance()
                .publishEvent(
                        new OutgoingUIEvent<>(
-                                "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
+                                "fullsettings",
+                                UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
    }

    protected List<VisionSource> tryMatchCamImpl() {
--- a/photon-docs/build.gradle
+++ b/photon-docs/build.gradle
@@ -2,7 +2,7 @@

 plugins {
    id 'java'
-    id "org.ysb33r.doxygen" version "0.7.0"
+    id "org.ysb33r.doxygen" version "1.0.4"
 }


@@ -36,15 +36,16 @@ doxygen {
    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 {
+                executableByVersion('1.12.0')
+            }
        }
    }
 }

 doxygen {
-    generate_html true
-    html_extra_stylesheet 'theme.css'
+    option 'generate_html', true
+    option 'html_extra_stylesheet', 'theme.css'

    cppProjectZips.each {
        dependsOn it
@@ -53,126 +54,37 @@ doxygen {
            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 '../photon-client/src/assets/images/logoSmall.svg'
-    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
+    option 'case_sense_names', false
+    option 'extension_mapping', 'inc=C++ no_extension=C++'
+    option 'extract_all', true
+    option 'extract_static', true
+    option 'file_patterns', '*'
+    option 'full_path_names', true
+    option 'generate_html', true
+    option 'generate_latex', false
+    option 'generate_treeview', true
+    option 'html_extra_stylesheet', 'theme.css'
+    option 'html_timestamp', true
+    option 'javadoc_autobrief', true
+    option 'project_name', 'PhotonVision C++'
+    option 'project_logo', '../docs/source/assets/RoundLogo.png'
+    option 'project_number', pubVersion
+    option 'quiet', true
+    option 'recursive', true
+    option 'strip_code_comments', false
+    option 'strip_from_inc_path', cppIncludeRoots
+    option 'strip_from_path', cppIncludeRoots
+    option 'use_mathjax', true
+    option 'warnings', false
+    option 'warn_if_incomplete_doc', true
+    option 'warn_if_undocumented', false
+    option '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" +
+    option 'enable_preprocessing', true
+    option 'macro_expansion', true
+    option 'expand_only_predef', true
+    option 'predefined', "WPI_DEPRECATED(x)=[[deprecated(x)]]\"\\\n" +
            "\"__cplusplus\"\\\n" +
            "\"HAL_ENUM(name)=enum name : int32_t"

--- a/photon-docs/theme.css
+++ b/photon-docs/theme.css
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -33,7 +33,7 @@ model {
            sources {
                cpp {
                    source {
-                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp", "src/generate/native/cpp"
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp", "$buildDir/generated/native/cpp"
                        include '**/*.cpp', '**/*.cc'
                    }
                    exportedHeaders {
@@ -161,14 +161,12 @@ task generateVendorJson() {
    def read = photonlibFileInput.text
            .replace('${photon_version}', pubVersion)
            .replace('${frc_year}', frcYear)
-            .replace('${wpilib_version}', wpilibVersion)
    photonlibFileOutput.text = read

    outputs.upToDateWhen { false }
 }

-build.mustRunAfter generateVendorJson
-publish.mustRunAfter generateVendorJson
+build.dependsOn generateVendorJson

 task publishVendorJsonToLocalOutputs(type: Copy) {
    from photonlibFileOutput
@@ -182,17 +180,69 @@ task publishVendorJsonToLocalOutputs(type: Copy) {
    publish.dependsOn it
 }

-task writeCurrentVersion {
-    def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
-    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
-            versionString)
-    versionFileIn = file("${rootDir}/shared/PhotonVersion.cpp.in")
-    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "generate", "native", "cpp", "PhotonVersion.cpp"),
-            versionString)
+task copyVendorJsonToExamples {
+    outputs.upToDateWhen { false }
+    jar.finalizedBy it
 }

-build.mustRunAfter writeCurrentVersion
-cppHeadersZip.dependsOn writeCurrentVersion
+[
+    "photonlib-cpp-examples",
+    "photonlib-java-examples"
+].each { exampleFolder ->
+    file("${rootDir}/${exampleFolder}")
+            .listFiles()
+            .findAll {
+                return (it.isDirectory()
+                        && !it.isHidden()
+                        && !it.name.startsWith(".")
+                        && it.toPath().resolve("build.gradle").toFile().exists())
+            }
+            .collect { it.name }
+            .each { exampleVendordepFolder ->
+                task "copyVendorJsonTo${exampleFolder}-${exampleVendordepFolder}"(type: Copy) {
+                    from photonlibFileOutput
+
+                    into "${rootDir}/${exampleFolder}/${exampleVendordepFolder}/vendordeps/"
+                    outputs.upToDateWhen { false }
+                    copyVendorJsonToExamples.dependsOn it
+                }
+            }
+}
+
+clean {
+    [
+        "photonlib-cpp-examples",
+        "photonlib-java-examples"
+    ].each { exampleFolder ->
+        file("${rootDir}/${exampleFolder}")
+                .listFiles()
+                .findAll {
+                    return (it.isDirectory()
+                            && !it.isHidden()
+                            && !it.name.startsWith(".")
+                            && it.toPath().resolve("build.gradle").toFile().exists())
+                }
+                .collect { it.name }
+                .each { exampleVendordepFolder ->
+                    delete "${rootDir}/${exampleFolder}/${exampleVendordepFolder}/vendordeps/"
+                }
+    }
+}
+
+task writeCurrentVersion {
+    doLast {
+        def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
+        writePhotonVersionFile(versionFileIn, Path.of("$buildDir", "generated", "java", "org", "photonvision", "PhotonVersion.java"),
+                versionString)
+        versionFileIn = file("${rootDir}/shared/PhotonVersion.cpp.in")
+        writePhotonVersionFile(versionFileIn, Path.of("$buildDir", "generated", "native", "cpp", "PhotonVersion.cpp"),
+                versionString)
+    }
+}
+
+// https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/build.gradle#L52
+sourceSets.main.java.srcDir "${buildDir}/generated/java/"
+compileJava.dependsOn writeCurrentVersion

 // Building photon-lib requires photon-targeting to generate its proto files. This technically shouldn't be required but is needed for it to build.
 model {
@@ -206,6 +256,7 @@ model {
            }
            it.binaries.all {
                it.tasks.withType(CppCompile) {
+                    it.dependsOn writeCurrentVersion
                    it.dependsOn ":photon-targeting:generateProto"
                }
            }
@@ -243,7 +294,7 @@ if (!project.hasProperty('copyOfflineArtifacts')) {
 tasks.named('cppSourcesZip') {
    dependsOn writeCurrentVersion

-    from("$projectDir/src/generate/native/cpp") {
+    from("$buildDir/generated/native/cpp") {
        into '/'
    }
 }
@@ -252,7 +303,6 @@ tasks.named('cppSourcesZip') {
 def zipBaseNameCombined = '_GROUP_org.photonvision_combinedcpp_ID_photonvision-combinedcpp_CLS'
 task combinedCppSourcesZip(type: Zip) {
    dependsOn(':photon-lib:cppSourcesZip', ':photon-targeting:cppSourcesZip')
-    mustRunAfter(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')

    destinationDirectory = file("$buildDir/outputs")
    archiveBaseName = zipBaseNameCombined
@@ -270,7 +320,6 @@ task combinedCppSourcesZip(type: Zip) {
 }
 task combinedHeadersZip(type: Zip) {
    dependsOn(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')
-    mustRunAfter(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')

    destinationDirectory = file("$buildDir/outputs")
    archiveBaseName = zipBaseNameCombined
@@ -316,7 +365,6 @@ def nativeTasks = wpilibTools.createExtractionTasks {

 nativeTasks.addToSourceSetResources(sourceSets.test)

-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpilibc")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
--- a/photon-lib/py/photonlibpy/estimation/openCVHelp.py
+++ b/photon-lib/py/photonlibpy/estimation/openCVHelp.py
@@ -1,3 +1,4 @@
+import logging
 import math
 from typing import Any

@@ -11,6 +12,8 @@ from .rotTrlTransform3d import RotTrlTransform3d
 NWU_TO_EDN = Rotation3d(np.array([[0, -1, 0], [0, 0, -1], [1, 0, 0]]))
 EDN_TO_NWU = Rotation3d(np.array([[0, 0, 1], [-1, 0, 0], [0, -1, 0]]))

+logger = logging.getLogger(__name__)
+

 class OpenCVHelp:
    @staticmethod
@@ -27,6 +30,12 @@ class OpenCVHelp:

    @staticmethod
    def translationToTVec(translations: list[Translation3d]) -> np.ndarray:
+        """Creates a new :class:`np.array` with these 3d translations. The opencv tvec is a vector with
+        three elements representing {x, y, z} in the EDN coordinate system.
+
+        :param translations: The translations to convert into a np.array
+        """
+
        retVal: list[list] = []
        for translation in translations:
            trl = OpenCVHelp.translationNWUtoEDN(translation)
@@ -38,6 +47,13 @@ class OpenCVHelp:

    @staticmethod
    def rotationToRVec(rotation: Rotation3d) -> np.ndarray:
+        """Creates a new :class:`.np.array` with this 3d rotation. The opencv rvec Mat is a vector with
+        three elements representing the axis scaled by the angle in the EDN coordinate system. (angle =
+        norm, and axis = rvec / norm)
+
+        :param rotation: The rotation to convert into a np.array
+        """
+
        retVal: list[np.ndarray] = []
        rot = OpenCVHelp.rotationNWUtoEDN(rotation)
        rotVec = rot.getQuaternion().toRotationVector()
@@ -88,6 +104,25 @@ class OpenCVHelp:
    def reorderCircular(
        elements: list[Any] | np.ndarray, backwards: bool, shiftStart: int
    ) -> list[Any]:
+        """Reorders the list, optionally indexing backwards and wrapping around to the last element after
+        the first, and shifting all indices in the direction of indexing.
+
+        e.g.
+
+        ({1,2,3}, false, 1) == {2,3,1}
+
+        ({1,2,3}, true, 0) == {1,3,2}
+
+        ({1,2,3}, true, 1) == {3,2,1}
+
+        :param elements:   list elements
+        :param backwards:  If indexing should happen in reverse (0, size-1, size-2, ...)
+        :param shiftStart: How much the initial index should be shifted (instead of starting at index 0,
+                           start at shiftStart, negated if backwards)
+
+        :returns: Reordered list
+        """
+
        size = len(elements)
        reordered = []
        dir = -1 if backwards else 1
@@ -100,18 +135,39 @@ class OpenCVHelp:

    @staticmethod
    def translationEDNToNWU(trl: Translation3d) -> Translation3d:
+        """Convert a rotation delta from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0}
+        in EDN, this would be {0, -1, 0} in NWU.
+        """
+
        return trl.rotateBy(EDN_TO_NWU)

    @staticmethod
    def rotationEDNToNWU(rot: Rotation3d) -> Rotation3d:
+        """Convert a rotation delta from NWU to EDN. For example, if you have a rotation X,Y,Z {1, 0, 0}
+        in NWU, this would be {0, 0, 1} in EDN.
+        """
+
        return -EDN_TO_NWU + (rot + EDN_TO_NWU)

    @staticmethod
    def tVecToTranslation(tvecInput: np.ndarray) -> Translation3d:
+        """Returns a new 3d translation from this :class:`.Mat`. The opencv tvec is a vector with three
+        elements representing {x, y, z} in the EDN coordinate system.
+
+        :param tvecInput: The tvec to create a Translation3d from
+        """
+
        return OpenCVHelp.translationEDNToNWU(Translation3d(tvecInput))

    @staticmethod
    def rVecToRotation(rvecInput: np.ndarray) -> Rotation3d:
+        """Returns a 3d rotation from this :class:`.Mat`. The opencv rvec Mat is a vector with three
+        elements representing the axis scaled by the angle in the EDN coordinate system. (angle = norm,
+        and axis = rvec / norm)
+
+        :param rvecInput: The rvec to create a Rotation3d from
+        """
+
        return OpenCVHelp.rotationEDNToNWU(Rotation3d(rvecInput))

    @staticmethod
@@ -121,6 +177,33 @@ class OpenCVHelp:
        modelTrls: list[Translation3d],
        imagePoints: np.ndarray,
    ) -> PnpResult | None:
+        """Finds the transformation(s) that map the camera's pose to the target's pose. The camera's pose
+        relative to the target is determined by the supplied 3d points of the target's model and their
+        associated 2d points imaged by the camera. The supplied model translations must be relative to
+        the target's pose.
+
+        For planar targets, there may be an alternate solution which is plausible given the 2d image
+        points. This has an associated "ambiguity" which describes the ratio of reprojection error
+        between the "best" and "alternate" solution.
+
+        This method is intended for use with individual AprilTags, and will not work unless 4 points
+        are provided.
+
+        :param cameraMatrix: The camera intrinsics matrix in standard opencv form
+        :param distCoeffs:   The camera distortion matrix in standard opencv form
+        :param modelTrls:    The translations of the object corners. These should have the object pose as
+                             their origin. These must come in a specific, pose-relative order (in NWU):
+
+                             - Point 0: [0, -squareLength / 2, squareLength / 2]
+                             - Point 1: [0, squareLength / 2, squareLength / 2]
+                             - Point 2: [0, squareLength / 2, -squareLength / 2]
+                             - Point 3: [0, -squareLength / 2, -squareLength / 2]
+        :param imagePoints:  The projection of these 3d object points into the 2d camera image. The order
+                             should match the given object point translations.
+
+        :returns: The resulting transformation that maps the camera pose to the target pose and the
+                  ambiguity if an alternate solution is available.
+        """
        modelTrls = OpenCVHelp.reorderCircular(modelTrls, True, -1)
        imagePoints = np.array(OpenCVHelp.reorderCircular(imagePoints, True, -1))
        objectMat = np.array(OpenCVHelp.translationToTVec(modelTrls))
@@ -130,6 +213,7 @@ class OpenCVHelp:
        best: Transform3d = Transform3d()

        for tries in range(2):
+            # calc rvecs/tvecs and associated reprojection error from image points
            retval, rvecs, tvecs, reprojectionError = cv.solvePnPGeneric(
                objectMat,
                imagePoints,
@@ -138,6 +222,7 @@ class OpenCVHelp:
                flags=cv.SOLVEPNP_IPPE_SQUARE,
            )

+            # convert to wpilib coordinates
            best = Transform3d(
                OpenCVHelp.tVecToTranslation(tvecs[0]),
                OpenCVHelp.rVecToRotation(rvecs[0]),
@@ -148,6 +233,7 @@ class OpenCVHelp:
                    OpenCVHelp.rVecToRotation(rvecs[1]),
                )

+            # check if we got a NaN result
            if reprojectionError is not None and not math.isnan(
                reprojectionError[0, 0]
            ):
@@ -158,8 +244,9 @@ class OpenCVHelp:
                pt[0, 1] -= 0.001
                imagePoints[0] = pt

