Fix release action glob exclusion (#1644)

In softprops/action-gh-release, when using an glob pattern to exclude files, all of the files to exclude must be specified on one line. Splitting them to multiple lines causes all files to match one of the two lines. 

To combine on one line, use `|` between the patterns.

.github/workflows/build.yml

@@ -1,21 +1,13 @@
 name: Build
 
 on:
-  # Run on pushes to master and pushed tags, and on pull requests against master, but ignore the docs folder
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ master ]
+    branches: [ main ]
     tags:
       - 'v*'
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   pull_request:
-    branches: [ master ]
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
+    branches: [ main ]
   merge_group:
 
 jobs:
@@ -213,7 +205,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-24.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
@@ -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 }}"
@@ -559,14 +557,14 @@ jobs:
       - uses: softprops/action-gh-release@v2.0.9
         with:
           files: |
-            **/*orangepi5*.xz
+            **/@(*orangepi5*|*rock5*).xz
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       - uses: softprops/action-gh-release@v2.0.9
         with:
           files: |
-            **/!(*orangepi5*).xz
+            **/!(*orangepi5*|*rock5*).xz
             **/*.jar
             **/photonlib*.json
             **/photonlib*.zip

.github/workflows/lint-format.yml

@@ -1,21 +1,13 @@
 name: Lint and Format
 
 on:
-  # Run on pushes to master and pushed tags, and on pull requests against master, but ignore the docs folder
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ master ]
+    branches: [ main ]
     tags:
       - 'v*'
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   pull_request:
-    branches: [ master ]
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
+    branches: [ main ]
   merge_group:
 
 concurrency:
@@ -32,7 +24,7 @@ jobs:
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
-          git branch -f master origin/master
+          git branch -f main origin/main
       - name: Set up Python 3.8
         uses: actions/setup-python@v4
         with:
@@ -92,6 +84,6 @@ jobs:
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
-          git branch -f master origin/master
+          git branch -f main origin/main
       - name: Check index.html not changed
-        run: git --no-pager diff --exit-code origin/master photon-server/src/main/resources/web/index.html
+        run: git --no-pager diff --exit-code origin/main photon-server/src/main/resources/web/index.html

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

@@ -1,21 +1,13 @@
 name: Photon Code Documentation
 
 on:
-  # Run on pushes to master and pushed tags, and on pull requests against master, but ignore the docs folder
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ master ]
+    branches: [ main ]
     tags:
       - 'v*'
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
   pull_request:
-    branches: [ master ]
-    paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
+    branches: [ main ]
   merge_group:
 
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -86,7 +78,7 @@ jobs:
 
       - run: find .
       - name: copy file via ssh password
-        if: github.ref == 'refs/heads/master'
+        if: github.ref == 'refs/heads/main'
         uses: appleboy/scp-action@v0.1.7
         with:
           host: ${{ secrets.WEBMASTER_SSH_HOST }}

.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

@@ -1,6 +1,6 @@
 # PhotonVision
 
-[![CI](https://github.com/PhotonVision/photonvision/workflows/CI/badge.svg)](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [![codecov](https://codecov.io/gh/PhotonVision/photonvision/branch/master/graph/badge.svg)](https://codecov.io/gh/PhotonVision/photonvision) [![Discord](https://img.shields.io/discord/725836368059826228?color=%23738ADB&label=Join%20our%20Discord&logo=discord&logoColor=white)](https://discord.gg/wYxTwym)
+[![CI](https://github.com/PhotonVision/photonvision/workflows/CI/badge.svg)](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [![codecov](https://codecov.io/gh/PhotonVision/photonvision/branch/main/graph/badge.svg)](https://codecov.io/gh/PhotonVision/photonvision) [![Discord](https://img.shields.io/discord/725836368059826228?color=%23738ADB&label=Join%20our%20Discord&logo=discord&logoColor=white)](https://discord.gg/wYxTwym)
 
 PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).
 
