Bump to WPILib beta 3 and OpenCV 4.10 (#1638)

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>

.github/workflows/build.yml

@@ -6,16 +6,8 @@ on:
     branches: [ master ]
     tags:
       - 'v*'
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   pull_request:
     branches: [ master ]
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   merge_group:
 
 jobs:
@@ -479,6 +471,12 @@ jobs:
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5max.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: rock5c
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-7/photonvision_rock5c.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -560,6 +558,7 @@ jobs:
         with:
           files: |
             **/*orangepi5*.xz
+            **/*rock5*.xz
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -567,6 +566,7 @@ jobs:
         with:
           files: |
             **/!(*orangepi5*).xz
+            **/!(*rock5*).xz
             **/*.jar
             **/photonlib*.json
             **/photonlib*.zip

.github/workflows/lint-format.yml

@@ -6,16 +6,8 @@ on:
     branches: [ master ]
     tags:
       - 'v*'
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   pull_request:
     branches: [ master ]
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   merge_group:
 
 concurrency:

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

@@ -6,16 +6,8 @@ on:
     branches: [ master ]
     tags:
       - 'v*'
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   pull_request:
     branches: [ master ]
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   merge_group:
 
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages

.github/workflows/photonvision-docs.yml

@@ -3,14 +3,8 @@ name: PhotonVision Sphinx Documentation Checks
 on:
   push:
     branches: [ master ]
-    paths:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches: [ master ]
-    paths:
-      - 'docs/**'
-      - '.github/**'
   merge_group:
 
 env:

.github/workflows/python.yml

@@ -8,16 +8,8 @@ on:
     branches: [ master ]
     tags:
       - 'v*'
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   pull_request:
     branches: [ master ]
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   merge_group:
 
 jobs:

README.md

@@ -17,7 +17,7 @@ If you are interested in contributing code or documentation to the project, plea
 ## Documentation
 
 - Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
-- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
+- Photon UI demo: [http://photonvision.global/](http://photonvision.global/) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
 - Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/javadoc/))
 - C++ Doxygen  [cppdocs.photonvision.org](https://cppdocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/doxygen/html/))
 

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-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
     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'
@@ -30,16 +30,16 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2025.1.1-beta-2"
+    wpilibVersion = "2025.1.1-beta-3"
     wpimathVersion = wpilibVersion
-    openCVYear = "2024"
-    openCVversion = "4.8.0-4"
+    openCVYear = "2025"
+    openCVversion = "4.10.0-3"
     joglVersion = "2.4.0"
     javalinVersion = "5.6.2"
-    libcameraDriverVersion = "dev-v2023.1.0-15-gc8988b3"
-    rknnVersion = "dev-v2024.0.1-4-g0db16ac"
+    libcameraDriverVersion = "v2025.0.0"
+    rknnVersion = "v2025.0.0"
     frcYear = "2025"
-    mrcalVersion = "dev-v2024.0.0-27-g41d7868";
+    mrcalVersion = "v2025.0.0";
 
 
     pubVersion = versionString

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-3) 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/camera-calibration.md

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

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.
 

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/ConfigManager.java

@@ -70,16 +70,12 @@ public class ConfigManager {
         if (INSTANCE == null) {
             Path rootFolder = PathManager.getInstance().getRootFolder();
             switch (m_saveStrat) {
-                case SQL:
-                    INSTANCE = new ConfigManager(rootFolder, new SqlConfigProvider(rootFolder));
-                    break;
-                case LEGACY:
-                    INSTANCE = new ConfigManager(rootFolder, new LegacyConfigProvider(rootFolder));
-                    break;
-                case ATOMIC_ZIP:
-                    // not yet done, fall through
-                default:
-                    break;
+                case SQL -> INSTANCE = new ConfigManager(rootFolder, new SqlConfigProvider(rootFolder));
+                case LEGACY ->
+                        INSTANCE = new ConfigManager(rootFolder, new LegacyConfigProvider(rootFolder));
+                case ATOMIC_ZIP -> {
+                    // TODO: Not done yet
+                }
             }
         }
         return INSTANCE;

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
@@ -104,17 +100,6 @@ public class NetworkConfig {
                 config.matchCamerasOnlyByPath);
     }
 
-    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<>();
-        }
-    }
-
     @JsonIgnore
     public String getPhysicalInterfaceName() {
         return this.networkManagerIface;
@@ -125,18 +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/NeuralNetworkModelManager.java

@@ -205,13 +205,11 @@ public class NeuralNetworkModelManager {
 
         try {
             switch (backend.get()) {
-                case RKNN:
+                case RKNN -> {
                     models.get(backend.get()).add(new RknnModel(model, labels));
                     logger.info(
                             "Loaded model " + model.getName() + " for backend " + backend.get().toString());
-                    break;
-                default:
-                    break;
+                }
             }
         } catch (IllegalArgumentException e) {
             logger.error("Failed to load model " + model.getName(), e);

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

@@ -599,9 +599,9 @@ public class SqlConfigProvider extends ConfigProvider {
                                 result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
 
                 List<CVPipelineSettings> loadedSettings = new ArrayList<>();
-                for (var str : pipelineSettings) {
-                    if (str instanceof String) {
-                        loadedSettings.add(JacksonUtils.deserialize((String) str, CVPipelineSettings.class));
+                for (var setting : pipelineSettings) {
+                    if (setting instanceof String str) {
+                        loadedSettings.add(JacksonUtils.deserialize(str, CVPipelineSettings.class));
                     }
                 }
 

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

@@ -27,8 +27,10 @@ public class UINetConfig extends NetworkConfig {
         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/hardware/GPIO/pi/PigpioSocket.java

@@ -242,22 +242,7 @@ public class PigpioSocket {
                 waveSendOnce(waveformId);
             }
         } else {
-            String error = "";
-            switch (waveformId) {
-                case PI_EMPTY_WAVEFORM:
-                    error = "Waveform empty";
-                    break;
-                case PI_TOO_MANY_CBS:
-                    error = "Too many CBS";
-                    break;
-                case PI_TOO_MANY_OOL:
-                    error = "Too many OOL";
-                    break;
-                case PI_NO_WAVEFORM_ID:
-                    error = "No waveform ID";
-                    break;
-            }
-            logger.error("Failed to send wave: " + error);
+            logger.error("Failed to send wave: " + getMessageForError(waveformId));
         }
     }
 

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/hardware/VisionLED.java

@@ -134,25 +134,17 @@ public class VisionLED {
         var newLedModeRaw = (int) entryNotification.valueData.value.getInteger();
         logger.debug("Got LED mode " + newLedModeRaw);
         if (newLedModeRaw != currentLedMode.value) {
-            VisionLEDMode newLedMode;
-            switch (newLedModeRaw) {
-                case -1:
-                    newLedMode = VisionLEDMode.kDefault;
-                    break;
-                case 0:
-                    newLedMode = VisionLEDMode.kOff;
-                    break;
-                case 1:
-                    newLedMode = VisionLEDMode.kOn;
-                    break;
-                case 2:
-                    newLedMode = VisionLEDMode.kBlink;
-                    break;
-                default:
-                    logger.warn("User supplied invalid LED mode, falling back to Default");
-                    newLedMode = VisionLEDMode.kDefault;
-                    break;
-            }
+            VisionLEDMode newLedMode =
+                    switch (newLedModeRaw) {
+                        case -1 -> newLedMode = VisionLEDMode.kDefault;
+                        case 0 -> newLedMode = VisionLEDMode.kOff;
+                        case 1 -> newLedMode = VisionLEDMode.kOn;
+                        case 2 -> newLedMode = VisionLEDMode.kBlink;
+                        default -> {
+                            logger.warn("User supplied invalid LED mode, falling back to Default");
+                            yield VisionLEDMode.kDefault;
+                        }
+                    };
             setInternal(newLedMode, true);
 