+        # solvePnP failed
        if reprojectionError is None or math.isnan(reprojectionError[0, 0]):
-            print("SolvePNP_Square failed!")
+            logger.error("SolvePNP_Square failed!")
            return None

        if alt:
@@ -186,6 +273,27 @@ class OpenCVHelp:
        modelTrls: list[Translation3d],
        imagePoints: np.ndarray,
    ) -> PnpResult | None:
+        """Finds the transformation that maps the camera's pose to the origin of the supplied object. An
+        "object" is simply a set of known 3d translations that correspond to the given 2d points. If,
+        for example, the object translations are given relative to close-right corner of the blue
+        alliance(the default origin), a camera-to-origin transformation is returned. If the
+        translations are relative to a target's pose, a camera-to-target transformation is returned.
+
+        There must be at least 3 points to use this method. This does not return an alternate
+        solution-- if you are intending to use solvePNP on a single AprilTag, see {@link
+        #solvePNP_SQUARE} instead.
+
+        :param cameraMatrix: The camera intrinsics matrix in standard opencv form
+        :param distCoeffs:   The camera distortion matrix in standard opencv form
+        :param objectTrls:   The translations of the object corners, relative to the field.
+        :param imagePoints:  The projection of these 3d object points into the 2d camera image. The order
+                             should match the given object point translations.
+
+        :returns: The resulting transformation that maps the camera pose to the target pose. If the 3d
+                  model points are supplied relative to the origin, this transformation brings the camera to
+                  the origin.
+        """
+
        objectMat = np.array(OpenCVHelp.translationToTVec(modelTrls))

        retval, rvecs, tvecs, reprojectionError = cv.solvePnPGeneric(
@@ -198,6 +306,7 @@ class OpenCVHelp:
        )

        if math.isnan(error):
+            logger.error("SolvePNP_SQPNP failed!")
            return None

        # We have no alternative so set it to best as well
--- a/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
+++ b/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
@@ -4,24 +4,38 @@ from wpimath.geometry import Pose3d, Rotation3d, Transform3d, Translation3d


 class RotTrlTransform3d:
+    """Represents a transformation that first rotates a pose around the origin, and then translates it."""
+
    def __init__(
        self, rot: Rotation3d = Rotation3d(), trl: Translation3d = Translation3d()
    ):
+        """A rotation-translation transformation.
+
+        Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose
+        transform as if the origin was transformed by these components instead.
+
+        :param rot: The rotation component
+        :param trl: The translation component
+        """
        self.rot = rot
        self.trl = trl

    def inverse(self) -> Self:
+        """The inverse of this transformation. Applying the inverse will "undo" this transformation."""
        invRot = -self.rot
        invTrl = -(self.trl.rotateBy(invRot))
        return type(self)(invRot, invTrl)

    def getTransform(self) -> Transform3d:
+        """This transformation as a Transform3d (as if of the origin)"""
        return Transform3d(self.trl, self.rot)

    def getTranslation(self) -> Translation3d:
+        """The translation component of this transformation"""
        return self.trl

    def getRotation(self) -> Rotation3d:
+        """The rotation component of this transformation"""
        return self.rot

    def applyTranslation(self, trlToApply: Translation3d) -> Translation3d:
@@ -44,6 +58,11 @@ class RotTrlTransform3d:

    @classmethod
    def makeRelativeTo(cls, pose: Pose3d) -> Self:
+        """The rotation-translation transformation that makes poses in the world consider this pose as the
+        new origin, or change the basis to this pose.
+
+        :param pose: The new origin
+        """
        return cls(pose.rotation(), pose.translation()).inverse()

    @classmethod
--- a/photon-lib/py/photonlibpy/estimation/targetModel.py
+++ b/photon-lib/py/photonlibpy/estimation/targetModel.py
@@ -8,14 +8,27 @@ from . import RotTrlTransform3d


 class TargetModel:
+    """Describes the 3d model of a target."""

    def __init__(self):
+        """Default constructor for initialising internal class members. DO NOT USE THIS!!! USE THE createPlanar,
+        createCuboid, createSpheroid or create Arbitrary
+        """
        self.vertices: List[Translation3d] = []
        self.isPlanar = False
        self.isSpherical = False

    @classmethod
    def createPlanar(cls, width: meters, height: meters) -> Self:
+        """Creates a rectangular, planar target model given the width and height. The model has four
+        vertices:
+
+        - Point 0: [0, -width/2, -height/2]
+        - Point 1: [0, width/2, -height/2]
+        - Point 2: [0, width/2, height/2]
+        - Point 3: [0, -width/2, height/2]
+        """
+
        tm = cls()

        tm.isPlanar = True
@@ -30,6 +43,18 @@ class TargetModel:

    @classmethod
    def createCuboid(cls, length: meters, width: meters, height: meters) -> Self:
+        """Creates a cuboid target model given the length, width, height. The model has eight vertices:
+
+        - Point 0: [length/2, -width/2, -height/2]
+        - Point 1: [length/2, width/2, -height/2]
+        - Point 2: [length/2, width/2, height/2]
+        - Point 3: [length/2, -width/2, height/2]
+        - Point 4: [-length/2, -width/2, height/2]
+        - Point 5: [-length/2, width/2, height/2]
+        - Point 6: [-length/2, width/2, -height/2]
+        - Point 7: [-length/2, -width/2, -height/2]
+        """
+
        tm = cls()
        verts = [
            Translation3d(length / 2.0, -width / 2.0, -height / 2.0),
@@ -48,6 +73,20 @@ class TargetModel:

    @classmethod
    def createSpheroid(cls, diameter: meters) -> Self:
+        """Creates a spherical target model which has similar dimensions regardless of its rotation. This
+        model has four vertices:
+
+        - Point 0: [0, -radius, 0]
+        - Point 1: [0, 0, -radius]
+        - Point 2: [0, radius, 0]
+        - Point 3: [0, 0, radius]
+
+        *Q: Why these vertices?* A: This target should be oriented to the camera every frame, much
+        like a sprite/decal, and these vertices represent the ellipse vertices (maxima). These vertices
+        are used for drawing the image of this sphere, but do not match the corners that will be
+        published by photonvision.
+        """
+
        tm = cls()

        tm.isPlanar = False
@@ -63,6 +102,14 @@ class TargetModel:

    @classmethod
    def createArbitrary(cls, verts: List[Translation3d]) -> Self:
+        """Creates a target model from arbitrary 3d vertices. Automatically determines if the given
+        vertices are planar(x == 0). More than 2 vertices must be given. If this is a planar model, the
+        vertices should define a non-intersecting contour.
+
+        :param vertices: Translations representing the vertices of this target model relative to its
+                         pose.
+        """
+
        tm = cls()
        tm._common_construction(verts)

@@ -83,6 +130,12 @@ class TargetModel:
        self.vertices = verts

    def getFieldVertices(self, targetPose: Pose3d) -> List[Translation3d]:
+        """This target's vertices offset from its field pose.
+
+        Note: If this target is spherical, use {@link #getOrientedPose(Translation3d,
+        Translation3d)} with this method.
+        """
+
        basisChange = RotTrlTransform3d(targetPose.rotation(), targetPose.translation())

        retVal = []
@@ -94,6 +147,16 @@ class TargetModel:

    @classmethod
    def getOrientedPose(cls, tgtTrl: Translation3d, cameraTrl: Translation3d):
+        """Returns a Pose3d with the given target translation oriented (with its relative x-axis aligned)
+        to the camera translation. This is used for spherical targets which should not have their
+        projection change regardless of their own rotation.
+
+        :param tgtTrl:    This target's translation
+        :param cameraTrl: Camera's translation
+
+        :returns: This target's pose oriented to the camera
+        """
+
        relCam = cameraTrl - tgtTrl
        orientToCam = Rotation3d(
            0.0,
--- a/photon-lib/py/photonlibpy/estimation/visionEstimation.py
+++ b/photon-lib/py/photonlibpy/estimation/visionEstimation.py
@@ -11,6 +11,7 @@ class VisionEstimation:
    def getVisibleLayoutTags(
        visTags: list[PhotonTrackedTarget], layout: AprilTagFieldLayout
    ) -> list[AprilTag]:
+        """Get the visible :class:`.AprilTag`s which are in the tag layout using the visible tag IDs."""
        retVal: list[AprilTag] = []
        for tag in visTags:
            id = tag.getFiducialId()
@@ -30,12 +31,31 @@ class VisionEstimation:
        layout: AprilTagFieldLayout,
        tagModel: TargetModel,
    ) -> PnpResult | None:
+        """Performs solvePNP using 3d-2d point correspondences of visible AprilTags to estimate the
+        field-to-camera transformation. If only one tag is visible, the result may have an alternate
+        solution.
+
+        **Note:** The returned transformation is from the field origin to the camera pose!
+
+        With only one tag: {@link OpenCVHelp#solvePNP_SQUARE}
+
+        With multiple tags: {@link OpenCVHelp#solvePNP_SQPNP}
+
+        :param cameraMatrix: The camera intrinsics matrix in standard opencv form
+        :param distCoeffs:   The camera distortion matrix in standard opencv form
+        :param visTags:      The visible tags reported by PV. Non-tag targets are automatically excluded.
+        :param tagLayout:    The known tag layout on the field
+
+        :returns: The transformation that maps the field origin to the camera pose. Ensure the {@link
+                  PnpResult} are present before utilizing them.
+        """
        if len(visTags) == 0:
            return None

        corners: list[TargetCorner] = []
        knownTags: list[AprilTag] = []

+        # ensure these are AprilTags in our layout
        for tgt in visTags:
            id = tgt.getFiducialId()
            maybePose = layout.getTagPose(id)
@@ -53,6 +73,7 @@ class VisionEstimation:

        points = OpenCVHelp.cornersToPoints(corners)

+        # single-tag pnp
        if len(knownTags) == 1:
            camToTag = OpenCVHelp.solvePNP_Square(
                cameraMatrix, distCoeffs, tagModel.getVertices(), points
@@ -74,6 +95,7 @@ class VisionEstimation:
                altReprojErr=camToTag.altReprojErr,
            )
            return result
+        # multi-tag pnp
        else:
            objectTrls: list[Translation3d] = []
            for tag in knownTags:
--- a/photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py
+++ b/photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py
@@ -42,9 +42,7 @@ class PhotonPipelineResultSerde:
        ret = Packet()

        # metadata is of non-intrinsic type PhotonPipelineMetadata
-        ret.encodeBytes(
-            PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData()
-        )
+        ret.encodeBytes(PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData())

        # targets is a custom VLA!
        ret.encodeList(value.targets, PhotonTrackedTarget.photonStruct)
--- a/photon-lib/py/photonlibpy/networktables/NTTopicSet.py
+++ b/photon-lib/py/photonlibpy/networktables/NTTopicSet.py
@@ -9,6 +9,13 @@ PhotonPipelineResult_TYPE_STRING = (


 class NTTopicSet:
+    """This class is a wrapper around all per-pipeline NT topics that PhotonVision should be publishing
+    It's split here so the sim and real-camera implementations can share a common implementation of
+    the naming and registration of the NT content.
+
+    However, we do expect that the actual logic which fills out values in the entries will be
+    different for sim vs. real camera
+    """

    def __init__(self, tableName: str, cameraName: str) -> None:
        instance = nt.NetworkTableInstance.getDefault()
--- a/photon-lib/py/photonlibpy/photonCamera.py
+++ b/photon-lib/py/photonlibpy/photonCamera.py
@@ -48,6 +48,10 @@ def setVersionCheckEnabled(enabled: bool):

 class PhotonCamera:
    def __init__(self, cameraName: str):
+        """Constructs a PhotonCamera from the name of the camera.
+
+        :param cameraName: The nickname of the camera (found in the PhotonVision UI).
+        """
        instance = ntcore.NetworkTableInstance.getDefault()
        self._name = cameraName
        self._tableName = "photonvision"
@@ -132,6 +136,14 @@ class PhotonCamera:
        return ret

    def getLatestResult(self) -> PhotonPipelineResult:
+        """Returns the latest pipeline result. This is simply the most recent result Received via NT.
+        Calling this multiple times will always return the most recent result.
+
+        Replaced by :meth:`.getAllUnreadResults` over getLatestResult, as this function can miss
+        results, or provide duplicate ones!
+        TODO implement the thing that will take this ones place...
+        """
+
        self._versionCheck()

        now = RobotController.getFPGATime()
@@ -149,34 +161,85 @@ class PhotonCamera:
            return retVal

    def getDriverMode(self) -> bool:
+        """Returns whether the camera is in driver mode.
+
+        :returns: Whether the camera is in driver mode.
+        """
+
        return self._driverModeSubscriber.get()

    def setDriverMode(self, driverMode: bool) -> None:
+        """Toggles driver mode.
+
+        :param driverMode: Whether to set driver mode.
+        """
+
        self._driverModePublisher.set(driverMode)

    def takeInputSnapshot(self) -> None:
+        """Request the camera to save a new image file from the input camera stream with overlays. Images
+        take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk
+        space and eventually cause the system to stop working. Clear out images in
+        /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
+        """
+
        self._inputSaveImgEntry.set(self._inputSaveImgEntry.get() + 1)

    def takeOutputSnapshot(self) -> None:
+        """Request the camera to save a new image file from the output stream with overlays. Images take
+        up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space
+        and eventually cause the system to stop working. Clear out images in
+        /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
+        """
        self._outputSaveImgEntry.set(self._outputSaveImgEntry.get() + 1)

    def getPipelineIndex(self) -> int:
+        """Returns the active pipeline index.
+
+        :returns: The active pipeline index.
+        """
+
        return self._pipelineIndexState.get(0)

    def setPipelineIndex(self, index: int) -> None:
+        """Allows the user to select the active pipeline index.
+
+        :param index: The active pipeline index.
+        """
        self._pipelineIndexRequest.set(index)

    def getLEDMode(self) -> VisionLEDMode:
+        """Returns the current LED mode.
+
+        :returns: The current LED mode.
+        """
+
        mode = self._ledModeState.get()
        return VisionLEDMode(mode)

    def setLEDMode(self, led: VisionLEDMode) -> None:
+        """Sets the LED mode.
+
+        :param led: The mode to set to.
+        """
+
        self._ledModeRequest.set(led.value)

    def getName(self) -> str:
+        """Returns the name of the camera. This will return the same value that was given to the
+        constructor as cameraName.
+
+        :returns: The name of the camera.
+        """
        return self._name

    def isConnected(self) -> bool:
+        """Returns whether the camera is connected and actively returning new data. Connection status is
+        debounced.
+
+        :returns: True if the camera is actively sending frame data, false otherwise.
+        """
+
        curHeartbeat = self._heartbeatEntry.get()
        now = Timer.getFPGATimestamp()

@@ -197,6 +260,8 @@ class PhotonCamera:

        _lastVersionTimeCheck = Timer.getFPGATimestamp()

+        # Heartbeat entry is assumed to always be present. If it's not present, we
+        # assume that a camera with that name was never connected in the first place.
        if not self._heartbeatEntry.exists():
            cameraNames = (
                self._cameraTable.getInstance().getTable(self._tableName).getSubTables()
@@ -222,6 +287,7 @@ class PhotonCamera:
                    True,
                )

+        # Check for connection status. Warn if disconnected.
        elif not self.isConnected():
            wpilib.reportWarning(
                f"PhotonVision coprocessor at path {self._path} is not sending new data.",
@@ -229,45 +295,45 @@ class PhotonCamera:
            )

        versionString = self.versionEntry.get(defaultValue="")
+
+        # Check mdef UUID
        localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
+        remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")

-        remoteUUID = str(self._rawBytesEntry.getTopic().getProperty("message_uuid"))
-
-        if not remoteUUID:
+        if remoteUUID is None:
            wpilib.reportWarning(
                f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
                True,
            )
+        else:
+            # ntcore hands us a JSON string with leading/trailing quotes - remove those
+            remoteUUID = str(remoteUUID).replace('"', "")

-        assert isinstance(remoteUUID, str)
-        # ntcore hands us a JSON string with leading/trailing quotes - remove those
-        remoteUUID = remoteUUID.replace('"', "")
+            if localUUID != remoteUUID:
+                # Verified version mismatch

