Fix typehint problem with ndarrays (#1631)

mypy was inferring the wrong type for ndarrays in photonCameraSim.py.
This fixes the problem by adding typehints using numpy.typing.NDArray.

.github/workflows/build.yml

@@ -16,6 +16,7 @@ on:
       - '**'
       - '!docs/**'
       - '.github/**'
+  merge_group:
 
 jobs:
   build-client:

.github/workflows/lint-format.yml

@@ -16,6 +16,7 @@ on:
       - '**'
       - '!docs/**'
       - '.github/**'
+  merge_group:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}

.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:

.github/workflows/photonvision-docs.yml

@@ -11,6 +11,7 @@ on:
     paths:
       - 'docs/**'
       - '.github/**'
+  merge_group:
 
 env:
   GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/python.yml

@@ -18,6 +18,7 @@ on:
       - '**'
       - '!docs/**'
       - '.github/**'
+  merge_group:
 
 jobs:
   buildAndDeploy:

.styleguide

@@ -20,6 +20,8 @@ modifiableFileExclude {
   \.ico$
   \.rknn$
   gradlew
+  photon-lib/py/photonlibpy/generated/
+  photon-targeting/src/generated/
 }
 
 includeProject {

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"
@@ -109,7 +109,7 @@ spotless {
 }
 
 wrapper {
-    gradleVersion '8.4'
+    gradleVersion '8.11'
 }
 
 ext.getCurrentArch = {

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

@@ -8,14 +8,14 @@ You do not need to install PhotonVision on a Windows PC in order to access the w
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. JDK 11 is needed (different versions will not work). If you don't have JDK 11 already, run the following to install it:
+PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). If you don't have JDK 17 already, run the following to install it:
 
 ```
-$ sudo apt-get install openjdk-11-jdk
+$ sudo apt-get install openjdk-17-jdk
 ```
 
 :::{warning}
-Using a JDK other than JDK11 will cause issues when running PhotonVision and is not supported.
+Using a JDK other than JDK17 will cause issues when running PhotonVision and is not supported.
 :::
 
 ## Downloading the Latest Stable Release of PhotonVision

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

@@ -5,17 +5,17 @@ Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscor
 :::
 
 :::{note}
-You do not need to install PhotonVision on a Windows PC in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
+You do not need to install PhotonVision on a Mac in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
 :::
 
 VERY Limited macOS support is available.
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. JDK 11 is needed (different versions will not work). You may already have this if you have installed WPILib. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=11).
+PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). You may already have this if you have installed WPILib 2025+. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=17).
 
 :::{warning}
-Using a JDK other than JDK11 will cause issues when running PhotonVision and is not supported.
+Using a JDK other than JDK17 will cause issues when running PhotonVision and is not supported.
 :::
 
 ## Downloading the Latest Stable Release of PhotonVision

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

@@ -12,10 +12,14 @@ Bonjour provides more stable networking when using Windows PCs. Install [Bonjour
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. **JDK 11 is needed** (different versions will not work). You may already have this if you have installed WPILib, but ensure that running `java -version` shows JDK 11. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=11) and ensure that the new JDK is being used.
+PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/v2025.1.1-beta-2) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`:
+
+```
+> ./gradlew run "-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk"
+```
 
 :::{warning}
-Using a JDK other than JDK11 will cause issues when running PhotonVision and is not supported.
+Using a JDK other than WPILIB's JDK17 will cause issues when running PhotonVision and is not supported.
 :::
 
 ## Downloading the Latest Stable Release of PhotonVision

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

@@ -1,5 +1,10 @@
 # Selecting Hardware
 
+:::{note}
+It is highly recommended that you read the {ref}`quick start guide<docs/quick-start/common-setups:Common Hardware Setups>`, and use the hardware recommended there that
+is not touched on here.
+:::
+
 In order to use PhotonVision, you need a coprocessor and a camera. Other than the recommended hardware found in the {ref}`quick start guide<docs/quick-start/common-setups:Common Hardware Setups>`, this page will help you select hardware that should work for photonvision even though it is not supported/recommended.
 
 ## Choosing a Coprocessor

docs/source/docs/quick-start/common-setups.md

@@ -13,6 +13,11 @@ The Orange Pi 5 is the only currently supported device for object detection.
 