             if (modeConsumer != null) modeConsumer.accept(newLedMode.value);
@@ -164,18 +156,10 @@ public class VisionLED {
 
         if (fromNT) {
             switch (newLedMode) {
-                case kDefault:
-                    setStateImpl(pipelineModeSupplier.getAsBoolean());
-                    break;
-                case kOff:
-                    setStateImpl(false);
-                    break;
-                case kOn:
-                    setStateImpl(true);
-                    break;
-                case kBlink:
-                    blinkImpl(85, -1);
-                    break;
+                case kDefault -> setStateImpl(pipelineModeSupplier.getAsBoolean());
+                case kOff -> setStateImpl(false);
+                case kOn -> setStateImpl(true);
+                case kBlink -> blinkImpl(85, -1);
             }
             currentLedMode = newLedMode;
             logger.info(
@@ -183,18 +167,10 @@ public class VisionLED {
         } else {
             if (currentLedMode == VisionLEDMode.kDefault) {
                 switch (newLedMode) {
-                    case kDefault:
-                        setStateImpl(pipelineModeSupplier.getAsBoolean());
-                        break;
-                    case kOff:
-                        setStateImpl(false);
-                        break;
-                    case kOn:
-                        setStateImpl(true);
-                        break;
-                    case kBlink:
-                        blinkImpl(85, -1);
-                        break;
+                    case kDefault -> setStateImpl(pipelineModeSupplier.getAsBoolean());
+                    case kOff -> setStateImpl(false);
+                    case kOn -> setStateImpl(true);
+                    case kBlink -> blinkImpl(85, -1);
                 }
             }
             logger.info("Changing LED internal state to " + newLedMode.toString());

photon-core/src/main/java/org/photonvision/common/logging/KernelLogLogger.java

@@ -17,7 +17,7 @@
 
 package org.photonvision.common.logging;
 
-import edu.wpi.first.util.RuntimeDetector;
+import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.jni.QueuedFileLogger;
 
@@ -39,7 +39,7 @@ public class KernelLogLogger {
     Logger logger = new Logger(KernelLogLogger.class, LogGroup.General);
 
     public KernelLogLogger() {
-        if (RuntimeDetector.isLinux()) {
+        if (Platform.isLinux()) {
             listener = new QueuedFileLogger("/var/log/kern.log");
         } else {
             System.out.println("NOT for klogs");

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/common/util/numbers/NumberCouple.java

@@ -51,16 +51,9 @@ public abstract class NumberCouple<T extends Number> {
 
     @Override
     public boolean equals(Object obj) {
-        if (!(obj instanceof NumberCouple)) {
-            return false;
-        }
-
-        var couple = (NumberCouple) obj;
-        if (!couple.first.equals(first)) {
-            return false;
-        }
-
-        return couple.second.equals(second);
+        return obj instanceof NumberCouple<?> couple
+                && couple.first.equals(first)
+                && couple.second.equals(second);
     }
 
     @JsonIgnore

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/camera/USBCameras/USBCameraSource.java

@@ -22,9 +22,9 @@ import edu.wpi.first.cscore.CvSink;
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoProperty;
-import edu.wpi.first.util.RuntimeDetector;
 import java.util.*;
 import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.camera.CameraQuirk;
@@ -113,7 +113,7 @@ public class USBCameraSource extends VisionSource {
         GenericUSBCameraSettables settables;
 
         if (quirks.hasQuirk(CameraQuirk.LifeCamControls)) {
-            if (RuntimeDetector.isWindows()) {
+            if (Platform.isWindows()) {
                 logger.debug("Using Microsoft Lifecam 3000 Windows-Specific Settables");
                 settables = new LifeCam3kWindowsCameraSettables(config, camera);
             } else {
@@ -124,7 +124,7 @@ public class USBCameraSource extends VisionSource {
             logger.debug("Using PlayStation Eye Camera Settables");
             settables = new PsEyeCameraSettables(config, camera);
         } else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)) {
-            if (RuntimeDetector.isWindows()) {
+            if (Platform.isWindows()) {
                 logger.debug("Using Arducam OV2311 Windows-Specific Settables");
                 settables = new ArduOV2311WindowsCameraSettables(config, camera);
             } else {

photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java

@@ -135,20 +135,14 @@ public class MJPGFrameConsumer implements AutoCloseable {
     }
 
     private static String pixelFormatToString(PixelFormat pixelFormat) {
-        switch (pixelFormat) {
-            case kMJPEG:
-                return "MJPEG";
-            case kYUYV:
-                return "YUYV";
-            case kRGB565:
-                return "RGB565";
-            case kBGR:
-                return "BGR";
-            case kGray:
-                return "Gray";
-            default:
-                return "Unknown";
-        }
+        return switch (pixelFormat) {
+            case kMJPEG -> "MJPEG";
+            case kYUYV -> "YUYV";
+            case kRGB565 -> "RGB565";
+            case kBGR -> "BGR";
+            case kGray -> "Gray";
+            case kUYVY, kUnknown, kY16, kBGRA -> "Unknown";
+        };
     }
 
     @Override

photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java

@@ -158,18 +158,19 @@ public class Contour implements Releasable {
                 double massX = (x0A + x0B) / 2;
                 double massY = (y0A + y0B) / 2;
                 switch (intersectionDirection) {
-                    case Up:
+                    case None -> {}
+                    case Up -> {
                         if (intersectionY < massY) isIntersecting = true;
-                        break;
-                    case Down:
+                    }
+                    case Down -> {
                         if (intersectionY > massY) isIntersecting = true;
-                        break;
-                    case Left:
+                    }
+                    case Left -> {
                         if (intersectionX < massX) isIntersecting = true;
-                        break;
-                    case Right:
+                    }
+                    case Right -> {
                         if (intersectionX > massX) isIntersecting = true;
-                        break;
+                    }
                 }
                 intersectMatA.release();
                 intersectMatB.release();

photon-core/src/main/java/org/photonvision/vision/opencv/ContourShape.java

@@ -17,9 +17,6 @@
 
 package org.photonvision.vision.opencv;
 
-import java.util.EnumSet;
-import java.util.HashMap;
-
 public enum ContourShape {
     Circle(0),
     Custom(-1),
@@ -32,15 +29,12 @@ public enum ContourShape {
         this.sides = sides;
     }
 
-    private static final HashMap<Integer, ContourShape> sidesToValueMap = new HashMap<>();
-
-    static {
-        for (var value : EnumSet.allOf(ContourShape.class)) {
-            sidesToValueMap.put(value.sides, value);
-        }
-    }
-
     public static ContourShape fromSides(int sides) {
-        return sidesToValueMap.get(sides);
+        return switch (sides) {
+            case 0 -> Circle;
+            case 3 -> Triangle;
+            case 4 -> Quadrilateral;
+            default -> Custom;
+        };
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java

@@ -48,13 +48,14 @@ public class Draw2dCrosshairPipe
             double scale = params.frameStaticProperties.imageWidth / (double) params.divisor.value / 32.0;
 
             switch (params.robotOffsetPointMode) {
-                case Single:
+                case None -> {}
+                case Single -> {
                     if (params.singleOffsetPoint.x != 0 && params.singleOffsetPoint.y != 0) {
                         x = params.singleOffsetPoint.x;
                         y = params.singleOffsetPoint.y;
                     }
-                    break;
-                case Dual:
+                }
+                case Dual -> {
                     if (!in.getRight().isEmpty()) {
                         var target = in.getRight().get(0);
                         if (target != null) {
@@ -65,7 +66,7 @@ public class Draw2dCrosshairPipe
                             y = offsetCrosshair.y;
                         }
                     }
-                    break;
+                }
             }
 
             x /= (double) params.divisor.value;