-        if localUUID != remoteUUID:
-            # Verified version mismatch
+                bfw = """
+                \n\n\n
+                >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+                >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+                >>>
+                >>> You are running an incompatible version
+                >>> of PhotonVision on your coprocessor!
+                >>>
+                >>> This is neither tested nor supported.
+                >>> You MUST update PhotonVision,
+                >>> PhotonLib, or both.
+                >>>
+                >>> Your code will now crash.
+                >>> We hope your day gets better.
+                >>>
+                >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+                >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+                \n\n
+                """

-            bfw = """
-            \n\n\n
-            >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
-            >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-            >>>
-            >>> You are running an incompatible version
-            >>> of PhotonVision on your coprocessor!
-            >>>
-            >>> This is neither tested nor supported.
-            >>> You MUST update PhotonVision,
-            >>> PhotonLib, or both.
-            >>>
-            >>> Your code will now crash.
-            >>> We hope your day gets better.
-            >>>
-            >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-            >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
-            \n\n
-            """
+                wpilib.reportWarning(bfw)

-            wpilib.reportWarning(bfw)
-
-            errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
-            wpilib.reportError(errText, True)
-            raise Exception(errText)
+                errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
+                wpilib.reportError(errText, True)
+                raise Exception(errText)
--- a/photon-lib/py/photonlibpy/py.typed
+++ b/photon-lib/py/photonlibpy/py.typed
@@ -0,0 +1 @@
+
--- a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
+++ b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
@@ -26,6 +26,10 @@ from .visionTargetSim import VisionTargetSim


 class PhotonCameraSim:
+    """A handle for simulating :class:`.PhotonCamera` values. Processing simulated targets through this
+    class will change the associated PhotonCamera's results.
+    """
+
    kDefaultMinAreaPx: float = 100

    def __init__(
@@ -35,6 +39,21 @@ class PhotonCameraSim:
        minTargetAreaPercent: float | None = None,
        maxSightRange: meters | None = None,
    ):
+        """Constructs a handle for simulating :class:`.PhotonCamera` values. Processing simulated targets
+        through this class will change the associated PhotonCamera's results.
+
+        By default, this constructor's camera has a 90 deg FOV with no simulated lag if props!
+        By default, the minimum target area is 100 pixels and there is no maximum sight range unless both params are passed to override.
+
+
+        :param camera:               The camera to be simulated
+        :param prop:                 Properties of this camera such as FOV and FPS
+        :param minTargetAreaPercent: The minimum percentage(0 - 100) a detected target must take up of
+                                     the camera's image to be processed. Match this with your contour filtering settings in the
+                                     PhotonVision GUI.
+        :param maxSightRangeMeters:  Maximum distance at which the target is illuminated to your camera.
+                                     Note that minimum target area of the image is separate from this.
+        """

        self.minTargetAreaPercent: float = 0.0
        self.maxSightRange: float = 1.0e99
@@ -103,22 +122,39 @@ class PhotonCameraSim:
        return self.videoSimFrameRaw

    def canSeeTargetPose(self, camPose: Pose3d, target: VisionTargetSim) -> bool:
+        """Determines if this target's pose should be visible to the camera without considering its
+        projected image points. Does not account for image area.
+
+        :param camPose: Camera's 3d pose
+        :param target:  Vision target containing pose and shape
+
+        :returns: If this vision target can be seen before image projection.
+        """
+
        rel = CameraTargetRelation(camPose, target.getPose())
        return (
            (
+                # target translation is outside of camera's FOV
                abs(rel.camToTargYaw.degrees())
                < self.prop.getHorizFOV().degrees() / 2.0
                and abs(rel.camToTargPitch.degrees())
                < self.prop.getVertFOV().degrees() / 2.0
            )
            and (
+                # camera is behind planar target and it should be occluded
                not target.getModel().getIsPlanar()
                or abs(rel.targtoCamAngle.degrees()) < 90
            )
+            # target is too far
            and rel.camToTarg.translation().norm() <= self.maxSightRange
        )

    def canSeeCorner(self, points: np.ndarray) -> bool:
+        """Determines if all target points are inside the camera's image.
+
+        :param points: The target's 2d image points
+        """
+
        assert points.shape[1] == 1
        assert points.shape[2] == 2
        for pt in points:
@@ -130,51 +166,88 @@ class PhotonCameraSim:
                or y < 0
                or y > self.prop.getResHeight()
            ):
-                return False
+                return False  # point is outside of resolution

        return True

    def consumeNextEntryTime(self) -> float | None:
+        """Determine if this camera should process a new frame based on performance metrics and the time
+        since the last update. This returns an Optional which is either empty if no update should occur
+        or a Long of the timestamp in microseconds of when the frame which should be received by NT. If
+        a timestamp is returned, the last frame update time becomes that timestamp.
+
+        :returns: Optional long which is empty while blocked or the NT entry timestamp in microseconds if
+                  ready
+        """
+        # check if this camera is ready for another frame update
        now = int(wpilib.Timer.getFPGATimestamp() * 1e6)
        timestamp = 0
        iter = 0
+        # prepare next latest update
        while now >= self.nextNtEntryTime:
            timestamp = int(self.nextNtEntryTime)
            frameTime = int(self.prop.estSecUntilNextFrame() * 1e6)
            self.nextNtEntryTime += frameTime

+            # if frame time is very small, avoid blocking
            iter += 1
            if iter > 50:
                timestamp = now
                self.nextNtEntryTime = now + frameTime
                break

+        # return the timestamp of the latest update
        if timestamp != 0:
            return timestamp

+        # or this camera isn't ready to process yet
        return None

    def setMinTargetAreaPercent(self, areaPercent: float) -> None:
+        """The minimum percentage(0 - 100) a detected target must take up of the camera's image to be
+        processed.
+        """
        self.minTargetAreaPercent = areaPercent

    def setMinTargetAreaPixels(self, areaPx: float) -> None:
+        """The minimum number of pixels a detected target must take up in the camera's image to be
+        processed.
+        """
        self.minTargetAreaPercent = areaPx / self.prop.getResArea() * 100.0

    def setMaxSightRange(self, range: meters) -> None:
+        """Maximum distance at which the target is illuminated to your camera. Note that minimum target
+        area of the image is separate from this.
+        """
        self.maxSightRange = range

    def enableRawStream(self, enabled: bool) -> None:
+        """Sets whether the raw video stream simulation is enabled.
+
+        Note: This may increase loop times.
+        """
        self.videoSimRawEnabled = enabled
        raise Exception("Raw stream not implemented")

    def enableDrawWireframe(self, enabled: bool) -> None:
+        """Sets whether a wireframe of the field is drawn to the raw video stream.
+
+        Note: This will dramatically increase loop times.
+        """
        self.videoSimWireframeEnabled = enabled
        raise Exception("Wireframe not implemented")

    def setWireframeResolution(self, resolution: float) -> None:
+        """Sets the resolution of the drawn wireframe if enabled. Drawn line segments will be subdivided
+        into smaller segments based on a threshold set by the resolution.
+
+        :param resolution: Resolution as a fraction(0 - 1) of the video frame's diagonal length in
+                           pixels
+        """
        self.videoSimWireframeResolution = resolution

    def enableProcessedStream(self, enabled: bool) -> None:
+        """Sets whether the processed video stream simulation is enabled."""
        self.videoSimProcEnabled = enabled
        raise Exception("Processed stream not implemented")

@@ -187,25 +260,32 @@ class PhotonCameraSim:

        targets.sort(key=distance, reverse=True)

+        # all targets visible before noise
        visibleTgts: list[typing.Tuple[VisionTargetSim, np.ndarray]] = []
+        # all targets actually detected by camera (after noise)
        detectableTgts: list[PhotonTrackedTarget] = []

+        # basis change from world coordinates to camera coordinates
        camRt = RotTrlTransform3d.makeRelativeTo(cameraPose)

        for tgt in targets:
+            # pose isn't visible, skip to next
            if not self.canSeeTargetPose(cameraPose, tgt):
                continue

+            # find target's 3d corner points
            fieldCorners = tgt.getFieldVertices()
            isSpherical = tgt.getModel().getIsSpherical()
-            if isSpherical:
+            if isSpherical:  # target is spherical
                model = tgt.getModel()
+                # orient the model to the camera (like a sprite/decal) so it appears similar regardless of view
                fieldCorners = model.getFieldVertices(
                    TargetModel.getOrientedPose(
                        tgt.getPose().translation(), cameraPose.translation()
                    )
                )

+            # project 3d target points into 2d image points
            imagePoints = OpenCVHelp.projectPoints(
                self.prop.getIntrinsics(),
                self.prop.getDistCoeffs(),
@@ -213,9 +293,11 @@ class PhotonCameraSim:
                fieldCorners,
            )

+            # spherical targets need a rotated rectangle of their midpoints for visualization
            if isSpherical:
                center = OpenCVHelp.avgPoint(imagePoints)
                l: int = 0
+                # reference point (left side midpoint)
                for i in range(4):
                    if imagePoints[i, 0, 0] < imagePoints[l, 0, 0].x:
                        l = i
@@ -239,6 +321,7 @@ class PhotonCameraSim:
                for i in range(4):
                    if i != t and i != l and i != b:
                        r = i
+                # create RotatedRect from midpoints
                rect = cv.RotatedRect(
                    (center[0, 0], center[0, 1]),
                    (
@@ -247,16 +330,23 @@ class PhotonCameraSim:
                    ),
                    -angles[r],
                )
+                # set target corners to rect corners
                imagePoints = np.array([[p[0], p[1], p[2]] for p in rect.points()])

+            # save visible targets for raw video stream simulation
            visibleTgts.append((tgt, imagePoints))
+            # estimate pixel noise
            noisyTargetCorners = self.prop.estPixelNoise(imagePoints)
+            # find the minimum area rectangle of target corners
            minAreaRect = OpenCVHelp.getMinAreaRect(noisyTargetCorners)
            minAreaRectPts = minAreaRect.points()
+            # find the (naive) 2d yaw/pitch
            centerPt = minAreaRect.center
            centerRot = self.prop.getPixelRot(centerPt)
+            # find contour area
            areaPercent = self.prop.getContourAreaPercent(noisyTargetCorners)

+            # projected target can't be detected, skip to next
            if (
                not self.canSeeCorner(noisyTargetCorners)
                or not areaPercent >= self.minTargetAreaPercent
@@ -265,6 +355,7 @@ class PhotonCameraSim:

            pnpSim: PnpResult | None = None
            if tgt.fiducialId >= 0 and len(tgt.getFieldVertices()) == 4:
+                # single AprilTag solvePNP
                pnpSim = OpenCVHelp.solvePNP_Square(
                    self.prop.getIntrinsics(),
                    self.prop.getDistCoeffs(),
@@ -295,6 +386,7 @@ class PhotonCameraSim:

        # Video streams disabled for now
        if self.videoSimRawEnabled:
+            # TODO Video streams disabled for now port and uncomment when implemented
            # VideoSimUtil::UpdateVideoProp(videoSimRaw, prop);
            # cv::Size videoFrameSize{prop.GetResWidth(), prop.GetResHeight()};
            # cv::Mat blankFrame = cv::Mat::zeros(videoFrameSize, CV_8UC1);
@@ -312,6 +404,7 @@ class PhotonCameraSim:

        if len(visibleLayoutTags) > 1:
            usedIds = [tag.ID for tag in visibleLayoutTags]
+            # sort target order sorts in ascending order by default
            usedIds.sort()
            pnpResult = VisionEstimation.estimateCamPosePNP(
                self.prop.getIntrinsics(),
@@ -323,10 +416,16 @@ class PhotonCameraSim:
            if pnpResult is not None:
                multiTagResults = MultiTargetPNPResult(pnpResult, usedIds)

+        # put this simulated data to NT
        self.heartbeatCounter += 1
+        now_micros = wpilib.Timer.getFPGATimestamp() * 1e6
        return PhotonPipelineResult(
            metadata=PhotonPipelineMetadata(
-                self.heartbeatCounter, int(latency * 1e6), 1000000
+                self.heartbeatCounter,
+                int(now_micros - latency * 1e6),
+                int(now_micros),
+                # Pretend like we heard a pong recently
+                int(np.random.uniform(950, 1050)),
            ),
            targets=detectableTgts,
            multitagResult=multiTagResults,
@@ -335,6 +434,13 @@ class PhotonCameraSim:
    def submitProcessedFrame(
        self, result: PhotonPipelineResult, receiveTimestamp: float | None
    ):
+        """Simulate one processed frame of vision data, putting one result to NT. Image capture timestamp
+        overrides :meth:`.PhotonPipelineResult.getTimestampSeconds` for more
+        precise latency simulation.
+
+        :param result:           The pipeline result to submit
+        :param receiveTimestamp: The (sim) timestamp when this result was read by NT in microseconds. If not passed image capture time is assumed be (current time - latency)
+        """
        if receiveTimestamp is None:
            receiveTimestamp = wpilib.Timer.getFPGATimestamp() * 1e6
        receiveTimestamp = int(receiveTimestamp)
--- a/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
+++ b/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
@@ -9,9 +9,26 @@ from wpimath.units import hertz, seconds

 from ..estimation import RotTrlTransform3d

+logger = logging.getLogger(__name__)
+

 class SimCameraProperties:
+    """Calibration and performance values for this camera.
+
+    The resolution will affect the accuracy of projected(3d to 2d) target corners and similarly
+    the severity of image noise on estimation(2d to 3d).
+
+    The camera intrinsics and distortion coefficients describe the results of calibration, and how
+    to map between 3d field points and 2d image points.
+
+    The performance values (framerate/exposure time, latency) determine how often results should
+    be updated and with how much latency in simulation. High exposure time causes motion blur which
+    can inhibit target detection while moving. Note that latency estimation does not account for
+    network latency and the latency reported will always be perfect.
+    """
+
    def __init__(self):
+        """Default constructor which is the same as {@link #PERFECT_90DEG}"""
        self.resWidth: int = -1
        self.resHeight: int = -1
        self.camIntrinsics: np.ndarray = np.zeros((3, 3))  # [3,3]
@@ -31,21 +48,25 @@ class SimCameraProperties:
    ) -> None:
        if fovDiag.degrees() < 1.0 or fovDiag.degrees() > 179.0:
            fovDiag = Rotation2d.fromDegrees(max(min(fovDiag.degrees(), 179.0), 1.0))
-            logging.error("Requested invalid FOV! Clamping between (1, 179) degrees...")
+            logger.error("Requested invalid FOV! Clamping between (1, 179) degrees...")

        resDiag = math.sqrt(width * width + height * height)
        diagRatio = math.tan(fovDiag.radians() / 2.0)
        fovWidth = Rotation2d(math.atan((diagRatio * (width / resDiag)) * 2))
        fovHeight = Rotation2d(math.atan(diagRatio * (height / resDiag)) * 2)

+        # assume no distortion
        newDistCoeffs = np.zeros((8, 1))

+        # assume centered principal point (pixels)
        cx = width / 2.0 - 0.5
        cy = height / 2.0 - 0.5

+        # use given fov to determine focal point (pixels)
        fx = cx / math.tan(fovWidth.radians() / 2.0)
        fy = cy / math.tan(fovHeight.radians() / 2.0)

+        # create camera intrinsics matrix
        newCamIntrinsics = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]])

        self.setCalibrationFromIntrinsics(
@@ -65,6 +86,7 @@ class SimCameraProperties:
        self.camIntrinsics = newCamIntrinsics
        self.distCoeffs = newDistCoeffs