 ## SD Cards
 
+:::{important}
+It is highly recommended that you use an industrial micro SD card, as they offer far greater protection against corruption from improper shutdowns, like most cards
+face every time the robot is turned off.
+:::
+
 - 8GB or larger micro SD card
   - Many teams have found that an industrial micro sd card are much more stable in competition. One example is the SanDisk industrial 16GB micro SD card.
 

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.

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

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

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

gradlew

@@ -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

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
 

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

@@ -157,7 +157,10 @@ const downloadCalibBoard = () => {
   doc.save(`calibrationTarget-${CalibrationBoardTypes[boardType.value]}.pdf`);
 };
 
-const isCalibrating = ref(false);
+const isCalibrating = computed(
+  () => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d
+);
+
 const startCalibration = () => {
   useCameraSettingsStore().startPnPCalibration({
     squareSizeIn: squareSizeIn.value,
@@ -170,13 +173,15 @@ const startCalibration = () => {
   });
   // The Start PnP method already handles updating the backend so only a store update is required
   useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
-  isCalibrating.value = true;
+  // isCalibrating.value = true;
   calibCanceled.value = false;
 };
 const showCalibEndDialog = ref(false);
 const calibCanceled = ref(false);
 const calibSuccess = ref<boolean | undefined>(undefined);
 const endCalibration = () => {
+  calibSuccess.value = undefined;
+
   if (!useStateStore().calibrationData.hasEnoughImages) {
     calibCanceled.value = true;
   }
@@ -192,7 +197,8 @@ const endCalibration = () => {
       calibSuccess.value = false;
     })
     .finally(() => {
-      isCalibrating.value = false;
+      // isCalibrating.value = false;
+      // backend deals with this for us
     });
 };
 
@@ -245,6 +251,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
         <v-row style="display: flex; flex-direction: column" class="mt-4">
           <v-card-subtitle v-show="!isCalibrating" class="pl-3 pa-0 ma-0"> Configure New Calibration</v-card-subtitle>
           <v-form ref="form" v-model="settingsValid" class="pl-4 mb-10 pr-5">
+            <!-- TODO: the default videoFormatIndex is 0, but the list of unique video mode indexes might not include 0. getUniqueVideoResolutionStrings indexing is also different from the normal video mode indexing -->
             <pv-select
               v-model="useStateStore().calibrationData.videoFormatIndex"
               label="Resolution"
@@ -492,10 +499,12 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
                 process.</v-card-text
               >
             </template>
-            <template v-else-if="isCalibrating">
+            <!-- No result reported yet -->
+            <template v-else-if="calibSuccess === undefined">
               <v-progress-circular indeterminate :size="70" :width="8" color="accent" />
               <v-card-text>Camera is being calibrated. This process may take several minutes...</v-card-text>
             </template>
+            <!-- Got positive result -->
             <template v-else-if="calibSuccess">
               <v-icon color="green" size="70"> mdi-check-bold </v-icon>
               <v-card-text>

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

@@ -21,12 +21,8 @@ import com.fasterxml.jackson.annotation.JsonAlias;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import java.util.HashMap;
-import java.util.Map;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkMode;
-import org.photonvision.common.util.file.JacksonUtils;
 
 public class NetworkConfig {
     // Can be an integer team number, or an IP address
@@ -89,15 +85,19 @@ public class NetworkConfig {
         setShouldManage(shouldManage);
     }
 
-    public Map<String, Object> toHashMap() {
-        try {
-            var ret = new ObjectMapper().convertValue(this, JacksonUtils.UIMap.class);
-            ret.put("canManage", this.deviceCanManageNetwork());
-            return ret;
-        } catch (Exception e) {
-            e.printStackTrace();
-            return new HashMap<>();
-        }
+    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);
     }
 
     @JsonIgnore
@@ -110,18 +110,12 @@ public class NetworkConfig {
         return "\"" + networkManagerIface + "\"";
     }
 
-    @JsonIgnore
-    public boolean shouldManage() {
-        return this.shouldManage;
-    }
-
-    @JsonIgnore
     public void setShouldManage(boolean shouldManage) {
         this.shouldManage = shouldManage && this.deviceCanManageNetwork();
     }
 
     @JsonIgnore
-    private boolean deviceCanManageNetwork() {
+    protected boolean deviceCanManageNetwork() {
         return Platform.isLinux();
     }
 