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java

@@ -50,23 +50,7 @@ public class FindPolygonPipe
 
     private CVShape getShape(Contour in) {
         int corners = getCorners(in);
-
-        /*The contourShape enum has predefined shapes for Circles, Triangles, and Quads
-        meaning any shape not fitting in those predefined shapes must be a custom shape.
-        */
-        if (ContourShape.fromSides(corners) == null) {
-            return new CVShape(in, ContourShape.Custom);
-        }
-        switch (ContourShape.fromSides(corners)) {
-            case Circle:
-                return new CVShape(in, ContourShape.Circle);
-            case Triangle:
-                return new CVShape(in, ContourShape.Triangle);
-            case Quadrilateral:
-                return new CVShape(in, ContourShape.Quadrilateral);
-        }
-
-        return new CVShape(in, ContourShape.Custom);
+        return new CVShape(in, ContourShape.fromSides(corners));
     }
 
     private int getCorners(Contour contour) {

photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java

@@ -85,19 +85,29 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
         // 2023/other: best guess is 6in
         double tagWidth = Units.inchesToMeters(6);
         TargetModel tagModel = TargetModel.kAprilTag16h5;
-        switch (settings.tagFamily) {
-            case kTag36h11:
-                // 2024 tag, 6.5in
-                params.tagFamily = Objdetect.DICT_APRILTAG_36h11;
-                tagWidth = Units.inchesToMeters(6.5);
-                tagModel = TargetModel.kAprilTag36h11;
-                break;
-            case kTag25h9:
-                params.tagFamily = Objdetect.DICT_APRILTAG_25h9;
-                break;
-            default:
-                params.tagFamily = Objdetect.DICT_APRILTAG_16h5;
-        }
+
+        params.tagFamily =
+                switch (settings.tagFamily) {
+                    case kTag36h11 -> {
+                        // 2024 tag, 6.5in
+                        tagWidth = Units.inchesToMeters(6.5);
+                        tagModel = TargetModel.kAprilTag36h11;
+                        yield Objdetect.DICT_APRILTAG_36h11;
+                    }
+                    case kTag25h9 -> Objdetect.DICT_APRILTAG_25h9;
+                        // TODO: explicitly drop support for these
+                    case kTag16h5,
+                            kTagCircle21h7,
+                            kTagCircle49h12,
+                            kTagCustom48h11,
+                            kTagStandard41h12,
+                            kTagStandard52h13 -> {
+                        // 2024 tag, 6.5in
+                        tagWidth = Units.inchesToMeters(6.5);
+                        tagModel = TargetModel.kAprilTag36h11;
+                        yield Objdetect.DICT_APRILTAG_36h11;
+                    }
+                };
 
         int threshMinSize = Math.max(3, settings.threshWinSizes.getFirst());
         settings.threshWinSizes.setFirst(threshMinSize);

photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java

@@ -241,41 +241,38 @@ public class PipelineManager {
      * recreation after changing pipeline type
      */
     private void recreateUserPipeline() {
-        // Cleanup potential old native resources before swapping over from a user
-        // pipeline
+        // Cleanup potential old native resources before swapping over from a user pipeline
         if (currentUserPipeline != null && !(currentPipelineIndex < 0)) {
             currentUserPipeline.release();
         }
 
         var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
         switch (desiredPipelineSettings.pipelineType) {
-            case Reflective:
+            case Reflective -> {
                 logger.debug("Creating Reflective pipeline");
                 currentUserPipeline =
                         new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
-                break;
-            case ColoredShape:
+            }
+            case ColoredShape -> {
                 logger.debug("Creating ColoredShape pipeline");
                 currentUserPipeline =
                         new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
-                break;
-            case AprilTag:
+            }
+            case AprilTag -> {
                 logger.debug("Creating AprilTag pipeline");
                 currentUserPipeline =
                         new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
-                break;
-
-            case Aruco:
+            }
+            case Aruco -> {
                 logger.debug("Creating Aruco Pipeline");
                 currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
-                break;
-            case ObjectDetection:
+            }
+            case ObjectDetection -> {
                 logger.debug("Creating ObjectDetection Pipeline");
                 currentUserPipeline =
                         new ObjectDetectionPipeline((ObjectDetectionPipelineSettings) desiredPipelineSettings);
-            default:
-                // Can be calib3d or drivermode, both of which are special cases
-                break;
+            }
+            case Calib3d, DriverMode -> {}
         }
     }
 
@@ -342,44 +339,40 @@ public class PipelineManager {
     }
 
     private CVPipelineSettings createSettingsForType(PipelineType type, String nickname) {
-        CVPipelineSettings newSettings;
         switch (type) {
-            case Reflective:
-                {
-                    var added = new ReflectivePipelineSettings();
-                    added.pipelineNickname = nickname;
-                    return added;
-                }
-            case ColoredShape:
-                {
-                    var added = new ColoredShapePipelineSettings();
-                    added.pipelineNickname = nickname;
-                    return added;
-                }
-            case AprilTag:
-                {
-                    var added = new AprilTagPipelineSettings();
-                    added.pipelineNickname = nickname;
-                    return added;
-                }
-            case Aruco:
-                {
-                    var added = new ArucoPipelineSettings();
-                    added.pipelineNickname = nickname;
-                    return added;
-                }
-            case ObjectDetection:
-                {
-                    var added = new ObjectDetectionPipelineSettings();
-                    added.pipelineNickname = nickname;
-                    return added;
-                }
-            default:
-                {
-                    logger.error("Got invalid pipeline type: " + type);
-                    return null;
-                }
+            case Reflective -> {
+                var added = new ReflectivePipelineSettings();
+                added.pipelineNickname = nickname;
+                return added;
+            }
+            case ColoredShape -> {
+                var added = new ColoredShapePipelineSettings();
+                added.pipelineNickname = nickname;
+                return added;
+            }
+            case AprilTag -> {
+                var added = new AprilTagPipelineSettings();
+                added.pipelineNickname = nickname;
+                return added;
+            }
+            case Aruco -> {
+                var added = new ArucoPipelineSettings();
+                added.pipelineNickname = nickname;
+                return added;
+            }
+            case ObjectDetection -> {
+                var added = new ObjectDetectionPipelineSettings();
+                added.pipelineNickname = nickname;
+                return added;
+            }
+            case Calib3d, DriverMode -> {
+                logger.error("Got invalid pipeline type: " + type);
+                return null;
+            }
         }
+
+        // This can never happen, this is here to satisfy the compiler.
+        throw new IllegalStateException("Got impossible pipeline type: " + type);
     }
 
     private void addPipelineInternal(CVPipelineSettings settings) {

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -587,11 +587,9 @@ public class VisionModule {
 
         // Pipelines like DriverMode and Calibrate3dPipeline have null output frames
         if (result.inputAndOutputFrame != null
-                && (pipelineManager.getCurrentPipelineSettings() instanceof AdvancedPipelineSettings)) {
-            streamRunnable.updateData(
-                    result.inputAndOutputFrame,
-                    (AdvancedPipelineSettings) pipelineManager.getCurrentPipelineSettings(),
-                    result.targets);
+                && (pipelineManager.getCurrentPipelineSettings()
+                        instanceof AdvancedPipelineSettings settings)) {
+            streamRunnable.updateData(result.inputAndOutputFrame, settings, result.targets);
             // The streamRunnable manages releasing in this case
         } else {
             consumeResults(result.inputAndOutputFrame, result.targets);
@@ -615,9 +613,9 @@ public class VisionModule {
     }
 
     public void setTargetModel(TargetModel targetModel) {
-        var settings = pipelineManager.getCurrentPipeline().getSettings();
-        if (settings instanceof ReflectivePipelineSettings) {
-            ((ReflectivePipelineSettings) settings).targetModel = targetModel;
+        var pipelineSettings = pipelineManager.getCurrentPipeline().getSettings();
+        if (pipelineSettings instanceof ReflectivePipelineSettings settings) {
+            settings.targetModel = targetModel;
             saveAndBroadcastAll();
         } else {
             logger.error("Cannot set target model of non-reflective pipe! Ignoring...");

photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java

@@ -55,11 +55,8 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
 
     @Override
     public void onDataChangeEvent(DataChangeEvent<?> event) {
-        if (event instanceof IncomingWebSocketEvent) {
-            var wsEvent = (IncomingWebSocketEvent<?>) event;
-
-            // Camera index -1 means a "multicast event" (i.e. the event is received by all
-            // cameras)
+        if (event instanceof IncomingWebSocketEvent wsEvent) {
+            // Camera index -1 means a "multicast event" (i.e. the event is received by all cameras)
             if (wsEvent.cameraIndex != null
                     && (wsEvent.cameraIndex == parentModule.moduleIndex || wsEvent.cameraIndex == -1)) {
                 logger.trace("Got PSC event - propName: " + wsEvent.propertyName);
@@ -93,120 +90,32 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                 var currentSettings = change.getCurrentSettings();
                 var originContext = change.getOriginContext();
                 switch (propName) {
-                    case "pipelineName": // rename current pipeline
-                        logger.info("Changing nick to " + newPropValue);
-                        parentModule.pipelineManager.getCurrentPipelineSettings().pipelineNickname =
-                                (String) newPropValue;
-                        parentModule.saveAndBroadcastAll();
-                        continue;
-                    case "newPipelineInfo": // add new pipeline
-                        var typeName = (Pair<String, PipelineType>) newPropValue;
-                        var type = typeName.getRight();
-                        var name = typeName.getLeft();
-
-                        logger.info("Adding a " + type + " pipeline with name " + name);
-
-                        var addedSettings = parentModule.pipelineManager.addPipeline(type);
-                        addedSettings.pipelineNickname = name;
-                        parentModule.saveAndBroadcastAll();
-                        continue;
-                    case "deleteCurrPipeline":
-                        var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
-                        logger.info("Deleting current pipe at index " + indexToDelete);
-                        int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
-                        parentModule.setPipeline(newIndex);
-                        parentModule.saveAndBroadcastAll();
-                        continue;
-                    case "changePipeline": // change active pipeline
-                        var index = (Integer) newPropValue;
-                        if (index == parentModule.pipelineManager.getRequestedIndex()) {
-                            logger.debug("Skipping pipeline change, index " + index + " already active");
-                            continue;
+                    case "pipelineName" -> newPipelineNickname((String) newPropValue);
+                    case "newPipelineInfo" -> newPipelineInfo((Pair<String, PipelineType>) newPropValue);
+                    case "deleteCurrPipeline" -> deleteCurrPipeline();
+                    case "changePipeline" -> changePipeline((Integer) newPropValue);
+                    case "startCalibration" -> startCalibration((Map<String, Object>) newPropValue);
+                    case "saveInputSnapshot" -> parentModule.saveInputSnapshot();
+                    case "saveOutputSnapshot" -> parentModule.saveOutputSnapshot();
+                    case "takeCalSnapshot" -> parentModule.takeCalibrationSnapshot();
+                    case "duplicatePipeline" -> duplicatePipeline((Integer) newPropValue);
+                    case "calibrationUploaded" -> {
+                        if (newPropValue instanceof CameraCalibrationCoefficients newCal) {
+                            parentModule.addCalibrationToConfig(newCal);
+                        } else {
+                            logger.warn("Received invalid calibration data");
                         }
-                        parentModule.setPipeline(index);
-                        parentModule.saveAndBroadcastAll();
-                        continue;
-                    case "startCalibration":
-                        try {
-                            var data =
-                                    JacksonUtils.deserialize(
-                                            (Map<String, Object>) newPropValue, UICalibrationData.class);
-                            parentModule.startCalibration(data);
-                            parentModule.saveAndBroadcastAll();
-                        } catch (Exception e) {
-                            logger.error("Error deserailizing start-cal request", e);
+                    }
+                    case "robotOffsetPoint" -> {
+                        if (currentSettings instanceof AdvancedPipelineSettings curAdvSettings) {
+                            robotOffsetPoint(curAdvSettings, (Integer) newPropValue);
                         }
-                        continue;
-                    case "saveInputSnapshot":
-                        parentModule.saveInputSnapshot();
-                        continue;
-                    case "saveOutputSnapshot":
-                        parentModule.saveOutputSnapshot();
-                        continue;
-                    case "takeCalSnapshot":
-                        parentModule.takeCalibrationSnapshot();
-                        continue;
-                    case "duplicatePipeline":
-                        int idx = parentModule.pipelineManager.duplicatePipeline((Integer) newPropValue);
-                        parentModule.setPipeline(idx);
-                        parentModule.saveAndBroadcastAll();
-                        continue;
-                    case "calibrationUploaded":
-                        if (newPropValue instanceof CameraCalibrationCoefficients)
-                            parentModule.addCalibrationToConfig((CameraCalibrationCoefficients) newPropValue);
-                        continue;
-                    case "robotOffsetPoint":
-                        if (currentSettings instanceof AdvancedPipelineSettings) {
-                            var curAdvSettings = (AdvancedPipelineSettings) currentSettings;
-                            var offsetOperation = RobotOffsetPointOperation.fromIndex((int) newPropValue);
-                            var latestTarget = parentModule.lastPipelineResultBestTarget;
-
-                            if (latestTarget != null) {
-                                var newPoint = latestTarget.getTargetOffsetPoint();
-
-                                switch (curAdvSettings.offsetRobotOffsetMode) {
-                                    case Single:
-                                        if (offsetOperation == RobotOffsetPointOperation.ROPO_CLEAR) {
-                                            curAdvSettings.offsetSinglePoint = new Point();
-                                        } else if (offsetOperation == RobotOffsetPointOperation.ROPO_TAKESINGLE) {
-                                            curAdvSettings.offsetSinglePoint = newPoint;
-                                        }
-                                        break;
-                                    case Dual:
-                                        if (offsetOperation == RobotOffsetPointOperation.ROPO_CLEAR) {
-                                            curAdvSettings.offsetDualPointA = new Point();
-                                            curAdvSettings.offsetDualPointAArea = 0;
-                                            curAdvSettings.offsetDualPointB = new Point();
-                                            curAdvSettings.offsetDualPointBArea = 0;
-                                        } else {
-                                            // update point and area
-                                            switch (offsetOperation) {
-                                                case ROPO_TAKEFIRSTDUAL:
-                                                    curAdvSettings.offsetDualPointA = newPoint;
-                                                    curAdvSettings.offsetDualPointAArea = latestTarget.getArea();
-                                                    break;
-                                                case ROPO_TAKESECONDDUAL:
-                                                    curAdvSettings.offsetDualPointB = newPoint;
-                                                    curAdvSettings.offsetDualPointBArea = latestTarget.getArea();
-                                                    break;
-                                                default:
-                                                    break;
-                                            }
-                                        }
-                                        break;
-                                    default:
-                                        break;
-                                }
-                            }
-                        }
-                        continue;
-                    case "changePipelineType":
+                    }
+                    case "changePipelineType" -> {
                         parentModule.changePipelineType((Integer) newPropValue);
                         parentModule.saveAndBroadcastAll();
-                        continue;
-                    case "isDriverMode":
-                        parentModule.setDriverMode((Boolean) newPropValue);
-                        continue;
+                    }
+                    case "isDriverMode" -> parentModule.setDriverMode((Boolean) newPropValue);
                 }
 
                 // special case for camera settables
@@ -249,6 +158,104 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
         }
     }
 