+        # left, right, up, and down view planes
        p = [
            Translation3d(
                1.0,
@@ -110,16 +132,33 @@ class SimCameraProperties:
        self.errorStdDevPx = newErrorStdDevPx

    def setFPS(self, fps: hertz):
+        """
+        :param fps: The average frames per second the camera should process at. :strong:`Exposure time limits
+                    FPS if set!`
+        """
+
        self.frameSpeed = max(1.0 / fps, self.exposureTime)

    def setExposureTime(self, newExposureTime: seconds):
+        """
+        :param newExposureTime: The amount of time the "shutter" is open for one frame. Affects motion
+                               blur. **Frame speed(from FPS) is limited to this!**
+        """
+
        self.exposureTime = newExposureTime
        self.frameSpeed = max(self.frameSpeed, self.exposureTime)

    def setAvgLatency(self, newAvgLatency: seconds):
+        """
+        :param newAvgLatency: The average latency (from image capture to data published) in milliseconds
+                             a frame should have
+        """
        self.vgLatency = newAvgLatency

    def setLatencyStdDev(self, newLatencyStdDev: seconds):
+        """
+        :param latencyStdDevMs: The standard deviation in milliseconds of the latency
+        """
        self.latencyStdDev = newLatencyStdDev

    def getResWidth(self) -> int:
@@ -156,21 +195,43 @@ class SimCameraProperties:
        return self.latencyStdDev

    def getContourAreaPercent(self, points: np.ndarray) -> float:
+        """The percentage(0 - 100) of this camera's resolution the contour takes up in pixels of the
+        image.
+
+        :param points: Points of the contour
+        """
+
        return cv.contourArea(cv.convexHull(points)) / self.getResArea() * 100.0

    def getPixelYaw(self, pixelX: float) -> Rotation2d:
+        """The yaw from the principal point of this camera to the pixel x value. Positive values left."""
        fx = self.camIntrinsics[0, 0]
+        # account for principal point not being centered
        cx = self.camIntrinsics[0, 2]
        xOffset = cx - pixelX
        return Rotation2d(fx, xOffset)

    def getPixelPitch(self, pixelY: float) -> Rotation2d:
+        """The pitch from the principal point of this camera to the pixel y value. Pitch is positive down.
+
+        Note that this angle is naively computed and may be incorrect. See {@link
+        #getCorrectedPixelRot(Point)}.
+        """
+
        fy = self.camIntrinsics[1, 1]
+        # account for principal point not being centered
        cy = self.camIntrinsics[1, 2]
        yOffset = cy - pixelY
        return Rotation2d(fy, -yOffset)

    def getPixelRot(self, point: cv.typing.Point2f) -> Rotation3d:
+        """Finds the yaw and pitch to the given image point. Yaw is positive left, and pitch is positive
+        down.
+
+        Note that pitch is naively computed and may be incorrect. See {@link
+        #getCorrectedPixelRot(Point)}.
+        """
+
        return Rotation3d(
            0.0,
            self.getPixelPitch(point[1]).radians(),
@@ -178,6 +239,27 @@ class SimCameraProperties:
        )

    def getCorrectedPixelRot(self, point: cv.typing.Point2f) -> Rotation3d:
+        """Gives the yaw and pitch of the line intersecting the camera lens and the given pixel
+        coordinates on the sensor. Yaw is positive left, and pitch positive down.
+
+        The pitch traditionally calculated from pixel offsets do not correctly account for non-zero
+        values of yaw because of perspective distortion (not to be confused with lens distortion)-- for
+        example, the pitch angle is naively calculated as:
+
+        <pre>pitch = arctan(pixel y offset / focal length y)</pre>
+
+        However, using focal length as a side of the associated right triangle is not correct when the
+        pixel x value is not 0, because the distance from this pixel (projected on the x-axis) to the
+        camera lens increases. Projecting a line back out of the camera with these naive angles will
+        not intersect the 3d point that was originally projected into this 2d pixel. Instead, this
+        length should be:
+
+        <pre>focal length y ⟶ (focal length y / cos(arctan(pixel x offset / focal length x)))</pre>
+
+        :returns: Rotation3d with yaw and pitch of the line projected out of the camera from the given
+                  pixel (roll is zero).
+        """
+
        fx = self.camIntrinsics[0, 0]
        cx = self.camIntrinsics[0, 2]
        xOffset = cx - point[0]
@@ -191,11 +273,13 @@ class SimCameraProperties:
        return Rotation3d(0.0, pitch.radians(), yaw.radians())

    def getHorizFOV(self) -> Rotation2d:
+        # sum of FOV left and right principal point
        left = self.getPixelYaw(0)
        right = self.getPixelYaw(self.resWidth)
        return left - right

    def getVertFOV(self) -> Rotation2d:
+        # sum of FOV above and below principal point
        above = self.getPixelPitch(0)
        below = self.getPixelPitch(self.resHeight)
        return below - above
@@ -208,9 +292,34 @@ class SimCameraProperties:
    def getVisibleLine(
        self, camRt: RotTrlTransform3d, a: Translation3d, b: Translation3d
    ) -> typing.Tuple[float | None, float | None]:
+        """Determines where the line segment defined by the two given translations intersects the camera's
+        frustum/field-of-vision, if at all.
+
+        The line is parametrized so any of its points <code>p = t * (b - a) + a</code>. This method
+        returns these values of t, minimum first, defining the region of the line segment which is
+        visible in the frustum. If both ends of the line segment are visible, this simply returns {0,
+        1}. If, for example, point b is visible while a is not, and half of the line segment is inside
+        the camera frustum, {0.5, 1} would be returned.
+
+        :param camRt: The change in basis from world coordinates to camera coordinates. See {@link
+                      RotTrlTransform3d#makeRelativeTo(Pose3d)}.
+        :param a:     The initial translation of the line
+        :param b:     The final translation of the line
+
+        :returns: A Pair of Doubles. The values may be null:
+
+                  - {Double, Double} : Two parametrized values(t), minimum first, representing which
+                  segment of the line is visible in the camera frustum.
+                  - {Double, null} : One value(t) representing a single intersection point. For example,
+                  the line only intersects the intersection of two adjacent viewplanes.
+                  - {null, null} : No values. The line segment is not visible in the camera frustum.
+        """
+
+        # translations relative to the camera
        relA = camRt.applyTranslation(a)
        relB = camRt.applyTranslation(b)

+        # check if both ends are behind camera
        if relA.X() <= 0.0 and relB.X() <= 0.0:
            return (None, None)

@@ -221,6 +330,7 @@ class SimCameraProperties:
        aVisible = True
        bVisible = True

+        # check if the ends of the line segment are visible
        for normal in self.viewplanes:
            aVisibility = av.dot(normal)
            if aVisibility < 0:
@@ -229,38 +339,54 @@ class SimCameraProperties:
            bVisibility = bv.dot(normal)
            if bVisibility < 0:
                bVisible = False
+            # both ends are outside at least one of the same viewplane
            if aVisibility <= 0 and bVisibility <= 0:
                return (None, None)

+        # both ends are inside frustum
        if aVisible and bVisible:
            return (0.0, 1.0)

+        # parametrized (t=0 at a, t=1 at b) intersections with viewplanes
        intersections = [float("nan"), float("nan"), float("nan"), float("nan")]

        # Optionally 3x1 vector
        ipts: typing.List[np.ndarray | None] = [None, None, None, None]

+        # find intersections
        for i, normal in enumerate(self.viewplanes):
+
+            # // we want to know the value of t when the line intercepts this plane
+            # // parametrized: v = t * ab + a, where v lies on the plane
+            # // we can find the projection of a onto the plane normal
+            # // a_projn = normal.times(av.dot(normal) / normal.dot(normal));
            a_projn = (av.dot(normal) / normal.dot(normal)) * normal

+            # // this projection lets us determine the scalar multiple t of ab where
+            # // (t * ab + a) is a vector which lies on the plane
            if abs(abv.dot(normal)) < 1.0e-5:
                continue
            intersections[i] = a_projn.dot(a_projn) / -(abv.dot(a_projn))

+            # // vector a to the viewplane
            apv = intersections[i] * abv
+            # av + apv = intersection point
            intersectpt = av + apv
            ipts[i] = intersectpt

+            # // discard intersections outside the camera frustum
            for j in range(1, len(self.viewplanes)):
                if j == 0:
                    continue
                oi = (i + j) % len(self.viewplanes)
                onormal = self.viewplanes[oi]
+                # if the dot of the intersection point with any plane normal is negative, it is outside
                if intersectpt.dot(onormal) < 0:
                    intersections[i] = float("nan")
                    ipts[i] = None
                    break

+            # // discard duplicate intersections
            if ipts[i] is None:
                continue

@@ -275,6 +401,7 @@ class SimCameraProperties:
                    ipts[i] = None
                    break

+        # determine visible segment (minimum and maximum t)
        inter1 = float("nan")
        inter2 = float("nan")
        for inter in intersections:
@@ -284,6 +411,7 @@ class SimCameraProperties:
                else:
                    inter2 = inter

+        # // two viewplane intersections
        if not math.isnan(inter2):
            max_ = max(inter1, inter2)
            min_ = min(inter1, inter2)
@@ -292,16 +420,19 @@ class SimCameraProperties:
            if bVisible:
                max_ = 1
            return (min_, max_)
+        # // one viewplane intersection
        elif not math.isnan(inter1):
            if aVisible:
                return (0, inter1)
            if bVisible:
                return (inter1, 1)
            return (inter1, None)
+        # no intersections
        else:
            return (None, None)

    def estPixelNoise(self, points: np.ndarray) -> np.ndarray:
+        """Returns these points after applying this camera's estimated noise."""
        assert points.shape[1] == 1, points.shape
        assert points.shape[2] == 2, points.shape
        if self.avgErrorPx == 0 and self.errorStdDevPx == 0:
@@ -309,6 +440,7 @@ class SimCameraProperties:

        noisyPts: list[list] = []
        for p in points:
+            # // error pixels in random direction
            error = np.random.normal(self.avgErrorPx, self.errorStdDevPx, 1)[0]
            errorAngle = np.random.uniform(-math.pi, math.pi)
            noisyPts.append(
@@ -324,16 +456,25 @@ class SimCameraProperties:
        return retval

    def estLatency(self) -> seconds:
+        """
+        :returns: Noisy estimation of a frame's processing latency
+        """
+
        return max(
            float(np.random.normal(self.avgLatency, self.latencyStdDev, 1)[0]),
            0.0,
        )

    def estSecUntilNextFrame(self) -> seconds:
+        """
+        :returns: Estimate how long until the next frame should be processed in milliseconds
+        """
+        # // exceptional processing latency blocks the next frame
        return self.frameSpeed + max(0.0, self.estLatency() - self.frameSpeed)

    @classmethod
    def PERFECT_90DEG(cls) -> typing.Self:
+        """960x720 resolution, 90 degree FOV, "perfect" lagless camera"""
        return cls()

    @classmethod
--- a/photon-lib/py/photonlibpy/simulation/visionSystemSim.py
+++ b/photon-lib/py/photonlibpy/simulation/visionSystemSim.py
@@ -15,7 +15,22 @@ from .visionTargetSim import VisionTargetSim


 class VisionSystemSim:
+    """A simulated vision system involving a camera(s) and coprocessor(s) mounted on a mobile robot
+    running PhotonVision, detecting targets placed on the field. :class:`.VisionTargetSim`s added to
+    this class will be detected by the :class:`.PhotonCameraSim`s added to this class. This class
+    should be updated periodically with the robot's current pose in order to publish the simulated
+    camera target info.
+    """
+
    def __init__(self, visionSystemName: str):
+        """A simulated vision system involving a camera(s) and coprocessor(s) mounted on a mobile robot
+        running PhotonVision, detecting targets placed on the field. :class:`.VisionTargetSim`s added to
+        this class will be detected by the :class:`.PhotonCameraSim`s added to this class. This class
+        should be updated periodically with the robot's current pose in order to publish the simulated
+        camera target info.
+
+        :param visionSystemName: The specific identifier for this vision system in NetworkTables.
+        """
        self.dbgField: Field2d = Field2d()
        self.bufferLength: seconds = 1.5

@@ -32,12 +47,21 @@ class VisionSystemSim:
        wpilib.SmartDashboard.putData(self.tableName + "/Sim Field", self.dbgField)

    def getCameraSim(self, name: str) -> PhotonCameraSim | None:
+        """Get one of the simulated cameras."""
        return self.camSimMap.get(name, None)

    def getCameraSims(self) -> list[PhotonCameraSim]:
+        """Get all the simulated cameras."""
        return [*self.camSimMap.values()]

    def addCamera(self, cameraSim: PhotonCameraSim, robotToCamera: Transform3d) -> None:
+        """Adds a simulated camera to this vision system with a specified robot-to-camera transformation.
+        The vision targets registered with this vision system simulation will be observed by the
+        simulated :class:`.PhotonCamera`.
+
+        :param cameraSim:     The camera simulation
+        :param robotToCamera: The transform from the robot pose to the camera pose
+        """
        name = cameraSim.getCamera().getName()
        if name not in self.camSimMap:
            self.camSimMap[name] = cameraSim
@@ -49,10 +73,15 @@ class VisionSystemSim:
            )

    def clearCameras(self) -> None:
+        """Remove all simulated cameras from this vision system."""
        self.camSimMap.clear()
        self.camTrfMap.clear()

    def removeCamera(self, cameraSim: PhotonCameraSim) -> bool:
+        """Remove a simulated camera from this vision system.
+
+        :returns: If the camera was present and removed
+        """
        name = cameraSim.getCamera().getName()
        if name in self.camSimMap:
            del self.camSimMap[name]
@@ -65,6 +94,14 @@ class VisionSystemSim:
        cameraSim: PhotonCameraSim,
        time: seconds = wpilib.Timer.getFPGATimestamp(),
    ) -> Transform3d | None:
+        """Get a simulated camera's position relative to the robot. If the requested camera is invalid, an
+        empty optional is returned.
+
+        :param cameraSim:   The specific camera to get the robot-to-camera transform of
+        :param timeSeconds: Timestamp in seconds of when the transform should be observed
+
+        :returns: The transform of this camera, or an empty optional if it is invalid
+        """
        if cameraSim in self.camTrfMap:
            trfBuffer = self.camTrfMap[cameraSim]
            sample = trfBuffer.sample(time)
@@ -80,6 +117,13 @@ class VisionSystemSim:
        cameraSim: PhotonCameraSim,
        time: seconds = wpilib.Timer.getFPGATimestamp(),
    ) -> Pose3d | None:
+        """Get a simulated camera's position on the field. If the requested camera is invalid, an empty
+        optional is returned.
+
+        :param cameraSim: The specific camera to get the field pose of
+
+        :returns: The pose of this camera, or an empty optional if it is invalid
+        """
        robotToCamera = self.getRobotToCamera(cameraSim, time)
        if robotToCamera is None:
            return None
@@ -93,6 +137,14 @@ class VisionSystemSim:
    def adjustCamera(
        self, cameraSim: PhotonCameraSim, robotToCamera: Transform3d
    ) -> bool:
+        """Adjust a camera's position relative to the robot. Use this if your camera is on a gimbal or
+        turret or some other mobile platform.
+
+        :param cameraSim:     The simulated camera to change the relative position of
+        :param robotToCamera: New transform from the robot to the camera
+
+        :returns: If the cameraSim was valid and transform was adjusted
+        """
        if cameraSim in self.camTrfMap:
            self.camTrfMap[cameraSim].addSample(
                wpilib.Timer.getFPGATimestamp(), Pose3d() + robotToCamera
@@ -102,6 +154,7 @@ class VisionSystemSim:
            return False

