bump rubik image (#2424)

## Description

Leadership team identified gaps in how we introduce new developers to
the community.

Additional docs for onboarding new developers, helping clarify roles and
what counts as a "good" PR.

## Meta

Merge checklist:
- [ X] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [ X] The description documents the _what_ and _why_, including events
that led to this PR
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with all settings going back to the previous seasons's last release
(seasons end after champs ends)
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added
- [ ] If this PR adds a dependency, the license has been checked for
compatibility and steps taken to follow it

.github/pull_request_template.md

@@ -16,3 +16,4 @@ Merge checklist:
 - [ ] If this PR touches configuration, this is backwards compatible with all settings going back to the previous seasons's last release (seasons end after champs ends)
 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated
 - [ ] If this PR addresses a bug, a regression test for it is added
+- [ ] If this PR adds a dependency, the license has been checked for compatibility and steps taken to follow it

.github/workflows/build.yml

@@ -10,7 +10,8 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.1.2
+  # WHEN BUMPING, UPDATE RUBIK IMAGE TO POINT TO VAR INSTEAD OF BEING HARDCODED
+  IMAGE_VERSION: v2026.1.3
 
 jobs:
 
@@ -443,9 +444,32 @@ jobs:
       - uses: actions/download-artifact@v7
         with:
           name: ${{ matrix.artifact-name }}
-      - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+      # The jar is run twice to exercise different code paths.
+      - run: |
+          echo "=== First run ==="
+          java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+          echo "=== Checking for files to corrupt ==="
+          find ~ -type f \( -name "*.so" -o -name "*.dylib" \) | head -20
+          if [ -d ~/.wpilib ]; then
+            echo "~/.wpilib directory exists"
+            echo "Contents of ~/.wpilib:"
+            find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | head -10
+            RANDOM_FILE=$(find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | sort -R | head -n 1)
+            if [ ! -z "$RANDOM_FILE" ]; then
+              echo "Corrupting file: $RANDOM_FILE"
+              echo "corrupted data" > "$RANDOM_FILE"
+            else
+              echo "No .so or .dylib files found in ~/.wpilib"
+            fi
+          else
+            echo "~/.wpilib directory does not exist"
+          fi
+          echo "=== Second run ==="
+          java -jar ${{ matrix.extraOpts }} *.jar --smoketest
         if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
+      - run: |
+          ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
+          ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
         if: ${{ (matrix.os) == 'windows-latest' }}
 
   build-image:
@@ -527,11 +551,18 @@ jobs:
             plat_override: LINUX_RK3588_64
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
             minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            artifact-name: LinuxArm64
+            image_suffix: orangepi6plus
+            plat_override: LINUX_AARCH64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi6plus.img.xz
+            minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: rubikpi3
             plat_override: LINUX_QCS6490
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz
+            # CHANGE BACK TO $IMAGE_VERSION AFTER BUMPING
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2026.1.4/photonvision_rubikpi3.tar.xz
             minimum_free_mb: 1024
             root_location: 'offset=569376768'
             shrink_image: 'no'

.gitignore

@@ -156,3 +156,8 @@ photon-client/playwright-report/
 photon-client/blob-report/
 photon-client/playwright/.cache/
 photon-client/playwright/.auth/
+
+# Nix files
+shell.nix
+flake.nix
+flake.lock

.wpiformat

@@ -7,3 +7,7 @@ modifiableFileExclude {
   photon-targeting/src/generated/
   photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
 }
+
+licenseUpdateExclude {
+  CombinedRuntimeLoader.java
+}

ExternalLicenses/ApacheCommons-License

@@ -0,0 +1,201 @@
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+      incurred by, or claims asserted against, such Contributor by reason
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ExternalLicenses/EJML-License

@@ -0,0 +1,176 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
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+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
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+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
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+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
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+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
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+      any Contribution intentionally submitted for inclusion in the Work
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+      this License, without any additional terms or conditions.
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+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
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+
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+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
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+
+   END OF TERMS AND CONDITIONS

ExternalLicenses/Javalin-LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
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+      the copyright owner that is granting the License.
+
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+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
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+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
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+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
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+   Copyright 2017 David Åse
+
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ExternalLicenses/OSHI-License

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2010-2023 The OSHI Project Contributors: https://github.com/oshi/oshi/graphs/contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
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+
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+SOFTWARE.

ExternalLicenses/QuickBuffers-License

@@ -0,0 +1,201 @@
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+
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ExternalLicenses/Ultralytics-License

@@ -0,0 +1,661 @@
+                    GNU AFFERO GENERAL PUBLIC LICENSE
+                       Version 3, 19 November 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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+                     END OF TERMS AND CONDITIONS
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+For more information on this, and how to apply and follow the GNU AGPL, see
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ExternalLicenses/WPILib-License

@@ -0,0 +1,24 @@
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
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+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

ExternalLicenses/diozero-License

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016 - 2021, diozero
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
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+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

ExternalLicenses/msgpack-java-License

@@ -0,0 +1,202 @@
+
+                                 Apache License
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+
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+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