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="

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);

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;
+}

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;
+}

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;
+}

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UINetConfig.java

@@ -0,0 +1,36 @@
+/*
+ * 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;
+        this.canManage = this.deviceCanManageNetwork();
+    }
+
+    public List<NMDeviceInfo> networkInterfaceNames;
+    public boolean networkingDisabled;
+    public boolean canManage;
+}

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()));
+    }
+}

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;
+}

photon-core/src/main/java/org/photonvision/common/hardware/OsImageVersion.java

@@ -0,0 +1,55 @@
+/*
+ * 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.hardware;
+
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.util.Optional;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+/**
+ * Our blessed images inject the current version via this build workflow:
+ * https://github.com/PhotonVision/photon-image-modifier/blob/2e5ddb6b599df0be921c12c8dbe7b939ecd7f615/.github/workflows/main.yml#L67
+ *
+ * <p>This class provides a convienent abstraction around this
+ */
+public class OsImageVersion {
+    private static final Logger logger = new Logger(OsImageVersion.class, LogGroup.General);
+
+    private static Path imageVersionFile = Path.of("/opt/photonvision/image-version");
+
+    public static final Optional<String> IMAGE_VERSION = getImageVersion();
+
+    private static Optional<String> getImageVersion() {
+        if (!imageVersionFile.toFile().exists()) {
+            logger.warn(
+                    "Photon cannot locate base OS image version metadata at " + imageVersionFile.toString());
+            return Optional.empty();
+        }
+
+        try {
+            return Optional.of(Files.readString(imageVersionFile).strip());
+        } catch (IOException e) {
+            logger.error("Couldn't read image-version file", e);
+        }
+
+        return Optional.empty();
+    }
+}

photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java

@@ -113,7 +113,7 @@ public class NetworkManager {
     }
 
     public void reinitialize() {
-        initialize(ConfigManager.getInstance().getConfig().getNetworkConfig().shouldManage());
+        initialize(ConfigManager.getInstance().getConfig().getNetworkConfig().shouldManage);
 
         DataChangeService.getInstance()
                 .publishEvent(

photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java

@@ -69,7 +69,8 @@ public abstract class PhotonJNICommon {
                 logger.error("Couldn't load shared object " + libraryName, e);
                 e.printStackTrace();
                 // logger.error(System.getProperty("java.library.path"));
-                break;
+                instance.setLoaded(false);
+                return;
             }
         }
         instance.setLoaded(true);

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java

@@ -95,9 +95,11 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
         // first.
         var autoExpProp = findProperty("exposure_auto", "auto_exposure");
 
-        exposureAbsProp = expProp.get();
-        this.minExposure = exposureAbsProp.getMin();
-        this.maxExposure = exposureAbsProp.getMax();
+        if (expProp.isPresent()) {
+            exposureAbsProp = expProp.get();
+            this.minExposure = exposureAbsProp.getMin();
+            this.maxExposure = exposureAbsProp.getMax();
+        }
 
         if (autoExpProp.isPresent()) {
             autoExposureProp = autoExpProp.get();
@@ -184,7 +186,7 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
             softSet("auto_exposure_bias", 12);
             softSet("iso_sensitivity_auto", 1);
             softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
-            autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
+            if (autoExposureProp != null) autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
         }
     }
 

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())));
     }
 
     /**

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;

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() {

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"
 

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
@@ -243,7 +246,7 @@ class OpenCVHelp:
 
         # 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:
@@ -303,6 +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

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)

photon-lib/py/photonlibpy/networktables/NTTopicSet.py

@@ -17,10 +17,11 @@ class NTTopicSet:
     different for sim vs. real camera
     """
 
-    def __init__(self, tableName: str, cameraName: str) -> None:
-        instance = nt.NetworkTableInstance.getDefault()
-        photonvision_root_table = instance.getTable(tableName)
-        self.subTable = photonvision_root_table.getSubTable(cameraName)
+    def __init__(
+        self,
+        ntSubTable: nt.NetworkTable,
+    ) -> None:
+        self.subTable = ntSubTable
 
     def updateEntries(self) -> None:
         options = nt.PubSubOptions()

photon-lib/py/photonlibpy/photonCamera.py

@@ -298,43 +298,42 @@ class PhotonCamera:
 