    def resetCameraTransforms(self, cameraSim: PhotonCameraSim | None = None) -> None:
+        """Reset the transform history for this camera to just the current transform."""
        now = wpilib.Timer.getFPGATimestamp()

        def resetSingleCamera(self, cameraSim: PhotonCameraSim) -> bool:
@@ -133,12 +186,30 @@ class VisionSystemSim:
    def addVisionTargets(
        self, targets: list[VisionTargetSim], targetType: str = "targets"
    ) -> None:
+        """Adds targets on the field which your vision system is designed to detect. The {@link
+        PhotonCamera}s simulated from this system will report the location of the camera relative to
+        the subset of these targets which are visible from the given camera position.
+
+        :param targets: Targets to add to the simulated field
+        :param type:    Type of target (e.g. "cargo").
+        """
+
        if targetType not in self.targetSets:
            self.targetSets[targetType] = targets
        else:
            self.targetSets[targetType] += targets

    def addAprilTags(self, layout: AprilTagFieldLayout) -> None:
+        """Adds targets on the field which your vision system is designed to detect. The {@link
+        PhotonCamera}s simulated from this system will report the location of the camera relative to
+        the subset of these targets which are visible from the given camera position.
+
+        The AprilTags from this layout will be added as vision targets under the type "apriltag".
+        The poses added preserve the tag layout's current alliance origin. If the tag layout's alliance
+        origin is changed, these added tags will have to be cleared and re-added.
+
+        :param tagLayout: The field tag layout to get Apriltag poses and IDs from
+        """
        targets: list[VisionTargetSim] = []
        for tag in layout.getTags():
            tag_pose = layout.getTagPose(tag.ID)
@@ -172,9 +243,15 @@ class VisionSystemSim:
    def getRobotPose(
        self, timestamp: seconds = wpilib.Timer.getFPGATimestamp()
    ) -> Pose3d | None:
+        """Get the robot pose in meters saved by the vision system at this timestamp.
+
+        :param timestamp: Timestamp of the desired robot pose
+        """
+
        return self.robotPoseBuffer.sample(timestamp)

    def resetRobotPose(self, robotPose: Pose2d | Pose3d) -> None:
+        """Clears all previous robot poses and sets robotPose at current time."""
        if type(robotPose) is Pose2d:
            robotPose = Pose3d(robotPose)
        assert type(robotPose) is Pose3d
@@ -186,16 +263,23 @@ class VisionSystemSim:
        return self.dbgField

    def update(self, robotPose: Pose2d | Pose3d) -> None:
+        """Periodic update. Ensure this is called repeatedly-- camera performance is used to automatically
+        determine if a new frame should be submitted.
+
+        :param robotPoseMeters: The simulated robot pose in meters
+        """
        if type(robotPose) is Pose2d:
            robotPose = Pose3d(robotPose)
        assert type(robotPose) is Pose3d

+        # update vision targets on field
        for targetType, targets in self.targetSets.items():
            posesToAdd: list[Pose2d] = []
            for target in targets:
                posesToAdd.append(target.getPose().toPose2d())
            self.dbgField.getObject(targetType).setPoses(posesToAdd)

+        # save "real" robot poses over time
        now = wpilib.Timer.getFPGATimestamp()
        self.robotPoseBuffer.addSample(now, robotPose)
        self.dbgField.setRobotPose(robotPose.toPose2d())
@@ -208,17 +292,22 @@ class VisionSystemSim:
        visTgtPoses2d: list[Pose2d] = []
        cameraPoses2d: list[Pose2d] = []
        processed = False
+        # process each camera
        for camSim in self.camSimMap.values():
+            # check if this camera is ready to process and get latency
            optTimestamp = camSim.consumeNextEntryTime()
            if optTimestamp is None:
                continue
            else:
                processed = True

+            # when this result "was" read by NT
            timestampNt = optTimestamp
            latency = camSim.prop.estLatency()
+            # the image capture timestamp in seconds of this result
            timestampCapture = timestampNt * 1.0e-6 - latency

+            # use camera pose from the image capture timestamp
            lateRobotPose = self.getRobotPose(timestampCapture)
            robotToCamera = self.getRobotToCamera(camSim, timestampCapture)
            if lateRobotPose is None or robotToCamera is None:
@@ -226,8 +315,11 @@ class VisionSystemSim:
            lateCameraPose = lateRobotPose + robotToCamera
            cameraPoses2d.append(lateCameraPose.toPose2d())

+            # process a PhotonPipelineResult with visible targets
            camResult = camSim.process(latency, lateCameraPose, allTargets)
+            # publish this info to NT at estimated timestamp of receive
            camSim.submitProcessedFrame(camResult, timestampNt)
+            # display debug results
            for tgt in camResult.getTargets():
                trf = tgt.getBestCameraToTarget()
                if trf == Transform3d():
--- a/photon-lib/py/photonlibpy/simulation/visionTargetSim.py
+++ b/photon-lib/py/photonlibpy/simulation/visionTargetSim.py
@@ -6,7 +6,16 @@ from ..estimation.targetModel import TargetModel


 class VisionTargetSim:
+    """Describes a vision target located somewhere on the field that your vision system can detect."""
+
    def __init__(self, pose: Pose3d, model: TargetModel, id: int = -1):
+        """Describes a fiducial tag located somewhere on the field that your vision system can detect.
+
+        :param pose:  Pose3d of the tag in field-relative coordinates
+        :param model: TargetModel which describes the shape of the target(tag)
+        :param id:    The ID of this fiducial tag
+        """
+
        self.pose: Pose3d = pose
        self.model: TargetModel = model
        self.fiducialId: int = id
@@ -47,4 +56,5 @@ class VisionTargetSim:
        return self.model

    def getFieldVertices(self) -> list[Translation3d]:
+        """This target's vertices offset from its field pose."""
        return self.model.getFieldVertices(self.pose)
--- a/photon-lib/py/setup.py
+++ b/photon-lib/py/setup.py
@@ -55,6 +55,7 @@ descriptionStr = f"Pure-python implementation of PhotonLib for interfacing with
 setup(
    name="photonlibpy",
    packages=find_packages(),
+    package_data={"photonlibpy": ["py.typed"]},
    version=versionString,
    install_requires=[
        "numpy~=2.1",
@@ -63,7 +64,6 @@ setup(
        "robotpy-apriltag<2026,>=2025.0.0b1",
        "robotpy-cscore<2026,>=2025.0.0b1",
        "pyntcore<2026,>=2025.0.0b1",
-        "robotpy-opencv;platform_machine=='roborio'",
        "opencv-python;platform_machine!='roborio'",
    ],
    description=descriptionStr,
--- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -305,6 +305,7 @@ void PhotonCamera::VerifyVersion() {
      FRC_ReportError(frc::warn::Warning,
                      "Cannot find property message_uuid for PhotonCamera {}",
                      path);
+      return;
    }
    std::string remote_uuid{remote_uuid_json};

--- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
@@ -25,6 +25,7 @@
 package org.photonvision;

 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assumptions.assumeTrue;
 import static org.photonvision.UnitTestUtils.waitForCondition;
 import static org.photonvision.UnitTestUtils.waitForSequenceNumber;

@@ -54,6 +55,9 @@ class PhotonCameraTest {
    @BeforeAll
    public static void load_wpilib() {
        WpilibLoader.loadLibraries();
+
+        // See #1574 - test flakey, disabled until we address this
+        assumeTrue(false);
    }

    @BeforeEach
--- a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
+++ b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
@@ -28,6 +28,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.Assertions.fail;
+import static org.junit.jupiter.api.Assumptions.assumeTrue;
 import static org.photonvision.UnitTestUtils.waitForSequenceNumber;

 import edu.wpi.first.apriltag.AprilTag;
@@ -66,29 +67,27 @@ import org.photonvision.simulation.VisionSystemSim;
 import org.photonvision.simulation.VisionTargetSim;
 import org.photonvision.targeting.PhotonTrackedTarget;

+// See #1574 - flakey on windows and also linux, so commenting out until we bump wpilib
 class VisionSystemSimTest {
-    private static final double kTrlDelta = 0.005;
    private static final double kRotDeltaDeg = 0.25;

    NetworkTableInstance inst;

    @BeforeAll
    public static void setUp() {
-        WpilibLoader.loadLibraries();
+        assertTrue(WpilibLoader.loadLibraries());
+
        try {
-            if (!PhotonTargetingJniLoader.load()) fail();
+            assertTrue(PhotonTargetingJniLoader.load());
        } catch (UnsatisfiedLinkError | IOException e) {
            e.printStackTrace();
            fail(e);
        }

        OpenCVHelp.forceLoadOpenCV();
-    }

-    @BeforeEach
-    public void init() {
-        // // No version check for testing
-        // PhotonCamera.setVersionCheckEnabled(false);
+        // See #1574 - test flakey, disabled until we address this
+        assumeTrue(false);
    }

    @BeforeEach
--- a/photon-serde/message_data_types.yaml
+++ b/photon-serde/message_data_types.yaml
@@ -6,6 +6,8 @@ bool:
  cpp_type: bool
  java_decode_method: decodeBoolean
  java_encode_shim: encodeBoolean
+  python_decode_shim: decodeBoolean
+  python_encode_shim: encodeBoolean
 int16:
  len: 2
  java_type: short
@@ -13,27 +15,37 @@ int16:
  java_decode_method: decodeShort
  java_list_decode_method: decodeShortList
  java_encode_shim: encodeShort
+  python_decode_shim: decodeShort
+  python_encode_shim: encodeShort
 int32:
  len: 4
  java_type: int
  cpp_type: int32_t
  java_decode_method: decodeInt
  java_encode_shim: encodeInt
+  python_decode_shim: decodeInt
+  python_encode_shim: encodeInt
 int64:
  len: 8
  java_type: long
  cpp_type: int64_t
  java_decode_method: decodeLong
  java_encode_shim: encodeLong
+  python_decode_shim: decodeLong
+  python_encode_shim: encodeLong
 float32:
  len: 4
  java_type: float
  cpp_type: float
  java_decode_method: decodeFloat
  java_encode_shim: encodeFloat
+  python_decode_shim: decodeFloat
+  python_encode_shim: encodeFloat
 float64:
  len: 8
  java_type: double
  cpp_type: double
  java_decode_method: decodeDouble
  java_encode_shim: encodeDouble
+  python_decode_shim: decodeDouble
+  python_encode_shim: encodeDouble
--- a/photon-serde/messages.yaml
+++ b/photon-serde/messages.yaml
@@ -16,7 +16,7 @@
  java_encode_shim: PacketUtils.packTransform3d
  cpp_type: frc::Transform3d
  cpp_include: "<frc/geometry/Transform3d.h>"
-  python_decode_shim: packet.decodeTransform
+  python_decode_shim: decodeTransform
  python_encode_shim: encodeTransform
  java_import: edu.wpi.first.math.geometry.Transform3d
  # shim since we expect fields to at least exist
--- a/photon-serde/templates/Message.java.jinja
+++ b/photon-serde/templates/Message.java.jinja
@@ -54,26 +54,26 @@ public class {{ name }}Serde implements PacketSerde<{{name}}> {
    @Override
    public void pack(Packet packet, {{ name }} value) {
 {%- for field in fields -%}
-    {%- if field.type | is_shimmed %}
+{%- if field.type | is_shimmed %}
        {{ get_message_by_name(field.type).java_encode_shim }}(packet, value.{{ field.name }});
-    {%- elif field.optional == True %}
+{%- elif field.optional == True %}
        // {{ field.name }} is optional! it better not be a VLA too
        packet.encodeOptional(value.{{ field.name }});
-    {%- elif field.vla == True and field.type | is_intrinsic %}
+{%- elif field.vla == True and field.type | is_intrinsic %}
        // {{ field.name }} is a intrinsic VLA!
        packet.encode(value.{{ field.name }});
-    {%- elif field.vla == True %}
+{%- elif field.vla == True %}
        // {{ field.name }} is a custom VLA!
        packet.encodeList(value.{{ field.name }});
-    {%- elif field.type | is_intrinsic %}
+{%- elif field.type | is_intrinsic %}
        // field {{ field.name }} is of intrinsic type {{ field.type }}
        packet.encode(({{ type_map[field.type].java_type }}) value.{{ field.name }});
-    {%- else %}
+{%- else %}
        // field {{ field.name }} is of non-intrinsic type {{ field.type }}
        {{ field.type }}.photonStruct.pack(packet, value.{{ field.name }});
-    {%- endif %}
-    {%- if not loop.last %}
-    {% endif -%}
+{%- endif %}
+{%- if not loop.last %}
+{% endif -%}
 {% endfor%}
    }

@@ -81,26 +81,26 @@ public class {{ name }}Serde implements PacketSerde<{{name}}> {
    public {{ name }} unpack(Packet packet) {
        var ret = new {{ name }}();
 {% for field in fields -%}
-    {%- if field.type | is_shimmed %}
+{%- if field.type | is_shimmed %}
        ret.{{ field.name }} = {{ get_message_by_name(field.type).java_decode_shim }}(packet);
-    {%- elif field.optional == True %}
+{%- elif field.optional == True %}
        // {{ field.name }} is optional! it better not be a VLA too
        ret.{{ field.name }} = packet.decodeOptional({{ field.type }}.photonStruct);
-    {%- elif field.vla == True and not field.type | is_intrinsic %}
+{%- elif field.vla == True and not field.type | is_intrinsic %}
        // {{ field.name }} is a custom VLA!
        ret.{{ field.name }} = packet.decodeList({{ field.type }}.photonStruct);
-    {%- elif field.vla == True and field.type | is_intrinsic %}
+{%- elif field.vla == True and field.type | is_intrinsic %}
        // {{ field.name }} is a custom VLA!
        ret.{{ field.name }} = packet.decode{{ type_map[field.type].java_type.title() }}List();
-    {%- elif field.type | is_intrinsic %}
+{%- elif field.type | is_intrinsic %}
        // {{ field.name }} is of intrinsic type {{ field.type }}
        ret.{{field.name}} = packet.{{ type_map[field.type].java_decode_method }}();
-    {%- else %}
+{%- else %}
        // {{ field.name }} is of non-intrinsic type {{ field.type }}
        ret.{{field.name}} = {{ field.type }}.photonStruct.unpack(packet);
-    {%- endif %}
-    {%- if not loop.last %}
-    {% endif -%}
+{%- endif %}
+{%- if not loop.last %}
+{% endif -%}
 {% endfor%}

        return ret;
@@ -125,4 +125,4 @@ public class {{ name }}Serde implements PacketSerde<{{name}}> {
            {%- endfor%}
        };
    }
-}
+}{{'\n'}}
--- a/photon-serde/templates/ThingSerde.cpp.jinja
+++ b/photon-serde/templates/ThingSerde.cpp.jinja
@@ -24,21 +24,21 @@ namespace photon {
 using StructType = SerdeType<{{ name }}>;

 void StructType::Pack(Packet& packet, const {{ name }}& value) {
-    {% for field in fields -%}
-    packet.Pack<{{ field | get_qualified_name }}>(value.{{ field.name }});
-    {%- if not loop.last %}
-    {% endif -%}
-    {% endfor %}
+  {% for field in fields -%}
+  packet.Pack<{{ field | get_qualified_name }}>(value.{{ field.name }});
+  {%- if not loop.last %}
+  {% endif -%}
+  {% endfor %}
 }