@@ -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/))
 
@@ -67,7 +67,7 @@ sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
 
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
 
-* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
+* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/main/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/main/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
 
 * [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
 

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/conf.py

@@ -45,7 +45,7 @@ extensions = [
 
 ogp_site_url = "https://docs.photonvision.org/en/latest/"
 ogp_site_name = "PhotonVision Documentation"
-ogp_image = "https://raw.githubusercontent.com/PhotonVision/photonvision-docs/master/source/assets/RectLogo.png"
+ogp_image = "https://raw.githubusercontent.com/PhotonVision/photonvision-docs/main/source/assets/RectLogo.png"
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ["_templates"]

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

@@ -1,12 +1,12 @@
 # Installing Pre-Release Versions
 
-Pre-release/development version of PhotonVision can be tested by installing/downloading artifacts from Github Actions (see below), which are built automatically on commits to open pull requests and to PhotonVision's `master` branch, or by {ref}`compiling PhotonVision locally <docs/contributing/building-photon:Build Instructions>`.
+Pre-release/development version of PhotonVision can be tested by installing/downloading artifacts from Github Actions (see below), which are built automatically on commits to open pull requests and to PhotonVision's `main` branch, or by {ref}`compiling PhotonVision locally <docs/contributing/building-photon:Build Instructions>`.
 
 :::{warning}
 If testing a pre-release version of PhotonVision with a robot, PhotonLib must be updated to match the version downloaded! If not, packet schema definitions may not match and unexpected things will occur. To update PhotonLib, refer to {ref}`installing specific version of PhotonLib<docs/programming/photonlib/adding-vendordep:Install Specific Version - Java/C++>`.
 :::
 
-GitHub Actions builds pre-release version of PhotonVision automatically on PRs and on each commit merged to master. To test a particular commit to master, navigate to the [PhotonVision commit list](https://github.com/PhotonVision/photonvision/commits/master/) and click on the check mark (below). Scroll to "Build / Build fat JAR - PLATFORM", click details, and then summary. From here, JAR and image files can be downloaded to be flashed or uploaded using "Offline Update".
+GitHub Actions builds pre-release version of PhotonVision automatically on PRs and on each commit merged to main. To test a particular commit to main, navigate to the [PhotonVision commit list](https://github.com/PhotonVision/photonvision/commits/main/) and click on the check mark (below). Scroll to "Build / Build fat JAR - PLATFORM", click details, and then summary. From here, JAR and image files can be downloaded to be flashed or uploaded using "Offline Update".
 
 ```{image} images/gh_actions_1.png
 :alt: Github Actions Badge

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

@@ -21,7 +21,7 @@ AprilTag pipelines come with reasonable defaults to get you up and running with
 
 ### Target Family
 
-Target families are defined by two numbers (before and after the h). The first number is the number of bits the tag is able to encode (which means more tags are available in the respective family) and the second is the hamming distance. Hamming distance describes the ability for error correction while identifying tag ids. A high hamming distance generally means that it will be easier for a tag to be identified even if there are errors. However, as hamming distance increases, the number of available tags decreases. The 2024 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/master/tag36h11).
+Target families are defined by two numbers (before and after the h). The first number is the number of bits the tag is able to encode (which means more tags are available in the respective family) and the second is the hamming distance. Hamming distance describes the ability for error correction while identifying tag ids. A high hamming distance generally means that it will be easier for a tag to be identified even if there are errors. However, as hamming distance increases, the number of available tags decreases. The 2024 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/main/tag36h11).
 
 ### Decimate
 

docs/source/docs/calibration/calibration.md

@@ -83,7 +83,7 @@ More info on what these parameters mean can be found in [OpenCV's docs](https://
 
 Below these outputs are the snapshots collected for calibration, along with a per-snapshot mean reprojection error. A snapshot with a larger reprojection error might indicate a bad snapshot, due to effects such as motion blur or misidentified chessboard corners.
 
-Calibration images can also be extracted from the downloaded JSON file using [this Python script](https://raw.githubusercontent.com/PhotonVision/photonvision/master/devTools/calibrationUtils.py). This script will unpack calibration images, and also generate a VNL file for use [with mrcal](https://mrcal.secretsauce.net/).
+Calibration images can also be extracted from the downloaded JSON file using [this Python script](https://raw.githubusercontent.com/PhotonVision/photonvision/main/devTools/calibrationUtils.py). This script will unpack calibration images, and also generate a VNL file for use [with mrcal](https://mrcal.secretsauce.net/).
 