+    public void newPipelineNickname(String newNickname) {
+        logger.info("Changing pipeline nickname to " + newNickname);
+        parentModule.pipelineManager.getCurrentPipelineSettings().pipelineNickname = newNickname;
+        parentModule.saveAndBroadcastAll();
+    }
+
+    public void newPipelineInfo(Pair<String, PipelineType> typeName) {
+        var type = typeName.getRight();
+        var name = typeName.getLeft();
+
+        logger.info("Adding a " + type + " pipeline with name " + name);
+
+        var addedSettings = parentModule.pipelineManager.addPipeline(type);
+        addedSettings.pipelineNickname = name;
+        parentModule.saveAndBroadcastAll();
+    }
+
+    public void deleteCurrPipeline() {
+        var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
+        logger.info("Deleting current pipe at index " + indexToDelete);
+        int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
+        parentModule.setPipeline(newIndex);
+        parentModule.saveAndBroadcastAll();
+    }
+
+    public void changePipeline(int index) {
+        if (index == parentModule.pipelineManager.getRequestedIndex()) {
+            logger.debug("Skipping pipeline change, index " + index + " already active");
+            return;
+        }
+        parentModule.setPipeline(index);
+        parentModule.saveAndBroadcastAll();
+    }
+
+    public void startCalibration(Map<String, Object> data) {
+        try {
+            var deserialized = JacksonUtils.deserialize(data, UICalibrationData.class);
+            parentModule.startCalibration(deserialized);
+            parentModule.saveAndBroadcastAll();
+        } catch (Exception e) {
+            logger.error("Error deserailizing start-calibration request", e);
+        }
+    }
+
+    public void duplicatePipeline(int index) {
+        var newIndex = parentModule.pipelineManager.duplicatePipeline(index);
+        parentModule.setPipeline(newIndex);
+        parentModule.saveAndBroadcastAll();
+    }
+
+    public void robotOffsetPoint(AdvancedPipelineSettings curAdvSettings, int offsetIndex) {
+        RobotOffsetPointOperation offsetOperation = RobotOffsetPointOperation.fromIndex(offsetIndex);
+
+        var latestTarget = parentModule.lastPipelineResultBestTarget;
+        if (latestTarget == null) {
+            return;
+        }
+
+        var newPoint = latestTarget.getTargetOffsetPoint();
+        switch (curAdvSettings.offsetRobotOffsetMode) {
+            case Single -> {
+                switch (offsetOperation) {
+                    case CLEAR -> curAdvSettings.offsetSinglePoint = new Point();
+                    case TAKE_SINGLE -> curAdvSettings.offsetSinglePoint = newPoint;
+                    case TAKE_FIRST_DUAL, TAKE_SECOND_DUAL -> {
+                        logger.warn("Dual point operation in single point mode");
+                    }
+                }
+            }
+            case Dual -> {
+                switch (offsetOperation) {
+                    case CLEAR -> {
+                        curAdvSettings.offsetDualPointA = new Point();
+                        curAdvSettings.offsetDualPointAArea = 0;
+                        curAdvSettings.offsetDualPointB = new Point();
+                        curAdvSettings.offsetDualPointBArea = 0;
+                    }
+                    case TAKE_FIRST_DUAL -> {
+                        // update point and area
+                        curAdvSettings.offsetDualPointA = newPoint;
+                        curAdvSettings.offsetDualPointAArea = latestTarget.getArea();
+                    }
+                    case TAKE_SECOND_DUAL -> {
+                        // update point and area
+                        curAdvSettings.offsetDualPointB = newPoint;
+                        curAdvSettings.offsetDualPointBArea = latestTarget.getArea();
+                    }
+                    case TAKE_SINGLE -> {
+                        logger.warn("Single point operation in dual point mode");
+                    }
+                }
+            }
+            case None -> {
+                logger.warn("Robot offset point operation requested, but no offset mode set");
+            }
+        }
+    }
+
     /**
      * Sets the value of a property in the given object using reflection. This method should not be
      * used generally and is only known to be correct in the context of `onDataChangeEvent`.
@@ -281,8 +288,8 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
         } else if (propType.equals(Integer.TYPE)) {
             propField.setInt(currentSettings, (Integer) newPropValue);
         } else if (propType.equals(Boolean.TYPE)) {
-            if (newPropValue instanceof Integer) {
-                propField.setBoolean(currentSettings, (Integer) newPropValue != 0);
+            if (newPropValue instanceof Integer intValue) {
+                propField.setBoolean(currentSettings, intValue != 0);
             } else {
                 propField.setBoolean(currentSettings, (Boolean) newPropValue);
             }

photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java

@@ -84,8 +84,7 @@ public class VisionRunner {
 
             frameSupplier.requestFrameThresholdType(wantedProcessType);
             var settings = pipeline.getSettings();
-            if (settings instanceof AdvancedPipelineSettings) {
-                var advanced = (AdvancedPipelineSettings) settings;
+            if (settings instanceof AdvancedPipelineSettings advanced) {
                 var hsvParams =
                         new HSVPipe.HSVParams(
                                 advanced.hsvHue, advanced.hsvSaturation, advanced.hsvValue, advanced.hueInverted);

photon-core/src/main/java/org/photonvision/vision/target/RobotOffsetPointOperation.java

@@ -17,10 +17,10 @@
 package org.photonvision.vision.target;
 
 public enum RobotOffsetPointOperation {
-    ROPO_CLEAR(0),
-    ROPO_TAKESINGLE(1),
-    ROPO_TAKEFIRSTDUAL(2),
-    ROPO_TAKESECONDDUAL(3);
+    CLEAR(0),
+    TAKE_SINGLE(1),
+    TAKE_FIRST_DUAL(2),
+    TAKE_SECOND_DUAL(3);
 
     public final int index;
 
@@ -29,17 +29,12 @@ public enum RobotOffsetPointOperation {
     }
 
     public static RobotOffsetPointOperation fromIndex(int index) {
-        switch (index) {
-            case 0:
-                return ROPO_CLEAR;
-            case 1:
-                return ROPO_TAKESINGLE;
-            case 2:
-                return ROPO_TAKEFIRSTDUAL;
-            case 3:
-                return ROPO_TAKESECONDDUAL;
-            default:
-                return ROPO_CLEAR;
-        }
+        return switch (index) {
+            case 0 -> CLEAR;
+            case 1 -> TAKE_SINGLE;
+            case 2 -> TAKE_FIRST_DUAL;
+            case 3 -> TAKE_SECOND_DUAL;
+            default -> CLEAR;
+        };
     }
 }

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/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

@@ -4,6 +4,7 @@ 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
 
@@ -31,8 +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
@@ -80,7 +81,6 @@ class SimCameraProperties:
         newCamIntrinsics: np.ndarray,
         newDistCoeffs: np.ndarray,
     ) -> None:
-
         self.resWidth = width
         self.resHeight = height
         self.camIntrinsics = newCamIntrinsics
@@ -173,10 +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:
@@ -355,7 +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
@@ -467,7 +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/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/java/org/photonvision/PhotonCamera.java

@@ -298,17 +298,12 @@ public class PhotonCamera implements AutoCloseable {
      */
     public VisionLEDMode getLEDMode() {
         int value = (int) ledModeState.get(-1);
-        switch (value) {
-            case 0:
-                return VisionLEDMode.kOff;
-            case 1:
-                return VisionLEDMode.kOn;
-            case 2:
-                return VisionLEDMode.kBlink;
-            case -1:
-            default:
-                return VisionLEDMode.kDefault;
-        }
+        return switch (value) {
+            case 0 -> VisionLEDMode.kOff;
+            case 1 -> VisionLEDMode.kOn;
+            case 2 -> VisionLEDMode.kBlink;
+            default -> VisionLEDMode.kDefault;
+        };
     }
 