 {{ name }} StructType::Unpack(Packet& packet) {
-    return {{ name }}{ {{ name }}_PhotonStruct{
-        {% for field in fields -%}
-        .{{ field.name}} = packet.Unpack<{{ field | get_qualified_name }}>(),
-        {%- if not loop.last %}
-        {% endif -%}
-        {% endfor %}
-    }};
+  return {{ name }}{ {{ name }}_PhotonStruct{
+    {% for field in fields -%}
+    .{{ field.name}} = packet.Unpack<{{ field | get_qualified_name }}>(),
+    {%- if not loop.last %}
+    {% endif -%}
+    {% endfor %}
+  }};
 }

-} // namespace photon
+} // namespace photon{{'\n'}}
--- a/photon-serde/templates/ThingSerde.h.jinja
+++ b/photon-serde/templates/ThingSerde.h.jinja
@@ -48,4 +48,4 @@ struct WPILIB_DLLEXPORT SerdeType<{{ name }}> {

 static_assert(photon::PhotonStructSerializable<photon::{{ name }}>);

-} // namespace photon
+} // namespace photon{{'\n'}}
--- a/photon-serde/templates/ThingSerde.py.jinja
+++ b/photon-serde/templates/ThingSerde.py.jinja
@@ -44,7 +44,7 @@ class {{ name }}Serde:
    MESSAGE_FORMAT = "{{ message_fmt }}"

    @staticmethod
-    def pack(value: '{{ name }}' ) -> 'Packet':
+    def pack(value: "{{ name }}") -> "Packet":
        ret = Packet()
 {% for field in fields -%}
 {%- if field.type | is_shimmed %}
@@ -60,7 +60,7 @@ class {{ name }}Serde:
        ret.encode{{ type_map[field.type].java_type.title() }}List(value.{{ field.name }})
 {%- elif field.type | is_intrinsic %}
        # {{ field.name }} is of intrinsic type {{ field.type }}
-        ret.{{ type_map[field.type].java_encode_shim }}(value.{{field.name}})
+        ret.{{ type_map[field.type].python_encode_shim }}(value.{{field.name}})
 {%- else %}
        # {{ field.name }} is of non-intrinsic type {{ field.type }}
        ret.encodeBytes({{ field.type }}.photonStruct.pack(value.{{field.name}}).getData())
@@ -70,13 +70,12 @@ class {{ name }}Serde:
 {% endfor%}
        return ret

-
    @staticmethod
-    def unpack(packet: 'Packet') -> '{{ name }}':
+    def unpack(packet: "Packet") -> "{{ name }}":
        ret = {{ name }}()
 {% for field in fields -%}
 {%- if field.type | is_shimmed %}
-        ret.{{ field.name }} = {{ get_message_by_name(field.type).python_decode_shim }}()
+        ret.{{ field.name }} = packet.{{ get_message_by_name(field.type).python_decode_shim }}()
 {%- elif field.optional == True %}
        # {{ field.name }} is optional! it better not be a VLA too
        ret.{{ field.name }} = packet.decodeOptional({{ field.type }}.photonStruct)
@@ -88,7 +87,7 @@ class {{ name }}Serde:
        ret.{{ field.name }} = packet.decode{{ type_map[field.type].java_type.title() }}List()
 {%- elif field.type | is_intrinsic %}
        # {{ field.name }} is of intrinsic type {{ field.type }}
-        ret.{{field.name}} = packet.{{ type_map[field.type].java_decode_method }}()
+        ret.{{field.name}} = packet.{{ type_map[field.type].python_decode_shim }}()
 {%- else %}
        # {{ field.name }} is of non-intrinsic type {{ field.type }}
        ret.{{field.name}} = {{ field.type }}.photonStruct.unpack(packet)
@@ -101,4 +100,4 @@ class {{ name }}Serde:


 # Hack ourselves into the base class
-{{ name }}.photonStruct = {{ name }}Serde()
+{{ name }}.photonStruct = {{ name }}Serde(){{'\n'}}
--- a/photon-serde/templates/ThingStruct.h.jinja
+++ b/photon-serde/templates/ThingStruct.h.jinja
@@ -36,4 +36,4 @@ struct {{ name }}_PhotonStruct {
  friend bool operator==({{ name }}_PhotonStruct const&, {{ name }}_PhotonStruct const&) = default;
 };

-} // namespace photon
+} // namespace photon{{'\n'}}
--- a/photon-server/src/main/java/org/photonvision/server/UIInboundSubscriber.java
+++ b/photon-server/src/main/java/org/photonvision/server/UIInboundSubscriber.java
@@ -27,6 +27,7 @@ import org.photonvision.common.dataflow.events.DataChangeEvent;
 import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
+import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.logging.Logger;

 public class UIInboundSubscriber extends DataChangeSubscriber {
@@ -43,7 +44,8 @@ public class UIInboundSubscriber extends DataChangeSubscriber {
            if (incomingWSEvent.propertyName.equals("userConnected")
                    || incomingWSEvent.propertyName.equals("sendFullSettings")) {
                // Send full settings
-                var settings = ConfigManager.getInstance().getConfig().toHashMap();
+                var settings =
+                        UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig());
                var message =
                        new OutgoingUIEvent<>("fullsettings", settings, incomingWSEvent.originContext);
                DataChangeService.getInstance().publishEvent(message);
--- a/photon-targeting/.gitignore
+++ b/photon-targeting/.gitignore
@@ -9,5 +9,3 @@ build
 build/*
 photonvision/*
 photonvision_config/*
-
-src/main/java/org/photonvision/PhotonVersion.java
--- a/photon-targeting/src/generated/main/java/org/photonvision/jni/WpilibLoader.java
+++ b/photon-targeting/src/generated/main/java/org/photonvision/jni/WpilibLoader.java
@@ -25,13 +25,7 @@ import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.cscore.OpenCvLoader;
 import edu.wpi.first.hal.JNIWrapper;
-import edu.wpi.first.math.jni.ArmFeedforwardJNI;
-import edu.wpi.first.math.jni.DAREJNI;
-import edu.wpi.first.math.jni.EigenJNI;
-import edu.wpi.first.math.jni.Ellipse2dJNI;
-import edu.wpi.first.math.jni.Pose3dJNI;
-import edu.wpi.first.math.jni.StateSpaceUtilJNI;
-import edu.wpi.first.math.jni.TrajectoryUtilJNI;
+import edu.wpi.first.math.jni.WPIMathJNI;
 import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.util.CombinedRuntimeLoader;
@@ -48,18 +42,8 @@ public class WpilibLoader {
        OpenCvLoader.Helper.setExtractOnStaticLoad(false);
        JNIWrapper.Helper.setExtractOnStaticLoad(false);
        WPINetJNI.Helper.setExtractOnStaticLoad(false);
+        WPIMathJNI.Helper.setExtractOnStaticLoad(false);
        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
-
-        // wpimathjni is a bit odd, it's all in the wpimathjni shared lib, but the java side stuff has
-        // been split.
-        ArmFeedforwardJNI.Helper.setExtractOnStaticLoad(false);
-        DAREJNI.Helper.setExtractOnStaticLoad(false);
-        EigenJNI.Helper.setExtractOnStaticLoad(false);
-        Ellipse2dJNI.Helper.setExtractOnStaticLoad(false);
-        Pose3dJNI.Helper.setExtractOnStaticLoad(false);
-        StateSpaceUtilJNI.Helper.setExtractOnStaticLoad(false);
-        TrajectoryUtilJNI.Helper.setExtractOnStaticLoad(false);
-
        try {
            CombinedRuntimeLoader.loadLibraries(
                    WpilibLoader.class,
@@ -68,7 +52,6 @@ public class WpilibLoader {
                    "ntcorejni",
                    "wpinetjni",
                    "wpiHaljni",
-                    "wpi",
                    "cscorejni",
                    "apriltagjni");

--- a/photon-targeting/src/generated/main/java/org/photonvision/struct/MultiTargetPNPResultSerde.java
+++ b/photon-targeting/src/generated/main/java/org/photonvision/struct/MultiTargetPNPResultSerde.java
@@ -34,6 +34,7 @@ import edu.wpi.first.util.struct.Struct;
 * Auto-generated serialization/deserialization helper for MultiTargetPNPResult
 */
 public class MultiTargetPNPResultSerde implements PacketSerde<MultiTargetPNPResult> {
+
    @Override
    public final String getInterfaceUUID() { return "541096947e9f3ca2d3f425ff7b04aa7b"; }
    @Override
@@ -79,6 +80,7 @@ public class MultiTargetPNPResultSerde implements PacketSerde<MultiTargetPNPResu
    @Override
    public Struct<?>[] getNestedWpilibMessages() {
        return new Struct<?>[] {
+            
        };
    }
 }
--- a/photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineMetadataSerde.java
+++ b/photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineMetadataSerde.java
@@ -34,6 +34,7 @@ import edu.wpi.first.util.struct.Struct;
 * Auto-generated serialization/deserialization helper for PhotonPipelineMetadata
 */
 public class PhotonPipelineMetadataSerde implements PacketSerde<PhotonPipelineMetadata> {
+
    @Override
    public final String getInterfaceUUID() { return "ac0a45f686457856fb30af77699ea356"; }
    @Override
@@ -84,12 +85,14 @@ public class PhotonPipelineMetadataSerde implements PacketSerde<PhotonPipelineMe
    @Override
    public PacketSerde<?>[] getNestedPhotonMessages() {
        return new PacketSerde<?>[] {
+            
        };
    }

    @Override
    public Struct<?>[] getNestedWpilibMessages() {
        return new Struct<?>[] {
+            
        };
    }
 }
--- a/photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineResultSerde.java
+++ b/photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineResultSerde.java
@@ -34,6 +34,7 @@ import edu.wpi.first.util.struct.Struct;
 * Auto-generated serialization/deserialization helper for PhotonPipelineResult
 */
 public class PhotonPipelineResultSerde implements PacketSerde<PhotonPipelineResult> {
+
    @Override
    public final String getInterfaceUUID() { return "4b2ff16a964b5e2bf04be0c1454d91c4"; }
    @Override
@@ -78,13 +79,14 @@ public class PhotonPipelineResultSerde implements PacketSerde<PhotonPipelineResu
    @Override
    public PacketSerde<?>[] getNestedPhotonMessages() {
        return new PacketSerde<?>[] {
-            MultiTargetPNPResult.photonStruct,PhotonPipelineMetadata.photonStruct,PhotonTrackedTarget.photonStruct
+            PhotonPipelineMetadata.photonStruct,MultiTargetPNPResult.photonStruct,PhotonTrackedTarget.photonStruct
        };
    }

    @Override
    public Struct<?>[] getNestedWpilibMessages() {
        return new Struct<?>[] {
+            
        };
    }
 }
--- a/photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonTrackedTargetSerde.java
+++ b/photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonTrackedTargetSerde.java
@@ -34,6 +34,7 @@ import edu.wpi.first.math.geometry.Transform3d;
 * Auto-generated serialization/deserialization helper for PhotonTrackedTarget
 */
 public class PhotonTrackedTargetSerde implements PacketSerde<PhotonTrackedTarget> {
+
    @Override
    public final String getInterfaceUUID() { return "cc6dbb5c5c1e0fa808108019b20863f1"; }
    @Override
--- a/photon-targeting/src/generated/main/java/org/photonvision/struct/PnpResultSerde.java
+++ b/photon-targeting/src/generated/main/java/org/photonvision/struct/PnpResultSerde.java
@@ -34,6 +34,7 @@ import edu.wpi.first.math.geometry.Transform3d;
 * Auto-generated serialization/deserialization helper for PnpResult
 */
 public class PnpResultSerde implements PacketSerde<PnpResult> {
+
    @Override
    public final String getInterfaceUUID() { return "ae4d655c0a3104d88df4f5db144c1e86"; }
    @Override
@@ -86,6 +87,7 @@ public class PnpResultSerde implements PacketSerde<PnpResult> {
    @Override
    public PacketSerde<?>[] getNestedPhotonMessages() {
        return new PacketSerde<?>[] {
+            
        };
    }

--- a/photon-targeting/src/generated/main/java/org/photonvision/struct/TargetCornerSerde.java
+++ b/photon-targeting/src/generated/main/java/org/photonvision/struct/TargetCornerSerde.java
@@ -34,6 +34,7 @@ import edu.wpi.first.util.struct.Struct;
 * Auto-generated serialization/deserialization helper for TargetCorner
 */
 public class TargetCornerSerde implements PacketSerde<TargetCorner> {
+
    @Override
    public final String getInterfaceUUID() { return "16f6ac0dedc8eaccb951f4895d9e18b6"; }
    @Override
@@ -72,12 +73,14 @@ public class TargetCornerSerde implements PacketSerde<TargetCorner> {
    @Override
    public PacketSerde<?>[] getNestedPhotonMessages() {
        return new PacketSerde<?>[] {
+            
        };
    }

    @Override
    public Struct<?>[] getNestedWpilibMessages() {
        return new Struct<?>[] {
+            
        };
    }
 }
--- a/photon-targeting/src/generated/main/native/cpp/photon/serde/MultiTargetPNPResultSerde.cpp
+++ b/photon-targeting/src/generated/main/native/cpp/photon/serde/MultiTargetPNPResultSerde.cpp
@@ -15,8 +15,7 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include "photon/serde/MultiTargetPNPResultSerde.h"

@@ -30,10 +29,10 @@ void StructType::Pack(Packet& packet, const MultiTargetPNPResult& value) {
 }

 MultiTargetPNPResult StructType::Unpack(Packet& packet) {
-  return MultiTargetPNPResult{MultiTargetPNPResult_PhotonStruct{
-      .estimatedPose = packet.Unpack<photon::PnpResult>(),
-      .fiducialIDsUsed = packet.Unpack<std::vector<int16_t>>(),
+  return MultiTargetPNPResult{ MultiTargetPNPResult_PhotonStruct{
+    .estimatedPose = packet.Unpack<photon::PnpResult>(),
+    .fiducialIDsUsed = packet.Unpack<std::vector<int16_t>>(),
  }};
 }

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/cpp/photon/serde/PhotonPipelineMetadataSerde.cpp
+++ b/photon-targeting/src/generated/main/native/cpp/photon/serde/PhotonPipelineMetadataSerde.cpp
@@ -15,8 +15,7 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include "photon/serde/PhotonPipelineMetadataSerde.h"

@@ -32,12 +31,12 @@ void StructType::Pack(Packet& packet, const PhotonPipelineMetadata& value) {
 }

 PhotonPipelineMetadata StructType::Unpack(Packet& packet) {
-  return PhotonPipelineMetadata{PhotonPipelineMetadata_PhotonStruct{
-      .sequenceID = packet.Unpack<int64_t>(),
-      .captureTimestampMicros = packet.Unpack<int64_t>(),
-      .publishTimestampMicros = packet.Unpack<int64_t>(),
-      .timeSinceLastPong = packet.Unpack<int64_t>(),
+  return PhotonPipelineMetadata{ PhotonPipelineMetadata_PhotonStruct{
+    .sequenceID = packet.Unpack<int64_t>(),
+    .captureTimestampMicros = packet.Unpack<int64_t>(),
+    .publishTimestampMicros = packet.Unpack<int64_t>(),
+    .timeSinceLastPong = packet.Unpack<int64_t>(),
  }};
 }

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/cpp/photon/serde/PhotonPipelineResultSerde.cpp
+++ b/photon-targeting/src/generated/main/native/cpp/photon/serde/PhotonPipelineResultSerde.cpp
@@ -15,8 +15,7 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include "photon/serde/PhotonPipelineResultSerde.h"