 ```
 python3 /path/to/calibrationUtils.py path/to/photon_calibration.json /path/to/output/folder

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

@@ -167,30 +167,31 @@ repositories {
 }
 ```
 
+### VSCode Test Runner Extension
+
+With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack), you can get the Test Runner for Java and Gradle for Java extensions. This lets you easily run specific tests through the IDE:
+
+```{image} assets/vscode-runner-tests.png
+:alt: An image showing how unit tests can be ran in VSCode through the Test Runner for Java extension.
+```
+
+To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.
+
 ### Debugging PhotonVision Running Locally
 
-One way is by running the program using gradle with the {code}`--debug-jvm` flag. Run the program with {code}`./gradlew run --debug-jvm`, and attach to it with VSCode by adding the following to {code}`launch.json`. Note args can be passed with {code}`--args="foobar"`.
+Unit tests can instead be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
 
-```
-{
-   // Use IntelliSense to learn about possible attributes.
-   // Hover to view descriptions of existing attributes.
-   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-   "version": "0.2.0",
-   "configurations": [
-      {
-            "type": "java",
-            "name": "Attach to Remote Program",
-            "request": "attach",
-            "hostName": "localhost",
-            "port": "5005",
-            "projectName": "photon-core",
-      }
-   ]
-}
+```{image} assets/vscode-gradle-tests.png
+:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
 ```
 
-PhotonVision can also be run using the gradle tasks plugin with {code}`"args": "--debug-jvm"` added to launch.json.
+However, this will run all tests in a subproject.
+
+Similarly, a local instance of PhotonVision can be debugged in the same way using the Gradle ``run`` task. In both cases, additional arguments can be specified:
+
+```{image} assets/vscode-gradle-args.png
+:alt: An image showing how VSCode gradle tasks can specify additional arguments.
+```
 
 ### Debugging PhotonVision Running on a CoProcessor
 

docs/source/docs/examples/aimandrange.md

@@ -1,6 +1,6 @@
 # Combining Aiming and Getting in Range
 
-The following example is from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/master/photonlib-java-examples/aimandrange)/[C++](https://github.com/PhotonVision/photonvision/tree/master/photonlib-cpp-examples/aimandrange)).
+The following example is from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/main/photonlib-java-examples/aimandrange)/[C++](https://github.com/PhotonVision/photonvision/tree/main/photonlib-cpp-examples/aimandrange)).
 
 ## Knowledge and Equipment Needed
 

docs/source/docs/examples/aimingatatarget.md

@@ -1,6 +1,6 @@
 # Aiming at a Target
 
-The following example is from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/master/photonlib-java-examples/aimattarget)).
+The following example is from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/main/photonlib-java-examples/aimattarget)).
 
 ## Knowledge and Equipment Needed
 

docs/source/docs/examples/poseest.md

@@ -1,6 +1,6 @@
 # Using WPILib Pose Estimation, Simulation, and PhotonVision Together
 
-The following example comes from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/master/photonlib-java-examples/poseest)/[C++](https://github.com/PhotonVision/photonvision/tree/master/photonlib-cpp-examples/poseest)/[Python](https://github.com/PhotonVision/photonvision/tree/master/photonlib-python-examples/poseest)).  Full code is available at that links.
+The following example comes from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/main/photonlib-java-examples/poseest)/[C++](https://github.com/PhotonVision/photonvision/tree/main/photonlib-cpp-examples/poseest)/[Python](https://github.com/PhotonVision/photonvision/tree/main/photonlib-python-examples/poseest)).  Full code is available at that links.
 