         # Check mdef UUID
         localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
-        remoteUUID = str(self._rawBytesEntry.getTopic().getProperty("message_uuid"))
+        remoteUUID = 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)

photon-lib/py/photonlibpy/py.typed

@@ -0,0 +1 @@
+

photon-lib/py/photonlibpy/simulation/photonCameraSim.py

@@ -60,11 +60,10 @@ class PhotonCameraSim:
         self.videoSimRawEnabled: bool = False
         self.videoSimWireframeEnabled: bool = False
         self.videoSimWireframeResolution: float = 0.1
-        self.videoSimProcEnabled: bool = (
-            False  # TODO switch this back to default True when the functionality is enabled
-        )
+        # TODO switch this back to default True when the functionality is enabled
+        self.videoSimProcEnabled: bool = False
         self.heartbeatCounter: int = 0
-        self.nextNtEntryTime = int(wpilib.Timer.getFPGATimestamp() * 1e6)
+        self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
         self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo)
 
         self.cam = camera
@@ -95,7 +94,7 @@ class PhotonCameraSim:
             (self.prop.getResWidth(), self.prop.getResHeight())
         )
 
-        self.ts = NTTopicSet("photonvision", self.cam.getName())
+        self.ts = NTTopicSet(self.cam._cameraTable)
         self.ts.updateEntries()
 
         # Handle this last explicitly for this function signature because the other constructor is called in the initialiser list
@@ -173,20 +172,20 @@ class PhotonCameraSim:
     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
+        or a float of the timestamp in seconds 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
+        :returns: Optional float which is empty while blocked or the NT entry timestamp in seconds if
                   ready
         """
         # check if this camera is ready for another frame update
-        now = int(wpilib.Timer.getFPGATimestamp() * 1e6)
-        timestamp = 0
+        now = wpilib.Timer.getFPGATimestamp()
+        timestamp = 0.0
         iter = 0
         # prepare next latest update
         while now >= self.nextNtEntryTime:
-            timestamp = int(self.nextNtEntryTime)
-            frameTime = int(self.prop.estSecUntilNextFrame() * 1e6)
+            timestamp = self.nextNtEntryTime
+            frameTime = self.prop.estSecUntilNextFrame()
             self.nextNtEntryTime += frameTime
 
             # if frame time is very small, avoid blocking
@@ -432,7 +431,9 @@ class PhotonCameraSim:
         )
 
     def submitProcessedFrame(
-        self, result: PhotonPipelineResult, receiveTimestamp: float | None
+        self,
+        result: PhotonPipelineResult,
+        receiveTimestamp_us: float | None = None,
     ):
         """Simulate one processed frame of vision data, putting one result to NT. Image capture timestamp
         overrides :meth:`.PhotonPipelineResult.getTimestampSeconds` for more
@@ -441,44 +442,45 @@ class PhotonCameraSim:
         :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)
+        if receiveTimestamp_us is None:
+            receiveTimestamp_us = wpilib.Timer.getFPGATimestamp() * 1e6
+        receiveTimestamp_us = int(receiveTimestamp_us)
 
-        self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp)
+        self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp_us)
 
         newPacket = PhotonPipelineResult.photonStruct.pack(result)
-        self.ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp)
+        self.ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp_us)
 
         hasTargets = result.hasTargets()
-        self.ts.hasTargetEntry.set(hasTargets, receiveTimestamp)
+        self.ts.hasTargetEntry.set(hasTargets, receiveTimestamp_us)
         if not hasTargets:
-            self.ts.targetPitchEntry.set(0.0, receiveTimestamp)
-            self.ts.targetYawEntry.set(0.0, receiveTimestamp)
-            self.ts.targetAreaEntry.set(0.0, receiveTimestamp)
-            self.ts.targetPoseEntry.set(Transform3d(), receiveTimestamp)
-            self.ts.targetSkewEntry.set(0.0, receiveTimestamp)
+            self.ts.targetPitchEntry.set(0.0, receiveTimestamp_us)
+            self.ts.targetYawEntry.set(0.0, receiveTimestamp_us)
+            self.ts.targetAreaEntry.set(0.0, receiveTimestamp_us)
+            self.ts.targetPoseEntry.set(Transform3d(), receiveTimestamp_us)
+            self.ts.targetSkewEntry.set(0.0, receiveTimestamp_us)
         else:
             bestTarget = result.getBestTarget()
             assert bestTarget
 