@@ -27,17 +26,15 @@ using StructType = SerdeType<PhotonPipelineResult>;
 void StructType::Pack(Packet& packet, const PhotonPipelineResult& value) {
  packet.Pack<photon::PhotonPipelineMetadata>(value.metadata);
  packet.Pack<std::vector<photon::PhotonTrackedTarget>>(value.targets);
-  packet.Pack<std::optional<photon::MultiTargetPNPResult>>(
-      value.multitagResult);
+  packet.Pack<std::optional<photon::MultiTargetPNPResult>>(value.multitagResult);
 }

 PhotonPipelineResult StructType::Unpack(Packet& packet) {
-  return PhotonPipelineResult{PhotonPipelineResult_PhotonStruct{
-      .metadata = packet.Unpack<photon::PhotonPipelineMetadata>(),
-      .targets = packet.Unpack<std::vector<photon::PhotonTrackedTarget>>(),
-      .multitagResult =
-          packet.Unpack<std::optional<photon::MultiTargetPNPResult>>(),
+  return PhotonPipelineResult{ PhotonPipelineResult_PhotonStruct{
+    .metadata = packet.Unpack<photon::PhotonPipelineMetadata>(),
+    .targets = packet.Unpack<std::vector<photon::PhotonTrackedTarget>>(),
+    .multitagResult = packet.Unpack<std::optional<photon::MultiTargetPNPResult>>(),
  }};
 }

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/cpp/photon/serde/PhotonTrackedTargetSerde.cpp
+++ b/photon-targeting/src/generated/main/native/cpp/photon/serde/PhotonTrackedTargetSerde.cpp
@@ -15,8 +15,7 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include "photon/serde/PhotonTrackedTargetSerde.h"

@@ -40,20 +39,20 @@ void StructType::Pack(Packet& packet, const PhotonTrackedTarget& value) {
 }

 PhotonTrackedTarget StructType::Unpack(Packet& packet) {
-  return PhotonTrackedTarget{PhotonTrackedTarget_PhotonStruct{
-      .yaw = packet.Unpack<double>(),
-      .pitch = packet.Unpack<double>(),
-      .area = packet.Unpack<double>(),
-      .skew = packet.Unpack<double>(),
-      .fiducialId = packet.Unpack<int32_t>(),
-      .objDetectId = packet.Unpack<int32_t>(),
-      .objDetectConf = packet.Unpack<float>(),
-      .bestCameraToTarget = packet.Unpack<frc::Transform3d>(),
-      .altCameraToTarget = packet.Unpack<frc::Transform3d>(),
-      .poseAmbiguity = packet.Unpack<double>(),
-      .minAreaRectCorners = packet.Unpack<std::vector<photon::TargetCorner>>(),
-      .detectedCorners = packet.Unpack<std::vector<photon::TargetCorner>>(),
+  return PhotonTrackedTarget{ PhotonTrackedTarget_PhotonStruct{
+    .yaw = packet.Unpack<double>(),
+    .pitch = packet.Unpack<double>(),
+    .area = packet.Unpack<double>(),
+    .skew = packet.Unpack<double>(),
+    .fiducialId = packet.Unpack<int32_t>(),
+    .objDetectId = packet.Unpack<int32_t>(),
+    .objDetectConf = packet.Unpack<float>(),
+    .bestCameraToTarget = packet.Unpack<frc::Transform3d>(),
+    .altCameraToTarget = packet.Unpack<frc::Transform3d>(),
+    .poseAmbiguity = packet.Unpack<double>(),
+    .minAreaRectCorners = packet.Unpack<std::vector<photon::TargetCorner>>(),
+    .detectedCorners = packet.Unpack<std::vector<photon::TargetCorner>>(),
  }};
 }

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/cpp/photon/serde/PnpResultSerde.cpp
+++ b/photon-targeting/src/generated/main/native/cpp/photon/serde/PnpResultSerde.cpp
@@ -15,8 +15,7 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include "photon/serde/PnpResultSerde.h"

@@ -33,13 +32,13 @@ void StructType::Pack(Packet& packet, const PnpResult& value) {
 }

 PnpResult StructType::Unpack(Packet& packet) {
-  return PnpResult{PnpResult_PhotonStruct{
-      .best = packet.Unpack<frc::Transform3d>(),
-      .alt = packet.Unpack<frc::Transform3d>(),
-      .bestReprojErr = packet.Unpack<double>(),
-      .altReprojErr = packet.Unpack<double>(),
-      .ambiguity = packet.Unpack<double>(),
+  return PnpResult{ PnpResult_PhotonStruct{
+    .best = packet.Unpack<frc::Transform3d>(),
+    .alt = packet.Unpack<frc::Transform3d>(),
+    .bestReprojErr = packet.Unpack<double>(),
+    .altReprojErr = packet.Unpack<double>(),
+    .ambiguity = packet.Unpack<double>(),
  }};
 }

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/cpp/photon/serde/TargetCornerSerde.cpp
+++ b/photon-targeting/src/generated/main/native/cpp/photon/serde/TargetCornerSerde.cpp
@@ -15,8 +15,7 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include "photon/serde/TargetCornerSerde.h"

@@ -30,10 +29,10 @@ void StructType::Pack(Packet& packet, const TargetCorner& value) {
 }

 TargetCorner StructType::Unpack(Packet& packet) {
-  return TargetCorner{TargetCorner_PhotonStruct{
-      .x = packet.Unpack<double>(),
-      .y = packet.Unpack<double>(),
+  return TargetCorner{ TargetCorner_PhotonStruct{
+    .x = packet.Unpack<double>(),
+    .y = packet.Unpack<double>(),
  }};
 }

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/serde/MultiTargetPNPResultSerde.h
+++ b/photon-targeting/src/generated/main/native/include/photon/serde/MultiTargetPNPResultSerde.h
@@ -17,8 +17,7 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include <wpi/SymbolExports.h>

@@ -31,6 +30,7 @@
 #include <stdint.h>
 #include <vector>

+
 namespace photon {

 template <>
@@ -40,15 +40,13 @@ struct WPILIB_DLLEXPORT SerdeType<MultiTargetPNPResult> {
  }

  static constexpr std::string_view GetSchema() {
-    return "PnpResult:ae4d655c0a3104d88df4f5db144c1e86 estimatedPose;int16 "
-           "fiducialIDsUsed[?];";
+    return "PnpResult:ae4d655c0a3104d88df4f5db144c1e86 estimatedPose;int16 fiducialIDsUsed[?];";
  }

  static photon::MultiTargetPNPResult Unpack(photon::Packet& packet);
-  static void Pack(photon::Packet& packet,
-                   const photon::MultiTargetPNPResult& value);
+  static void Pack(photon::Packet& packet, const photon::MultiTargetPNPResult& value);
 };

 static_assert(photon::PhotonStructSerializable<photon::MultiTargetPNPResult>);

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/serde/PhotonPipelineMetadataSerde.h
+++ b/photon-targeting/src/generated/main/native/include/photon/serde/PhotonPipelineMetadataSerde.h
@@ -17,8 +17,7 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include <wpi/SymbolExports.h>

@@ -29,6 +28,7 @@
 // Includes for dependant types
 #include <stdint.h>

+
 namespace photon {

 template <>
@@ -38,15 +38,13 @@ struct WPILIB_DLLEXPORT SerdeType<PhotonPipelineMetadata> {
  }

  static constexpr std::string_view GetSchema() {
-    return "int64 sequenceID;int64 captureTimestampMicros;int64 "
-           "publishTimestampMicros;int64 timeSinceLastPong;";
+    return "int64 sequenceID;int64 captureTimestampMicros;int64 publishTimestampMicros;int64 timeSinceLastPong;";
  }

  static photon::PhotonPipelineMetadata Unpack(photon::Packet& packet);
-  static void Pack(photon::Packet& packet,
-                   const photon::PhotonPipelineMetadata& value);
+  static void Pack(photon::Packet& packet, const photon::PhotonPipelineMetadata& value);
 };

 static_assert(photon::PhotonStructSerializable<photon::PhotonPipelineMetadata>);

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/serde/PhotonPipelineResultSerde.h
+++ b/photon-targeting/src/generated/main/native/include/photon/serde/PhotonPipelineResultSerde.h
@@ -17,8 +17,7 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include <wpi/SymbolExports.h>

@@ -34,6 +33,7 @@
 #include <stdint.h>
 #include <vector>

+
 namespace photon {

 template <>
@@ -43,18 +43,13 @@ struct WPILIB_DLLEXPORT SerdeType<PhotonPipelineResult> {
  }

  static constexpr std::string_view GetSchema() {
-    return "PhotonPipelineMetadata:ac0a45f686457856fb30af77699ea356 "
-           "metadata;PhotonTrackedTarget:cc6dbb5c5c1e0fa808108019b20863f1 "
-           "targets[?];optional "
-           "MultiTargetPNPResult:541096947e9f3ca2d3f425ff7b04aa7b "
-           "multitagResult;";
+    return "PhotonPipelineMetadata:ac0a45f686457856fb30af77699ea356 metadata;PhotonTrackedTarget:cc6dbb5c5c1e0fa808108019b20863f1 targets[?];optional MultiTargetPNPResult:541096947e9f3ca2d3f425ff7b04aa7b multitagResult;";
  }

  static photon::PhotonPipelineResult Unpack(photon::Packet& packet);
-  static void Pack(photon::Packet& packet,
-                   const photon::PhotonPipelineResult& value);
+  static void Pack(photon::Packet& packet, const photon::PhotonPipelineResult& value);
 };

 static_assert(photon::PhotonStructSerializable<photon::PhotonPipelineResult>);

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/serde/PhotonTrackedTargetSerde.h
+++ b/photon-targeting/src/generated/main/native/include/photon/serde/PhotonTrackedTargetSerde.h
@@ -17,8 +17,7 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include <wpi/SymbolExports.h>

@@ -32,6 +31,7 @@
 #include <stdint.h>
 #include <vector>

+
 namespace photon {

 template <>
@@ -41,19 +41,13 @@ struct WPILIB_DLLEXPORT SerdeType<PhotonTrackedTarget> {
  }

  static constexpr std::string_view GetSchema() {
-    return "float64 yaw;float64 pitch;float64 area;float64 skew;int32 "
-           "fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d "
-           "bestCameraToTarget;Transform3d altCameraToTarget;float64 "
-           "poseAmbiguity;TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 "
-           "minAreaRectCorners[?];TargetCorner:"
-           "16f6ac0dedc8eaccb951f4895d9e18b6 detectedCorners[?];";
+    return "float64 yaw;float64 pitch;float64 area;float64 skew;int32 fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d bestCameraToTarget;Transform3d altCameraToTarget;float64 poseAmbiguity;TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 minAreaRectCorners[?];TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 detectedCorners[?];";
  }

  static photon::PhotonTrackedTarget Unpack(photon::Packet& packet);
-  static void Pack(photon::Packet& packet,
-                   const photon::PhotonTrackedTarget& value);
+  static void Pack(photon::Packet& packet, const photon::PhotonTrackedTarget& value);
 };

 static_assert(photon::PhotonStructSerializable<photon::PhotonTrackedTarget>);

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/serde/PnpResultSerde.h
+++ b/photon-targeting/src/generated/main/native/include/photon/serde/PnpResultSerde.h
@@ -17,8 +17,7 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include <wpi/SymbolExports.h>

@@ -30,6 +29,7 @@
 #include <frc/geometry/Transform3d.h>
 #include <stdint.h>

+
 namespace photon {

 template <>
@@ -39,8 +39,7 @@ struct WPILIB_DLLEXPORT SerdeType<PnpResult> {
  }

  static constexpr std::string_view GetSchema() {
-    return "Transform3d best;Transform3d alt;float64 bestReprojErr;float64 "
-           "altReprojErr;float64 ambiguity;";
+    return "Transform3d best;Transform3d alt;float64 bestReprojErr;float64 altReprojErr;float64 ambiguity;";
  }

  static photon::PnpResult Unpack(photon::Packet& packet);
@@ -49,4 +48,4 @@ struct WPILIB_DLLEXPORT SerdeType<PnpResult> {

 static_assert(photon::PhotonStructSerializable<photon::PnpResult>);

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/serde/TargetCornerSerde.h
+++ b/photon-targeting/src/generated/main/native/include/photon/serde/TargetCornerSerde.h
@@ -17,8 +17,7 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 #include <wpi/SymbolExports.h>

@@ -29,6 +28,7 @@
 // Includes for dependant types
 #include <stdint.h>

+
 namespace photon {

 template <>
@@ -47,4 +47,4 @@ struct WPILIB_DLLEXPORT SerdeType<TargetCorner> {

 static_assert(photon::PhotonStructSerializable<photon::TargetCorner>);

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/struct/MultiTargetPNPResultStruct.h
+++ b/photon-targeting/src/generated/main/native/include/photon/struct/MultiTargetPNPResultStruct.h
@@ -17,15 +17,13 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 // Includes for dependant types
+#include "photon/targeting/PnpResult.h"
 #include <stdint.h>
-
 #include <vector>

-#include "photon/targeting/PnpResult.h"

 namespace photon {

@@ -33,8 +31,7 @@ struct MultiTargetPNPResult_PhotonStruct {
  photon::PnpResult estimatedPose;
  std::vector<int16_t> fiducialIDsUsed;

-  friend bool operator==(MultiTargetPNPResult_PhotonStruct const&,
-                         MultiTargetPNPResult_PhotonStruct const&) = default;
+  friend bool operator==(MultiTargetPNPResult_PhotonStruct const&, MultiTargetPNPResult_PhotonStruct const&) = default;
 };

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/struct/PhotonPipelineMetadataStruct.h
+++ b/photon-targeting/src/generated/main/native/include/photon/struct/PhotonPipelineMetadataStruct.h
@@ -17,12 +17,12 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 // Includes for dependant types
 #include <stdint.h>

+
 namespace photon {

 struct PhotonPipelineMetadata_PhotonStruct {
@@ -31,8 +31,7 @@ struct PhotonPipelineMetadata_PhotonStruct {
  int64_t publishTimestampMicros;
  int64_t timeSinceLastPong;

-  friend bool operator==(PhotonPipelineMetadata_PhotonStruct const&,
-                         PhotonPipelineMetadata_PhotonStruct const&) = default;
+  friend bool operator==(PhotonPipelineMetadata_PhotonStruct const&, PhotonPipelineMetadata_PhotonStruct const&) = default;
 };

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/struct/PhotonPipelineResultStruct.h
+++ b/photon-targeting/src/generated/main/native/include/photon/struct/PhotonPipelineResultStruct.h
@@ -17,18 +17,16 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 // Includes for dependant types
-#include <stdint.h>
-
-#include <optional>
-#include <vector>
-
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PhotonPipelineMetadata.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
+#include <optional>
+#include <stdint.h>
+#include <vector>
+

 namespace photon {

@@ -37,8 +35,7 @@ struct PhotonPipelineResult_PhotonStruct {
  std::vector<photon::PhotonTrackedTarget> targets;
  std::optional<photon::MultiTargetPNPResult> multitagResult;

-  friend bool operator==(PhotonPipelineResult_PhotonStruct const&,
-                         PhotonPipelineResult_PhotonStruct const&) = default;
+  friend bool operator==(PhotonPipelineResult_PhotonStruct const&, PhotonPipelineResult_PhotonStruct const&) = default;
 };

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/struct/PhotonTrackedTargetStruct.h
+++ b/photon-targeting/src/generated/main/native/include/photon/struct/PhotonTrackedTargetStruct.h
@@ -17,17 +17,14 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 // Includes for dependant types
+#include "photon/targeting/TargetCorner.h"
+#include <frc/geometry/Transform3d.h>
 #include <stdint.h>
-
 #include <vector>