     /**

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -345,46 +345,35 @@ public class PhotonPoseEstimator {
             PhotonPipelineResult cameraResult,
             Optional<Matrix<N3, N3>> cameraMatrix,
             Optional<Matrix<N8, N1>> distCoeffs,
-            PoseStrategy strat) {
-        Optional<EstimatedRobotPose> estimatedPose = Optional.empty();
-        switch (strat) {
-            case LOWEST_AMBIGUITY:
-                estimatedPose = lowestAmbiguityStrategy(cameraResult);
-                break;
-            case CLOSEST_TO_CAMERA_HEIGHT:
-                estimatedPose = closestToCameraHeightStrategy(cameraResult);
-                break;
-            case CLOSEST_TO_REFERENCE_POSE:
-                estimatedPose = closestToReferencePoseStrategy(cameraResult, referencePose);
-                break;
-            case CLOSEST_TO_LAST_POSE:
-                setReferencePose(lastPose);
-                estimatedPose = closestToReferencePoseStrategy(cameraResult, referencePose);
-                break;
-            case AVERAGE_BEST_TARGETS:
-                estimatedPose = averageBestTargetsStrategy(cameraResult);
-                break;
-            case MULTI_TAG_PNP_ON_RIO:
-                if (cameraMatrix.isEmpty()) {
-                    DriverStation.reportWarning(
-                            "Camera matrix is empty for multi-tag-on-rio",
-                            Thread.currentThread().getStackTrace());
-                } else if (distCoeffs.isEmpty()) {
-                    DriverStation.reportWarning(
-                            "Camera matrix is empty for multi-tag-on-rio",
-                            Thread.currentThread().getStackTrace());
-                } else {
-                    estimatedPose = multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs);
-                }
-                break;
-            case MULTI_TAG_PNP_ON_COPROCESSOR:
-                estimatedPose = multiTagOnCoprocStrategy(cameraResult);
-                break;
-            default:
-                DriverStation.reportError(
-                        "[PhotonPoseEstimator] Unknown Position Estimation Strategy!", false);
-                return Optional.empty();
-        }
+            PoseStrategy strategy) {
+        Optional<EstimatedRobotPose> estimatedPose =
+                switch (strategy) {
+                    case LOWEST_AMBIGUITY -> lowestAmbiguityStrategy(cameraResult);
+                    case CLOSEST_TO_CAMERA_HEIGHT -> closestToCameraHeightStrategy(cameraResult);
+                    case CLOSEST_TO_REFERENCE_POSE ->
+                            closestToReferencePoseStrategy(cameraResult, referencePose);
+                    case CLOSEST_TO_LAST_POSE -> {
+                        setReferencePose(lastPose);
+                        yield closestToReferencePoseStrategy(cameraResult, referencePose);
+                    }
+                    case AVERAGE_BEST_TARGETS -> averageBestTargetsStrategy(cameraResult);
+                    case MULTI_TAG_PNP_ON_RIO -> {
+                        if (cameraMatrix.isEmpty()) {
+                            DriverStation.reportWarning(
+                                    "Camera matrix is empty for multi-tag-on-rio",
+                                    Thread.currentThread().getStackTrace());
+                            yield Optional.empty();
+                        } else if (distCoeffs.isEmpty()) {
+                            DriverStation.reportWarning(
+                                    "Camera matrix is empty for multi-tag-on-rio",
+                                    Thread.currentThread().getStackTrace());
+                            yield Optional.empty();
+                        } else {
+                            yield multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs);
+                        }
+                    }
+                    case MULTI_TAG_PNP_ON_COPROCESSOR -> multiTagOnCoprocStrategy(cameraResult);
+                };
 
         if (estimatedPose.isPresent()) {
             lastPose = estimatedPose.get().estimatedPose;

photon-lib/src/main/java/org/photonvision/simulation/VisionTargetSim.java

@@ -84,11 +84,9 @@ public class VisionTargetSim {
 
     @Override
     public boolean equals(Object obj) {
-        if (this == obj) return true;
-        if (obj instanceof VisionTargetSim) {
-            var o = (VisionTargetSim) obj;
-            return pose.equals(o.pose) && model.equals(o.model);
-        }
-        return false;
+        return this == obj
+                && obj instanceof VisionTargetSim o
+                && pose.equals(o.pose)
+                && model.equals(o.model);
     }
 }

photon-server/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "application"
-    id 'com.github.johnrengelman.shadow' version '8.1.1'
+    id 'com.gradleup.shadow' version '8.3.4'
     id "com.github.node-gradle.node" version "7.0.1"
     id "org.hidetake.ssh" version "2.11.2"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'

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/DataSocketHandler.java

@@ -99,10 +99,9 @@ public class DataSocketHandler {
                     objectMapper.readValue(context.data(), new TypeReference<>() {});
 
             // Special case the current camera index
-            var camIndexValue = deserializedData.get("cameraIndex");
             Integer cameraIndex = null;
-            if (camIndexValue instanceof Integer) {
-                cameraIndex = (Integer) camIndexValue;
+            if (deserializedData.get("cameraIndex") instanceof Integer camIndexValue) {
+                cameraIndex = camIndexValue;
                 deserializedData.remove("cameraIndex");
             }
 
@@ -128,216 +127,182 @@ public class DataSocketHandler {
                     }
 
                     switch (socketMessageType) {
-                        case SMT_DRIVERMODE:
-                            {
-                                // TODO: what is this event?
-                                var data = (Boolean) entryValue;
-                                var dmIsDriverEvent =
-                                        new IncomingWebSocketEvent<Boolean>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "isDriverMode",
-                                                data,
-                                                cameraIndex,
-                                                context);
+                        case SMT_DRIVERMODE -> {
+                            // TODO: what is this event?
+                            var data = (Boolean) entryValue;
+                            var dmIsDriverEvent =
+                                    new IncomingWebSocketEvent<Boolean>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "isDriverMode",
+                                            data,
+                                            cameraIndex,
+                                            context);
 
-                                dcService.publishEvents(dmIsDriverEvent);
-                                break;
-                            }
-                        case SMT_CHANGECAMERANAME:
-                            {
-                                var ccnEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "cameraNickname",
-                                                (String) entryValue,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(ccnEvent);
-                                break;
-                            }
-                        case SMT_CHANGEPIPELINENAME:
-                            {
-                                var cpnEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "pipelineName",
-                                                (String) entryValue,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(cpnEvent);
-                                break;
-                            }
-                        case SMT_ADDNEWPIPELINE:
-                            {
-                                //                                HashMap<String, Object> data = (HashMap<String,
-                                // Object>) entryValue;
-                                //                                var type = (PipelineType)
-                                // data.get("pipelineType");
-                                //                                var name = (String) data.get("pipelineName");
-                                var arr = (ArrayList<Object>) entryValue;
-                                var name = (String) arr.get(0);
-                                var type = PipelineType.values()[(Integer) arr.get(1) + 2];
+                            dcService.publishEvents(dmIsDriverEvent);
+                        }
+                        case SMT_CHANGECAMERANAME -> {
+                            var ccnEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "cameraNickname",
+                                            (String) entryValue,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(ccnEvent);
+                        }
+                        case SMT_CHANGEPIPELINENAME -> {
+                            var cpnEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "pipelineName",
+                                            (String) entryValue,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(cpnEvent);
+                        }
+                        case SMT_ADDNEWPIPELINE -> {
+                            // HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
+                            // var type = (PipelineType) data.get("pipelineType");
+                            // var name = (String) data.get("pipelineName");
+                            var arr = (ArrayList<Object>) entryValue;
+                            var name = (String) arr.get(0);
+                            var type = PipelineType.values()[(Integer) arr.get(1) + 2];
 
-                                var newPipelineEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "newPipelineInfo",
-                                                Pair.of(name, type),
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(newPipelineEvent);
-                                break;
-                            }
-                        case SMT_CHANGEBRIGHTNESS:
-                            {
-                                HardwareManager.getInstance()
-                                        .setBrightnessPercent(Integer.parseInt(entryValue.toString()));
-                                break;
-                            }
-                        case SMT_DUPLICATEPIPELINE:
-                            {
-                                var pipeIndex = (Integer) entryValue;
+                            var newPipelineEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "newPipelineInfo",
+                                            Pair.of(name, type),
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(newPipelineEvent);
+                        }
+                        case SMT_CHANGEBRIGHTNESS -> {
+                            HardwareManager.getInstance()
+                                    .setBrightnessPercent(Integer.parseInt(entryValue.toString()));
+                        }
+                        case SMT_DUPLICATEPIPELINE -> {
+                            var pipeIndex = (Integer) entryValue;
 