-            self.ts.targetPitchEntry.set(bestTarget.getPitch(), receiveTimestamp)
-            self.ts.targetYawEntry.set(bestTarget.getYaw(), receiveTimestamp)
-            self.ts.targetAreaEntry.set(bestTarget.getArea(), receiveTimestamp)
-            self.ts.targetSkewEntry.set(bestTarget.getSkew(), receiveTimestamp)
+            self.ts.targetPitchEntry.set(bestTarget.getPitch(), receiveTimestamp_us)
+            self.ts.targetYawEntry.set(bestTarget.getYaw(), receiveTimestamp_us)
+            self.ts.targetAreaEntry.set(bestTarget.getArea(), receiveTimestamp_us)
+            self.ts.targetSkewEntry.set(bestTarget.getSkew(), receiveTimestamp_us)
 
             self.ts.targetPoseEntry.set(
-                bestTarget.getBestCameraToTarget(), receiveTimestamp
+                bestTarget.getBestCameraToTarget(), receiveTimestamp_us
             )
 
-            intrinsics = self.prop.getIntrinsics()
-            intrinsicsView = intrinsics.flatten().tolist()
-            self.ts.cameraIntrinsicsPublisher.set(intrinsicsView, receiveTimestamp)
+        intrinsics = self.prop.getIntrinsics()
+        intrinsicsView = intrinsics.flatten().tolist()
+        self.ts.cameraIntrinsicsPublisher.set(intrinsicsView, receiveTimestamp_us)
 
-            distortion = self.prop.getDistCoeffs()
-            distortionView = distortion.flatten().tolist()
-            self.ts.cameraDistortionPublisher.set(distortionView, receiveTimestamp)
+        distortion = self.prop.getDistCoeffs()
+        distortionView = distortion.flatten().tolist()
+        self.ts.cameraDistortionPublisher.set(distortionView, receiveTimestamp_us)
 
-            self.ts.heartbeatPublisher.set(self.heartbeatCounter, receiveTimestamp)
+        self.ts.heartbeatPublisher.set(self.heartbeatCounter, receiveTimestamp_us)
+        self.heartbeatCounter += 1
 
-            self.ts.subTable.getInstance().flush()
+        self.ts.subTable.getInstance().flush()

photon-lib/py/photonlibpy/simulation/simCameraProperties.py

@@ -4,11 +4,14 @@ import typing
 
 import cv2 as cv
 import numpy as np
+import numpy.typing as npt
 from wpimath.geometry import Rotation2d, Rotation3d, Translation3d
 from wpimath.units import hertz, seconds
 
 from ..estimation import RotTrlTransform3d
 
+logger = logging.getLogger(__name__)
+
 
 class SimCameraProperties:
     """Calibration and performance values for this camera.
@@ -29,8 +32,8 @@ class SimCameraProperties:
         """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]
-        self.distCoeffs: np.ndarray = np.zeros((8, 1))  # [8,1]
+        self.camIntrinsics: npt.NDArray[np.floating] = np.zeros((3, 3))  # [3,3]
+        self.distCoeffs: npt.NDArray[np.floating] = np.zeros((8, 1))  # [8,1]
         self.avgErrorPx: float = 0.0
         self.errorStdDevPx: float = 0.0
         self.frameSpeed: seconds = 0.0
@@ -46,7 +49,7 @@ 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)
@@ -78,7 +81,6 @@ class SimCameraProperties:
         newCamIntrinsics: np.ndarray,
         newDistCoeffs: np.ndarray,
     ) -> None:
-
         self.resWidth = width
         self.resHeight = height
         self.camIntrinsics = newCamIntrinsics
@@ -171,10 +173,10 @@ class SimCameraProperties:
     def getAspectRatio(self) -> float:
         return 1.0 * self.resWidth / self.resHeight
 
-    def getIntrinsics(self) -> np.ndarray:
+    def getIntrinsics(self) -> npt.NDArray[np.floating]:
         return self.camIntrinsics
 
-    def getDistCoeffs(self) -> np.ndarray:
+    def getDistCoeffs(self) -> npt.NDArray[np.floating]:
         return self.distCoeffs
 
     def getFPS(self) -> hertz:
@@ -353,7 +355,6 @@ class SimCameraProperties:
 