-#include <frc/geometry/Transform3d.h>
-
-#include "photon/targeting/TargetCorner.h"

 namespace photon {

@@ -45,8 +42,7 @@ struct PhotonTrackedTarget_PhotonStruct {
  std::vector<photon::TargetCorner> minAreaRectCorners;
  std::vector<photon::TargetCorner> detectedCorners;

-  friend bool operator==(PhotonTrackedTarget_PhotonStruct const&,
-                         PhotonTrackedTarget_PhotonStruct const&) = default;
+  friend bool operator==(PhotonTrackedTarget_PhotonStruct const&, PhotonTrackedTarget_PhotonStruct const&) = default;
 };

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/struct/PnpResultStruct.h
+++ b/photon-targeting/src/generated/main/native/include/photon/struct/PnpResultStruct.h
@@ -17,13 +17,12 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 // Includes for dependant types
+#include <frc/geometry/Transform3d.h>
 #include <stdint.h>

-#include <frc/geometry/Transform3d.h>

 namespace photon {

@@ -34,8 +33,7 @@ struct PnpResult_PhotonStruct {
  double altReprojErr;
  double ambiguity;

-  friend bool operator==(PnpResult_PhotonStruct const&,
-                         PnpResult_PhotonStruct const&) = default;
+  friend bool operator==(PnpResult_PhotonStruct const&, PnpResult_PhotonStruct const&) = default;
 };

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/generated/main/native/include/photon/struct/TargetCornerStruct.h
+++ b/photon-targeting/src/generated/main/native/include/photon/struct/TargetCornerStruct.h
@@ -17,20 +17,19 @@

 #pragma once

-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY

 // Includes for dependant types
 #include <stdint.h>

+
 namespace photon {

 struct TargetCorner_PhotonStruct {
  double x;
  double y;

-  friend bool operator==(TargetCorner_PhotonStruct const&,
-                         TargetCorner_PhotonStruct const&) = default;
+  friend bool operator==(TargetCorner_PhotonStruct const&, TargetCorner_PhotonStruct const&) = default;
 };

-}  // namespace photon
+} // namespace photon
--- a/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
+++ b/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
@@ -152,10 +152,9 @@ void wpi::tsp::TimeSyncClient::UdpCallback(uv::Buffer& buf, size_t nbytes,

 wpi::tsp::TimeSyncClient::TimeSyncClient(std::string_view server,
                                         int remote_port,
-                                         std::chrono::milliseconds ping_delay,
-                                         std::function<uint64_t()> timeProvider)
+                                         std::chrono::milliseconds ping_delay)
    : m_logger(::ClientLoggerFunc),
-      m_timeProvider(timeProvider),
+      m_timeProvider(nt::Now),
      m_udp{},
      m_pingTimer{},
      m_serverIP{server},
--- a/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
+++ b/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
@@ -97,10 +97,9 @@ void wpi::tsp::TimeSyncServer::UdpCallback(uv::Buffer& data, size_t n,
  //          pong.client_time, pong.server_time);
 }

-wpi::tsp::TimeSyncServer::TimeSyncServer(int port,
-                                         std::function<uint64_t()> timeProvider)
+wpi::tsp::TimeSyncServer::TimeSyncServer(int port)
    : m_logger{::ServerLoggerFunc},
-      m_timeProvider{timeProvider},
+      m_timeProvider{nt::Now},
      m_udp{},
      m_port(port) {}

--- a/photon-targeting/src/main/native/include/net/TimeSyncClient.h
+++ b/photon-targeting/src/main/native/include/net/TimeSyncClient.h
@@ -74,11 +74,11 @@ class TimeSyncClient {

  std::chrono::milliseconds m_loopDelay;

-  std::mutex m_offsetMutex;
-  Metadata m_metadata;
+  std::mutex m_offsetMutex{};
+  Metadata m_metadata{};

  // We only allow the most recent ping to stay alive, so only keep track of it
-  TspPing m_lastPing;
+  TspPing m_lastPing{};

  // 30s is a reasonable guess
  frc::MedianFilter<int64_t> m_lastOffsets{30};
@@ -90,8 +90,7 @@ class TimeSyncClient {

 public:
  TimeSyncClient(std::string_view server, int remote_port,
-                 std::chrono::milliseconds ping_delay,
-                 std::function<uint64_t()> timeProvider = nt::Now);
+                 std::chrono::milliseconds ping_delay);

  void Start();
  void Stop();
--- a/photon-targeting/src/main/native/include/net/TimeSyncServer.h
+++ b/photon-targeting/src/main/native/include/net/TimeSyncServer.h
@@ -62,8 +62,7 @@ class TimeSyncServer {
                   unsigned flags);

 public:
-  explicit TimeSyncServer(int port = 5810,
-                          std::function<uint64_t()> timeProvider = nt::Now);
+  explicit TimeSyncServer(int port = 5810);

  /**
   * Start listening for pings
--- a/photon-targeting/src/test/java/wpiutil_extras/FileLoggerTest.java
+++ b/photon-targeting/src/test/java/wpiutil_extras/FileLoggerTest.java
@@ -18,12 +18,14 @@
 package wpiutil_extras;

 import static org.junit.jupiter.api.Assertions.fail;
+import static org.junit.jupiter.api.Assumptions.assumeTrue;

 import edu.wpi.first.hal.HAL;
 import java.io.IOException;
 import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.hardware.Platform;
 import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.jni.QueuedFileLogger;
 import org.photonvision.jni.WpilibLoader;
@@ -48,10 +50,10 @@ public class FileLoggerTest {

    @Test
    public void smoketest() throws InterruptedException {
-        var logger = new QueuedFileLogger("/var/log/kern.log");
-        for (int i = 0; i < 100; i++) {
-            Thread.sleep(1000);
+        assumeTrue(Platform.isLinux());

+        var logger = new QueuedFileLogger("/var/log/kern.log");
+        for (int i = 0; i < 1; i++) {
            for (var line : logger.getNewlines()) {
                System.out.println(" ->:" + line);
            }
--- a/photonlib-cpp-examples/aimandrange/build.gradle
+++ b/photonlib-cpp-examples/aimandrange/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }

 repositories {
@@ -11,10 +11,8 @@ repositories {

 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.1.1-beta-1"
-wpi.versions.wpimathVersion = "2025.1.1-beta-1"
-
-apply from: "${rootDir}/../shared/examples_common.gradle"
+wpi.versions.wpilibVersion = "2025.1.1-beta-2"
+wpi.versions.wpimathVersion = "2025.1.1-beta-2"

 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
--- a/photonlib-cpp-examples/aimattarget/build.gradle
+++ b/photonlib-cpp-examples/aimattarget/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }

 repositories {
@@ -11,10 +11,8 @@ repositories {

 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.1.1-beta-1"
-wpi.versions.wpimathVersion = "2025.1.1-beta-1"
-
-apply from: "${rootDir}/../shared/examples_common.gradle"
+wpi.versions.wpilibVersion = "2025.1.1-beta-2"
+wpi.versions.wpimathVersion = "2025.1.1-beta-2"

 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -22,9 +22,5 @@ spotless {
    }
    java {
        target "**/*.java"
-        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
-        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
    }
 }
-
-apply from: "examples.gradle"
--- a/photonlib-cpp-examples/poseest/build.gradle
+++ b/photonlib-cpp-examples/poseest/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }

 repositories {
@@ -11,10 +11,8 @@ repositories {

 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.1.1-beta-1"
-wpi.versions.wpimathVersion = "2025.1.1-beta-1"
-
-apply from: "${rootDir}/../shared/examples_common.gradle"
+wpi.versions.wpilibVersion = "2025.1.1-beta-2"
+wpi.versions.wpimathVersion = "2025.1.1-beta-2"

 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
--- a/photonlib-java-examples/aimandrange/build.gradle
+++ b/photonlib-java-examples/aimandrange/build.gradle
@@ -1,13 +1,11 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }

 sourceCompatibility = JavaVersion.VERSION_11
 targetCompatibility = JavaVersion.VERSION_11

-apply from: "${rootDir}/../shared/examples_common.gradle"
-
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

 repositories {
@@ -15,8 +13,8 @@ repositories {
 }

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.1.1-beta-1"
-wpi.versions.wpimathVersion = "2025.1.1-beta-1"
+wpi.versions.wpilibVersion = "2025.1.1-beta-2"
+wpi.versions.wpimathVersion = "2025.1.1-beta-2"


 // Define my targets (RoboRIO) and artifacts (deployable files)
--- a/photonlib-java-examples/aimattarget/build.gradle
+++ b/photonlib-java-examples/aimattarget/build.gradle
@@ -1,18 +1,16 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }

 sourceCompatibility = JavaVersion.VERSION_11
 targetCompatibility = JavaVersion.VERSION_11

-apply from: "${rootDir}/../shared/examples_common.gradle"
-
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.1.1-beta-1"
-wpi.versions.wpimathVersion = "2025.1.1-beta-1"
+wpi.versions.wpilibVersion = "2025.1.1-beta-2"
+wpi.versions.wpimathVersion = "2025.1.1-beta-2"


 // Define my targets (RoboRIO) and artifacts (deployable files)
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -2,8 +2,6 @@ plugins {
    id "com.diffplug.spotless" version "6.1.2"
 }

-apply from: "examples.gradle"
-
 allprojects {
    repositories {
        mavenCentral()
@@ -24,7 +22,5 @@ spotless {
    }
    java {
        target "**/*.java"
-        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
-        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
    }
 }
--- a/photonlib-java-examples/poseest/build.gradle
+++ b/photonlib-java-examples/poseest/build.gradle
@@ -1,18 +1,16 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }

 sourceCompatibility = JavaVersion.VERSION_11
 targetCompatibility = JavaVersion.VERSION_11

-apply from: "${rootDir}/../shared/examples_common.gradle"
-
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.1.1-beta-1"
-wpi.versions.wpimathVersion = "2025.1.1-beta-1"
+wpi.versions.wpilibVersion = "2025.1.1-beta-2"
+wpi.versions.wpimathVersion = "2025.1.1-beta-2"


 // Define my targets (RoboRIO) and artifacts (deployable files)
--- a/shared/examples_common.gradle
+++ b/shared/examples_common.gradle
@@ -1,20 +0,0 @@
-task copyPhotonlib() {
-    doFirst {
-        // Assume publish to maven local has just be run. Kinda curst
-
-        def vendorJsonSrc = new File("${rootDir}", "../photon-lib/build/generated/vendordeps/");
-        def vendorJsonDst = new File("${projectDir}/vendordeps/");
-
-        delete(fileTree(vendorJsonDst) {
-            exclude '.gitignore'
-        })
-
-        println("Copying from ${vendorJsonSrc} to ${vendorJsonDst}")
-
-        copy {
-            from vendorJsonSrc
-            into vendorJsonDst
-        }
-    }
-    outputs.upToDateWhen { false }
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Lucien Morey	61552ad6ca	Tidy up of python autogenerated messages (#1594 ) This fixes mostly formatting issues so there is no longer any diff with things after rerunning the generation script. Yes, most of this can be fixed by running wpiformat but that doesn't exist as a pre-commit hook atm, so I think this is nicer. It also removes any reference to the java encode/decode within the python message gen	2024-11-21 04:43:33 +00:00
Lucien Morey	fa66ed866c	add file marker for type checking (#1598 ) I think this is the correct way to do this based on my understanding of the guide to making a [pep561 compliant package](https://mypy.readthedocs.io/en/stable/installed_packages.html#creating-pep-561-compatible-packages) and this example in [black](https://github.com/psf/black/pull/1395/files). Given that I get all the type-checking info from a local installation, I don't know if this is testable until it's published on Pypi. resolves #1210	2024-11-21 04:43:05 +00:00
Gold856	08b4bd1f03	Update to WPILib beta 2 (#1588 ) Resolves #1547.	2024-11-21 04:42:30 +00:00
Lucien Morey	c536a1c312	add missing log and use logger over print (#1596 ) This is closer to a port of the Java/C++ stuff and will mean we get a more standard print output with the rest of the logging in the lib	2024-11-21 03:01:08 +00:00
Matt	adb18fe711	Refactor program configuration broadcast hashmap spaghetti (#1592 ) WAS: we used raw hash-maps to encode program state S/B: we use Jackson to do this encoding for us for free. We have Objects, and we should use them to represent structured data. --------- Co-authored-by: Craig Schardt <crschardt@fastem.com>	2024-11-19 05:22:33 +00:00
Matt Morley	7d1e748b0e	Enable merge groups	2024-11-18 21:15:40 -08:00
James Ward	3a9d22c76b	Handle remote UUID mismatch properly (#1590 ) Check for no response Only throw if incorrect version, and not when missing Resolves #1569	2024-11-18 21:28:07 -05:00
Dualfuel671	417e1a65b6	Simple proof reading (#1591 ) Just correcting some keystroke errors. --------- Co-authored-by: Craig Schardt <crschardt@fastem.com>	2024-11-18 17:54:24 -06:00
Cameron (3539)	5762167186	Test way too many calibration points (#1585 ) ![image](https://github.com/user-attachments/assets/508674fe-1d5e-41bf-a115-23bcf1638da0) Limit seems to be at -least- 700,000 corners in my testing. That's enough for anyone, surely. --------- Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2024-11-18 02:10:40 -05:00
Matt	faa9eb0093	Disable VisionSystemSimTest entirely (#1584 ) This test is still failing on main, see https://github.com/PhotonVision/photonvision/actions/runs/11875827435/job/33093483193	2024-11-18 01:55:00 -05:00
Gold856	005363c5cd	Add web resource folder back to gitignore (#1583 )	2024-11-17 00:24:21 -05:00
Matt	478723ca2c	Skip Vision System Sim Tests on Windows (#1581 )	2024-11-16 20:09:41 -08:00
Matt	05dcfa2a13	Remove time source override (#1582 )	2024-11-16 20:09:33 -08:00
Gold856	eff95c09f1	Clean up build (#1572 ) Fixes #1564. Also copies vendordep JSONs to the examples as advised by Thad. Removes unused shared/javacpp/setupBuild.gradle. Also removes unnecessary `chmod +x gradlew` from CI workflows.	2024-11-16 21:30:34 -05:00
Lucien Morey	097e641789	[Python] remove opencv dependency for robot installations (#1580 )	2024-11-16 18:26:07 -08:00
James Ward	f107c94d05	[python] Fix population of metadata (#1578 )	2024-11-16 18:25:43 -08:00
Craig Schardt	93242edc86	Fix rate limiting in sphinx link checker (#1579 ) Fixes rate-limit errors in the sphinx linkchecker on GitHub links caused by a missing token. ``` -rate limited- https://github.com/PhotonVision/photonvision/commits/master/ \| sleeping... -rate limited- https://github.com/PhotonVision/photonvision/commits/master/ \| sleeping... (docs/advanced-installation/prerelease-software: line 9) broken https://github.com/PhotonVision/photonvision/commits/master/ - 429 Client Error: Too Many Requests for url: https://github.com/PhotonVision/photonvision/commits/master/ ```	2024-11-16 20:24:27 -06:00
Craig Schardt	eb395414ab	Explain how to install older version of PhotonVision on Romi (#1577 ) Provide instructions for installing the PhotonVision version that is compatible with WPILibPi 2023.4.2, which is the newest version available for the Romi. The older text is hidden in a comment so that it can be restored when there is a newer version of WPILibPi that is compatible with newer versions of PhotonVision.	2024-11-16 17:16:10 -06:00
Lucien Morey	04191efc51	sphinxify java docs for python code (#1575 )	2024-11-15 18:01:33 -08:00