-                                logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraIndex);
+                            logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraIndex);
 
-                                var newPipelineEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "duplicatePipeline",
-                                                pipeIndex,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(newPipelineEvent);
-                                break;
-                            }
-                        case SMT_DELETECURRENTPIPELINE:
-                            {
-                                var deleteCurrentPipelineEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "deleteCurrPipeline",
-                                                0,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(deleteCurrentPipelineEvent);
-                                break;
-                            }
-                        case SMT_ROBOTOFFSETPOINT:
-                            {
-                                var robotOffsetPointEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "robotOffsetPoint",
-                                                (Integer) entryValue,
-                                                cameraIndex,
-                                                null);
-                                dcService.publishEvent(robotOffsetPointEvent);
-                                break;
-                            }
-                        case SMT_CURRENTCAMERA:
-                            {
-                                var changeCurrentCameraEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
-                                dcService.publishEvent(changeCurrentCameraEvent);
-                                break;
-                            }
-                        case SMT_CURRENTPIPELINE:
-                            {
-                                var changePipelineEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "changePipeline",
-                                                (Integer) entryValue,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(changePipelineEvent);
-                                break;
-                            }
-                        case SMT_STARTPNPCALIBRATION:
-                            {
-                                var changePipelineEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "startCalibration",
-                                                (Map) entryValue,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(changePipelineEvent);
-                                break;
-                            }
-                        case SMT_SAVEINPUTSNAPSHOT:
-                            {
-                                var takeInputSnapshotEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "saveInputSnapshot",
-                                                0,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(takeInputSnapshotEvent);
-                                break;
-                            }
-                        case SMT_SAVEOUTPUTSNAPSHOT:
-                            {
-                                var takeOutputSnapshotEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "saveOutputSnapshot",
-                                                0,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(takeOutputSnapshotEvent);
-                                break;
-                            }
-                        case SMT_TAKECALIBRATIONSNAPSHOT:
-                            {
-                                var takeCalSnapshotEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "takeCalSnapshot",
-                                                0,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(takeCalSnapshotEvent);
-                                break;
-                            }
-                        case SMT_PIPELINESETTINGCHANGE:
-                            {
-                                HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
+                            var newPipelineEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "duplicatePipeline",
+                                            pipeIndex,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(newPipelineEvent);
+                        }
+                        case SMT_DELETECURRENTPIPELINE -> {
+                            var deleteCurrentPipelineEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "deleteCurrPipeline",
+                                            0,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(deleteCurrentPipelineEvent);
+                        }
+                        case SMT_ROBOTOFFSETPOINT -> {
+                            var robotOffsetPointEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "robotOffsetPoint",
+                                            (Integer) entryValue,
+                                            cameraIndex,
+                                            null);
+                            dcService.publishEvent(robotOffsetPointEvent);
+                        }
+                        case SMT_CURRENTCAMERA -> {
+                            var changeCurrentCameraEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
+                            dcService.publishEvent(changeCurrentCameraEvent);
+                        }
+                        case SMT_CURRENTPIPELINE -> {
+                            var changePipelineEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "changePipeline",
+                                            (Integer) entryValue,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(changePipelineEvent);
+                        }
+                        case SMT_STARTPNPCALIBRATION -> {
+                            var changePipelineEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "startCalibration",
+                                            (Map) entryValue,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(changePipelineEvent);
+                        }
+                        case SMT_SAVEINPUTSNAPSHOT -> {
+                            var takeInputSnapshotEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "saveInputSnapshot",
+                                            0,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(takeInputSnapshotEvent);
+                        }
+                        case SMT_SAVEOUTPUTSNAPSHOT -> {
+                            var takeOutputSnapshotEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "saveOutputSnapshot",
+                                            0,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(takeOutputSnapshotEvent);
+                        }
+                        case SMT_TAKECALIBRATIONSNAPSHOT -> {
+                            var takeCalSnapshotEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "takeCalSnapshot",
+                                            0,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(takeCalSnapshotEvent);
+                        }
+                        case SMT_PIPELINESETTINGCHANGE -> {
+                            HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
 
-                                if (data.size() >= 2) {
-                                    var cameraIndex2 = (int) data.get("cameraIndex");
-                                    for (var dataEntry : data.entrySet()) {
-                                        if (dataEntry.getKey().equals("cameraIndex")) {
-                                            continue;
-                                        }
-                                        var pipelineSettingChangeEvent =
-                                                new IncomingWebSocketEvent(
-                                                        DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
-                                                        dataEntry.getKey(),
-                                                        dataEntry.getValue(),
-                                                        cameraIndex2,
-                                                        context);
-                                        dcService.publishEvent(pipelineSettingChangeEvent);
+                            if (data.size() >= 2) {
+                                var cameraIndex2 = (int) data.get("cameraIndex");
+                                for (var dataEntry : data.entrySet()) {
+                                    if (dataEntry.getKey().equals("cameraIndex")) {
+                                        continue;
                                     }
-                                } else {
-                                    logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
+                                    var pipelineSettingChangeEvent =
+                                            new IncomingWebSocketEvent(
+                                                    DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
+                                                    dataEntry.getKey(),
+                                                    dataEntry.getValue(),
+                                                    cameraIndex2,
+                                                    context);
+                                    dcService.publishEvent(pipelineSettingChangeEvent);
                                 }
-                                break;
-                            }
-                        case SMT_CHANGEPIPELINETYPE:
-                            {
-                                var changePipelineEvent =
-                                        new IncomingWebSocketEvent<>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                                "changePipelineType",
-                                                (Integer) entryValue,
-                                                cameraIndex,
-                                                context);
-                                dcService.publishEvent(changePipelineEvent);
-                                break;
+                            } else {
+                                logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
                             }
+                        }
+                        case SMT_CHANGEPIPELINETYPE -> {
+                            var changePipelineEvent =
+                                    new IncomingWebSocketEvent<>(
+                                            DataChangeDestination.DCD_ACTIVEMODULE,
+                                            "changePipelineType",
+                                            (Integer) entryValue,
+                                            cameraIndex,
+                                            context);
+                            dcService.publishEvent(changePipelineEvent);
+                        }
                     }
                 } catch (Exception e) {
                     logger.error("Failed to parse message!", e);

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

@@ -39,8 +39,7 @@ public class UIInboundSubscriber extends DataChangeSubscriber {
 
     @Override
     public void onDataChangeEvent(DataChangeEvent<?> event) {
-        if (event instanceof IncomingWebSocketEvent) {
-            var incomingWSEvent = (IncomingWebSocketEvent<?>) event;
+        if (event instanceof IncomingWebSocketEvent incomingWSEvent) {
             if (incomingWSEvent.propertyName.equals("userConnected")
                     || incomingWSEvent.propertyName.equals("sendFullSettings")) {
                 // Send full settings

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

@@ -44,11 +44,9 @@ class UIOutboundSubscriber extends DataChangeSubscriber {
 
     @Override
     public void onDataChangeEvent(DataChangeEvent event) {
-        if (event instanceof OutgoingUIEvent) {
-            var thisEvent = (OutgoingUIEvent) event;
+        if (event instanceof OutgoingUIEvent thisEvent) {
             try {
-                if (event.data instanceof HashMap) {
-                    var data = (HashMap) event.data;
+                if (event.data instanceof HashMap data) {
                     socketHandler.broadcastMessage(data, thisEvent.originContext);
                 } else {
                     socketHandler.broadcastMessage(event.data, thisEvent.originContext);

photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java

@@ -17,8 +17,8 @@
 
 package org.photonvision.common.hardware;
 
-import edu.wpi.first.util.RuntimeDetector;
 import java.io.BufferedReader;
+import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Paths;
@@ -148,6 +148,11 @@ public enum Platform {
         return currentPlatform.isSupported;
     }
 