         # 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
@@ -465,7 +466,7 @@ class SimCameraProperties:
 
     def estSecUntilNextFrame(self) -> seconds:
         """
-        :returns: Estimate how long until the next frame should be processed in milliseconds
+        :returns: Estimate how long until the next frame should be processed in seconds
         """
         # // exceptional processing latency blocks the next frame
         return self.frameSpeed + max(0.0, self.estLatency() - self.frameSpeed)

photon-lib/py/photonlibpy/simulation/visionSystemSim.py

@@ -305,7 +305,7 @@ class VisionSystemSim:
             timestampNt = optTimestamp
             latency = camSim.prop.estLatency()
             # the image capture timestamp in seconds of this result
-            timestampCapture = timestampNt * 1.0e-6 - latency
+            timestampCapture = timestampNt - latency
 
             # use camera pose from the image capture timestamp
             lateRobotPose = self.getRobotPose(timestampCapture)
@@ -318,7 +318,8 @@ class VisionSystemSim:
             # 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)
+            # needs a timestamp in microseconds
+            camSim.submitProcessedFrame(camResult, timestampNt * 1.0e6)
             # display debug results
             for tgt in camResult.getTargets():
                 trf = tgt.getBestCameraToTarget()

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",

photon-lib/py/test/visionSystemSim_test.py

@@ -1,9 +1,8 @@
 import math
 
-import ntcore as nt
 import pytest
 from photonlibpy.estimation import TargetModel, VisionEstimation
-from photonlibpy.photonCamera import PhotonCamera, setVersionCheckEnabled
+from photonlibpy.photonCamera import PhotonCamera
 from photonlibpy.simulation import PhotonCameraSim, VisionSystemSim, VisionTargetSim
 from robotpy_apriltag import AprilTag, AprilTagFieldLayout
 from wpimath.geometry import (
@@ -18,12 +17,6 @@ from wpimath.geometry import (
 from wpimath.units import feetToMeters, meters
 
 
-@pytest.fixture(autouse=True)
-def setupCommon() -> None:
-    nt.NetworkTableInstance.getDefault().startServer()
-    setVersionCheckEnabled(False)
-
-
 def test_VisibilityCupidShuffle() -> None:
     targetPose = Pose3d(Translation3d(15.98, 0.0, 2.0), Rotation3d(0, 0, math.pi))
 
@@ -32,6 +25,8 @@ def test_VisibilityCupidShuffle() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
 
     visionSysSim.addVisionTargets(
@@ -93,6 +88,8 @@ def test_NotVisibleVert1() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
 
     visionSysSim.addVisionTargets(
@@ -128,6 +125,8 @@ def test_NotVisibleVert2() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, robotToCamera)
 
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(
         4774, 4774, fovDiag=Rotation2d.fromDegrees(80.0)
     )
@@ -156,6 +155,8 @@ def test_NotVisibleTargetSize() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(20.0)
     visionSysSim.addVisionTargets(
@@ -183,6 +184,8 @@ def test_NotVisibleTooFarLeds() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(1.0)
     cameraSim.setMaxSightRange(10.0)
@@ -216,6 +219,9 @@ def test_YawAngles(expected_yaw) -> None:
     cameraSim = PhotonCameraSim(camera)
 
     visionSysSim.addCamera(cameraSim, Transform3d())
+
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(0.0)
     visionSysSim.addVisionTargets(
@@ -250,6 +256,9 @@ def test_PitchAngles(expected_pitch) -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
+
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(
         640, 480, fovDiag=Rotation2d.fromDegrees(120.0)
     )
@@ -316,8 +325,10 @@ def test_distanceCalc(distParam, pitchParam, heightParam) -> None:
     )
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
-
     visionSysSim.addCamera(cameraSim, Transform3d())
+
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(
         640, 480, fovDiag=Rotation2d.fromDegrees(160.0)
     )
@@ -354,6 +365,9 @@ def test_MultipleTargets() -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
+
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(20.0)
 
@@ -451,6 +465,9 @@ def test_PoseEstimation() -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
+
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
     cameraSim.setMinTargetAreaPixels(20.0)
 