 ## Knowledge and Equipment Needed
 

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/objectDetection/about-object-detection.md

@@ -47,6 +47,6 @@ Coming soon!
 PhotonVision currently ONLY supports YOLOv5 models trained and converted to `.rknn` format for RK3588 CPUs! Other models require different post-processing code and will NOT work. The model conversion process is also highly particular. Proceed with care.
 :::
 
-Our [pre-trained NOTE model](https://github.com/PhotonVision/photonvision/blob/master/photon-server/src/main/resources/models/note-640-640-yolov5s.rknn) is automatically extracted from the JAR when PhotonVision starts, only if a file named “note-640-640-yolov5s.rknn” and "labels.txt" does not exist in the folder `photonvision_config/models/`. This technically allows power users to replace the model and label files with new ones without rebuilding Photon from source and uploading a new JAR.
+Our [pre-trained NOTE model](https://github.com/PhotonVision/photonvision/blob/main/photon-server/src/main/resources/models/note-640-640-yolov5s.rknn) is automatically extracted from the JAR when PhotonVision starts, only if a file named “note-640-640-yolov5s.rknn” and "labels.txt" does not exist in the folder `photonvision_config/models/`. This technically allows power users to replace the model and label files with new ones without rebuilding Photon from source and uploading a new JAR.
 
 Use a program like WinSCP or FileZilla to access your coprocessor's filesystem, and copy the new `.rknn` model file into /home/pi. Next, SSH into the coprocessor and `sudo mv /path/to/new/model.rknn /opt/photonvision/photonvision_config/models/note-640-640-yolov5s.rknn`. Repeat this process with the labels file, which should contain one line per label the model outputs with no training newline. Next, restart PhotonVision via the web UI.

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

@@ -60,7 +60,7 @@ Use the `getLatestResult()`/`GetLatestResult()` (Java and C++ respectively) to o
 ```
 
 :::{note}
-Unlike other vision software solutions, using the latest result guarantees that all information is from the same timestamp. This is achievable because the PhotonVision backend sends a byte-packed string of data which is then deserialized by PhotonLib to get target data. For more information, check out the [PhotonLib source code](https://github.com/PhotonVision/photonvision/tree/master/photon-lib).
+Unlike other vision software solutions, using the latest result guarantees that all information is from the same timestamp. This is achievable because the PhotonVision backend sends a byte-packed string of data which is then deserialized by PhotonLib to get target data. For more information, check out the [PhotonLib source code](https://github.com/PhotonVision/photonvision/tree/main/photon-lib).
 :::
 
 ## Checking for Existence of Targets

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.
 

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

@@ -29,7 +29,7 @@ Limelights have a different installation processes. Simply connect the limelight
 Unless otherwise noted in release notes or if updating from the prior years version, to update PhotonVision after the initial installation, use the offline update option in the settings page with the downloaded jar file from the latest release.
 
 :::{note}
-Limelight 2, 2+, and 3 will need a [custom hardware config file](https://github.com/PhotonVision/photonvision/tree/master/docs/source/docs/advanced-installation/sw_install/files) for lighting to work. Currently only limelight 2 and 2+ files are available.
+Limelight 2, 2+, and 3 will need a [custom hardware config file](https://github.com/PhotonVision/photonvision/tree/main/docs/source/docs/advanced-installation/sw_install/files) for lighting to work. Currently only limelight 2 and 2+ files are available.
 :::
 
 :::{note}

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/setup.py

@@ -29,7 +29,7 @@ if m:
         split = gitDescribeResult.split("-")
         if len(split) == 3:
             year, commits, sha = split
-            # Chop off leading v from "v2024.1.2", and use "post" for commits to master since
+            # Chop off leading v from "v2024.1.2", and use "post" for commits to main since
             versionString = f"{year[1:]}post{commits}"
             print("using dev release " + versionString)
         else:

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() {

scripts/install.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 # The install script is now in photon-image-modifier
 # this downloads and runs that install script for people using the old short URL
-wget -q https://raw.githubusercontent.com/PhotonVision/photon-image-modifier/master/install.sh -O ./real_install.sh
+wget -q https://raw.githubusercontent.com/PhotonVision/photon-image-modifier/main/install.sh -O ./real_install.sh
 chmod +x ./real_install.sh
 ./real_install.sh "$@"
 rm ./real_install.sh

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 {