+    public static boolean isAthena() {
+        File runRobotFile = new File("/usr/local/frc/bin/frcRunRobot.sh");
+        return runRobotFile.exists();
+    }
+
     //////////////////////////////////////////////////////
 
     // Debug info related to unknown platforms for debug help
@@ -158,10 +163,24 @@ public enum Platform {
     private static final String UnknownDeviceModelString = "Unknown";
 
     public static Platform getCurrentPlatform() {
-        if (RuntimeDetector.isWindows()) {
-            if (RuntimeDetector.is32BitIntel()) {
+        String OS_NAME;
+        if (Platform.OS_NAME != null) {
+            OS_NAME = Platform.OS_NAME;
+        } else {
+            OS_NAME = System.getProperty("os.name");
+        }
+
+        String OS_ARCH;
+        if (Platform.OS_ARCH != null) {
+            OS_ARCH = Platform.OS_ARCH;
+        } else {
+            OS_ARCH = System.getProperty("os.arch");
+        }
+
+        if (OS_NAME.startsWith("Windows")) {
+            if (OS_ARCH.equals("x86") || OS_ARCH.equals("i386")) {
                 return WINDOWS_32;
-            } else if (RuntimeDetector.is64BitIntel()) {
+            } else if (OS_ARCH.equals("amd64") || OS_ARCH.equals("x86_64")) {
                 return WINDOWS_64;
             } else {
                 // please don't try this
@@ -169,41 +188,41 @@ public enum Platform {
             }
         }
 
-        if (RuntimeDetector.isMac()) {
+        if (OS_NAME.startsWith("Mac")) {
             // TODO - once we have real support, this might have to be more granular
             return MACOS;
         }
 
-        if (RuntimeDetector.isLinux()) {
+        if (OS_NAME.startsWith("Linux")) {
             if (isPiSBC()) {
-                if (RuntimeDetector.isArm32()) {
+                if (OS_ARCH.equals("arm") || OS_ARCH.equals("arm32")) {
                     return LINUX_RASPBIAN32;
-                } else if (RuntimeDetector.isArm64()) {
+                } else if (OS_ARCH.equals("aarch64") || OS_ARCH.equals("arm64")) {
                     return LINUX_RASPBIAN64;
                 } else {
                     // Unknown/exotic installation
                     return UNKNOWN;
                 }
             } else if (isJetsonSBC()) {
-                if (RuntimeDetector.isArm64()) {
+                if (OS_ARCH.equals("aarch64") || OS_ARCH.equals("arm64")) {
                     // TODO - do we need to check OS version?
                     return LINUX_AARCH64;
                 } else {
                     // Unknown/exotic installation
                     return UNKNOWN;
                 }
-            } else if (RuntimeDetector.is64BitIntel()) {
+            } else if (OS_ARCH.equals("amd64") || OS_ARCH.equals("x86_64")) {
                 return LINUX_64;
-            } else if (RuntimeDetector.is32BitIntel()) {
+            } else if (OS_ARCH.equals("x86") || OS_ARCH.equals("i386")) {
                 return LINUX_32;
-            } else if (RuntimeDetector.isArm64()) {
+            } else if (OS_ARCH.equals("aarch64") || OS_ARCH.equals("arm64")) {
                 // TODO - os detection needed?
                 if (isOrangePi()) {
                     return LINUX_RK3588_64;
                 } else {
                     return LINUX_AARCH64;
                 }
-            } else if (RuntimeDetector.isArm32()) {
+            } else if (OS_ARCH.equals("arm") || OS_ARCH.equals("arm32")) {
                 return LINUX_ARM32;
             } else {
                 // Unknown or otherwise unsupported platform

photon-targeting/src/main/java/org/photonvision/common/hardware/VisionLEDMode.java

@@ -31,16 +31,11 @@ public enum VisionLEDMode {
 
     @Override
     public String toString() {
-        switch (this) {
-            case kDefault:
-                return "Default";
-            case kOff:
-                return "Off";
-            case kOn:
-                return "On";
-            case kBlink:
-                return "Blink";
-        }
-        return "";
+        return switch (this) {
+            case kDefault -> "Default";
+            case kOff -> "Off";
+            case kOn -> "On";
+            case kBlink -> "Blink";
+        };
     }
 }

photon-targeting/src/main/java/org/photonvision/estimation/TargetModel.java

@@ -175,11 +175,10 @@ public class TargetModel {
 
     @Override
     public boolean equals(Object obj) {
-        if (this == obj) return true;
-        if (obj instanceof TargetModel) {
-            var o = (TargetModel) obj;
-            return vertices.equals(o.vertices) && isPlanar == o.isPlanar && isSpherical == o.isSpherical;
-        }
-        return false;
+        return this == obj
+                && obj instanceof TargetModel o
+                && vertices.equals(o.vertices)
+                && isPlanar == o.isPlanar
+                && isSpherical == o.isSpherical;
     }
 }

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-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.1.1-beta-2"
-wpi.versions.wpimathVersion = "2025.1.1-beta-2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-3"
+wpi.versions.wpimathVersion = "2025.1.1-beta-3"
 
 // 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-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.1.1-beta-2"
-wpi.versions.wpimathVersion = "2025.1.1-beta-2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-3"
+wpi.versions.wpimathVersion = "2025.1.1-beta-3"
 
 // 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-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.1.1-beta-2"
-wpi.versions.wpimathVersion = "2025.1.1-beta-2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-3"
+wpi.versions.wpimathVersion = "2025.1.1-beta-3"
 
 // 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

@@ -1,10 +1,10 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -13,8 +13,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.1.1-beta-2"
-wpi.versions.wpimathVersion = "2025.1.1-beta-2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-3"
+wpi.versions.wpimathVersion = "2025.1.1-beta-3"
 
 
 // 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

@@ -1,16 +1,16 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.1.1-beta-2"
-wpi.versions.wpimathVersion = "2025.1.1-beta-2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-3"
+wpi.versions.wpimathVersion = "2025.1.1-beta-3"
 
 
 // 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/aimattarget/src/test/java/frc/robot/JniLoadTest.java

@@ -26,14 +26,35 @@ package frc.robot;
 
 import static org.junit.Assert.fail;
 
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import java.util.List;
 import org.junit.Test;
+import org.photonvision.PhotonCamera;
+import org.photonvision.simulation.PhotonCameraSim;
+import org.photonvision.simulation.SimCameraProperties;
 import org.photonvision.timesync.TimeSyncSingleton;
 
 public class JniLoadTest {
     @Test
-    public void smoketest() {
+    public void smoketestTimeSync() {
         if (!TimeSyncSingleton.load()) {
             fail("Could not load TimeSync JNI????????");
         }
     }
+
+    @Test
+    public void smoketestPhotonCameraSim() {
+        // This will trigger a force load of OpenCV internally - good to smoketest
+        var camera = new PhotonCamera("Hellowo");
+        var cameraProp = new SimCameraProperties();
+        cameraProp.setCalibration(320, 240, Rotation2d.fromDegrees(90));
+
+        var sim = new PhotonCameraSim(camera, cameraProp);
+        sim.enableDrawWireframe(true);
+        sim.enableProcessedStream(true);
+        sim.enableRawStream(true);
+
+        sim.process(0, new Pose3d(), List.of());
+    }
 }

photonlib-java-examples/poseest/build.gradle

@@ -1,16 +1,16 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.1.1-beta-2"
-wpi.versions.wpimathVersion = "2025.1.1-beta-2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-3"
+wpi.versions.wpimathVersion = "2025.1.1-beta-3"
 
 
 // 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/javacommon.gradle

@@ -4,8 +4,8 @@ apply plugin: 'jacoco'
 apply plugin: 'com.google.protobuf'
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_11
-    targetCompatibility = JavaVersion.VERSION_11
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
 }
 
 def baseArtifactId = nativeName

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 {