@@ -525,6 +542,9 @@ def test_PoseEstimationRotated() -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, robotToCamera)
+
+    # Set massive FPS so timing isn't an issue
+    cameraSim.prop.setFPS(1e6)
     cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
     cameraSim.setMinTargetAreaPixels(20.0)
 

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};
 

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

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

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'}}

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'}}

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'}}

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'}}

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'}}

photon-server/src/main/java/org/photonvision/Main.java

@@ -31,6 +31,7 @@ import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.HardwareManager;
+import org.photonvision.common.hardware.OsImageVersion;
 import org.photonvision.common.hardware.PiVersion;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.KernelLogLogger;
@@ -353,10 +354,14 @@ public class Main {
         logger.info(
                 "Starting PhotonVision version "
                         + PhotonVersion.versionString
-                        + " on "
+                        + " on platform "
                         + Platform.getPlatformName()
                         + (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : ""));
 
+        if (OsImageVersion.IMAGE_VERSION.isPresent()) {
+            logger.info("PhotonVision image version: " + OsImageVersion.IMAGE_VERSION.get());
+        }
+
         try {
             if (!handleArgs(args)) {
                 System.exit(1);

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);

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,

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<?>[] {
+            
         };
     }
 }

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<?>[] {
+            
         };
     }
 }

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<?>[] {
+            
         };
     }
 }

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

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<?>[] {
+            
         };
     }
 

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<?>[] {
+            
         };
     }
 }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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 {
@@ -11,8 +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"
+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.

photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp

@@ -125,7 +125,9 @@ void Robot::SimulationPeriodic() {
   units::ampere_t totalCurrent = drivetrain.GetCurrentDraw();
   units::volt_t loadedBattVolts =
       frc::sim::BatterySim::Calculate({totalCurrent});
-  frc::sim::RoboRioSim::SetVInVoltage(loadedBattVolts);
+  // Using max(0.1, voltage) here isn't a *physically correct* solution,
+  // but it avoids problems with battery voltage measuring 0.
+  frc::sim::RoboRioSim::SetVInVoltage(units::math::max(0.1_V, loadedBattVolts));
 }
 
 #ifndef RUNNING_FRC_TESTS

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 {
@@ -11,8 +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"
+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.

photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp

@@ -115,7 +115,9 @@ void Robot::SimulationPeriodic() {
   units::ampere_t totalCurrent = drivetrain.GetCurrentDraw();
   units::volt_t loadedBattVolts =
       frc::sim::BatterySim::Calculate({totalCurrent});
-  frc::sim::RoboRioSim::SetVInVoltage(loadedBattVolts);
+  // Using max(0.1, voltage) here isn't a *physically correct* solution,
+  // but it avoids problems with battery voltage measuring 0.
+  frc::sim::RoboRioSim::SetVInVoltage(units::math::max(0.1_V, loadedBattVolts));
 }
 
 #ifndef RUNNING_FRC_TESTS

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 {
@@ -11,8 +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"
+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.

photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp

@@ -105,7 +105,10 @@ void Robot::SimulationPeriodic() {
   units::ampere_t totalCurrent = drivetrain.GetCurrentDraw();
   units::volt_t loadedBattVolts =
       frc::sim::BatterySim::Calculate({totalCurrent});
-  frc::sim::RoboRioSim::SetVInVoltage(loadedBattVolts);
+
+  // Using max(0.1, voltage) here isn't a *physically correct* solution,
+  // but it avoids problems with battery voltage measuring 0.
+  frc::sim::RoboRioSim::SetVInVoltage(units::math::max(0.1_V, loadedBattVolts));
 }
 
 #ifndef RUNNING_FRC_TESTS

photonlib-java-examples/aimandrange/build.gradle

@@ -1,6 +1,6 @@
 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
@@ -13,8 +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)

photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java

@@ -147,8 +147,12 @@ public class Robot extends TimedRobot {
         debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());
 
         // Calculate battery voltage sag due to current draw
-        RoboRioSim.setVInVoltage(
-                BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw()));
+        var batteryVoltage =
+                BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw());
+
+        // Using max(0.1, voltage) here isn't a *physically correct* solution,
+        // but it avoids problems with battery voltage measuring 0.
+        RoboRioSim.setVInVoltage(Math.max(0.1, batteryVoltage));
     }
 
     public void resetPose() {

photonlib-java-examples/aimattarget/build.gradle

@@ -1,6 +1,6 @@
 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
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_11
 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)

photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java

@@ -129,8 +129,12 @@ public class Robot extends TimedRobot {
         debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());
 
         // Calculate battery voltage sag due to current draw
-        RoboRioSim.setVInVoltage(
-                BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw()));
+        var batteryVoltage =
+                BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw());
+
+        // Using max(0.1, voltage) here isn't a *physically correct* solution,
+        // but it avoids problems with battery voltage measuring 0.
+        RoboRioSim.setVInVoltage(Math.max(0.1, batteryVoltage));
     }
 
     public void resetPose() {

photonlib-java-examples/poseest/build.gradle

@@ -1,6 +1,6 @@
 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
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_11
 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)

photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java

@@ -127,8 +127,12 @@ public class Robot extends TimedRobot {
         gpLauncher.simulationPeriodic();
 
         // Calculate battery voltage sag due to current draw
-        RoboRioSim.setVInVoltage(
-                BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw()));
+        var batteryVoltage =
+                BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw());
+
+        // Using max(0.1, voltage) here isn't a *physically correct* solution,
+        // but it avoids problems with battery voltage measuring 0.
+        RoboRioSim.setVInVoltage(Math.max(0.1, batteryVoltage));
     }
 
     public void resetPose() {

shared/config.gradle

@@ -110,7 +110,7 @@ ext.createComponentZipTasks = { components, names, base, type, project, func ->
             description = 'Creates component archive for platform ' + key
             destinationDirectory = outputsFolder
             archiveClassifier = key
-            archiveBaseName = '_M_' + base
+            archiveBaseName = base
             duplicatesStrategy = 'exclude'
 
             from(licenseFile) {

shared/javacpp/publish.gradle

@@ -7,9 +7,6 @@ def baseArtifactId = nativeName
 def artifactGroupId = 'org.photonvision'
 def zipBaseName = "_GROUP_org_photonvision_${baseArtifactId}_ID_${baseArtifactId}-cpp_CLS"
 
-def jniBaseName = "_GROUP_edu_wpi_first_${nativeName}_ID_${nativeName}-jni_CLS"
-def jniCvStaticBaseName = "_GROUP_edu_wpi_first_${nativeName}_ID_${nativeName}-jnicvstatic_CLS"
-
 def licenseFile = ext.licenseFile
 // Quick hack to make this name visible to photon-lib for combined
 ext.zipBaseName = zipBaseName
@@ -80,29 +77,6 @@ model {
             "${nativeName}JNI"
         ], zipBaseName, Zip, project, includeStandardZipFormat)
 
-        // From https://github.com/wpilibsuite/allwpilib/blob/1c220ebc607daa8da7d983b8f17bc40323633cb2/shared/jni/publish.gradle#L80C9-L100C11
-        def jniTaskList = createComponentZipTasks($.components, ["${nativeName}JNI"], jniBaseName, Jar, project, { task, value ->
-            value.each { binary ->
-                if (binary.buildable) {
-                    if (binary instanceof SharedLibraryBinarySpec) {
-                        task.dependsOn binary.tasks.link
-                        def hashFile = new File(binary.sharedLibraryFile.parentFile.absolutePath, "${binary.component.baseName}.hash")
-                        task.outputs.file(hashFile)
-                        task.inputs.file(binary.sharedLibraryFile)
-                        task.from(hashFile) {
-                            into nativeUtils.getPlatformPath(binary)
-                        }
-                        task.doFirst {
-                            hashFile.text = MessageDigest.getInstance("MD5").digest(binary.sharedLibraryFile.bytes).encodeHex().toString()
-                        }
-                        task.from(binary.sharedLibraryFile) {
-                            into nativeUtils.getPlatformPath(binary)
-                        }
-                    }
-                }
-            }
-        })
-
         publications {
             cpp(MavenPublication) {
                 cppTaskList.each {
@@ -115,15 +89,6 @@ model {
                 groupId artifactGroupId
                 version pubVersion
             }
-            jni(MavenPublication) {
-                jniTaskList.each {
-                    artifact it
-                }
-
-                artifactId = "${baseArtifactId}-jni"
-                groupId artifactGroupId
-                version pubVersion
-            }
         }
 
         repositories {