ExternalLicenses/sqlite-jdbc-License

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

ExternalLicenses/zt-zip-License

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright 2012 ZeroTurnaround LLC.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

build.gradle

@@ -5,7 +5,7 @@ plugins {
     id "com.diffplug.spotless" version "8.1.0"
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2026.2.1"
-    id 'org.photonvision.tools.WpilibTools' version '2.3.3-photon'
+    id 'org.photonvision.tools.WpilibTools' version '2.4.1-photon'
     id 'com.google.protobuf' version '0.9.3' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id "org.ysb33r.doxygen" version "2.0.0" apply false
@@ -38,10 +38,10 @@ ext {
     openCVversion = "4.10.0-3"
     javalinVersion = "6.7.0"
     libcameraDriverVersion = "v2026.0.0"
-    rknnVersion = "v2026.0.1"
-    rubikVersion = "v2026.0.1"
+    rknnVersion = "dev-v2026.0.1-1-g89b2888"
+    rubikVersion = "dev-v2026.0.1-4-g13d6279"
     frcYear = "2026"
-    mrcalVersion = "v2026.0.0";
+    mrcalVersion = "dev-v2026.0.0-1-g239d80e";
 
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
@@ -66,8 +66,8 @@ spotless {
         }
         toggleOffOn()
         googleJavaFormat()
-        indentWithTabs(2)
-        indentWithSpaces(4)
+        leadingSpacesToTabs(2)
+        leadingTabsToSpaces(4)
         removeUnusedImports()
         trimTrailingWhitespace()
         endWithNewline()
@@ -78,7 +78,7 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         greclipse()
-        indentWithSpaces(4)
+        leadingTabsToSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }
@@ -88,7 +88,7 @@ spotless {
             exclude '**/build/**', '**/build-*/**', '**/node_modules/**'
         }
         trimTrailingWhitespace()
-        indentWithSpaces(2)
+        leadingTabsToSpaces(2)
         endWithNewline()
     }
 }

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

@@ -1,6 +1,5 @@
 {
   "deviceName" : "Limelight 2+",
-  "supportURL" : "https://limelightvision.io",
   "ledPins" : [ 13, 18 ],
   "ledsCanDim" : true,
   "ledPWMFrequency" : 1000,

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

@@ -1,6 +1,5 @@
 {
   "deviceName" : "Limelight 2",
-  "supportURL" : "https://limelightvision.io",
   "ledPins" : [ 17, 18 ],
   "ledsCanDim" : false,
   "vendorFOV" : 75.76079874010732

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

@@ -167,15 +167,79 @@ repositories {
 }
 ```
 
-### VSCode Test Runner Extension
+### Debugging PhotonVision Running on a CoProcessor
 
-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:
+We can use Java's remote debug capabilities to run the PhotonVision JAR file on a Coprocessor, and attach a debugger running on a desktop/laptop to the process remotely. Set up a VSCode configuration in {code}`launch.json`
 
-```{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.
+```json
+{
+   // 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 CoProcessor",
+         "request": "attach",
+         "hostName": "photonvision.local",
+         "port": "5801",
+         "projectName": "photon-core"
+     },
+   ]
+}
 ```
 
-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.
+Stop any existing instance of PhotonVision by running {code}`systemctl stop photonvision`.
+
+Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=y,address=*:5801 photonvision.jar` -- the JVM will wait for a debugger to connect before running `main`.
+
+Once the program says it is listening on port 5801, launch the debug configuration in VSCode.
+
+The program will wait for the VSCode debugger to attach before proceeding.
+
+
+## Running Tests
+
+### Running Default Tests
+
+Most unit tests [run as "headless" tests](https://docs.gradle.org/current/userguide/java_testing.html#test_filtering) (i.e have no UI component during the test) by default.
+To run a test, pass the test name(s):
+
+```{eval-rst}
+.. tab-set::
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ``./gradlew test --tests <Test Name>``
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ``./gradlew test --tests <Test Name>``
+
+   .. tab-item:: Windows (cmd)
+      :sync: windows
+
+      ``gradlew test --tests <Test Name>``
+```
+
+### Debugging PhotonVision Tests Locally
+
+Unit tests can also be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
+
+```{image} assets/vscode-gradle-tests.png
+:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
+```
+
+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.
+```
 
 ### Running Tests With UI
 
@@ -200,58 +264,21 @@ By default, tests are run with UI disabled so they are not obtrusive during a bu
       ``gradlew test -PenableTestUi``
 ```
 
-### Debugging PhotonVision Running Locally
+### VSCode Test Runner Extension
 
-Unit tests can instead be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
+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-gradle-tests.png
-:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
+```{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.
 ```
 
-However, this will run all tests in a subproject.
+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.
 
-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
-
-Set up a VSCode configuration in {code}`launch.json`
-
-```json
-{
-   // 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 CoProcessor",
-         "request": "attach",
-         "hostName": "photonvision.local",
-         "port": "5801",
-         "projectName": "photon-core"
-     },
-   ]
-}
-```
-
-Stop any existing instance of PhotonVision.
-
-Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5801 photonvision.jar`
-
-Once the program says it is listening on port 5801, launch the debug configuration in VSCode.
-
-The program will wait for the VSCode debugger to attach before proceeding.
-
-### Running examples
+## Running examples
 
 You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the photonlib-*-examples subdirectories for each language.
 
-#### Running C++/Java
+### Running C++/Java
 
 PhotonLib must first be published to your local maven repository. This will also copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though not yet supported.
 
@@ -265,7 +292,7 @@ PhotonLib must first be published to your local maven repository. This will also
 ~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
 ```
 
-#### Running Python
+### Running Python
 
 PhotonLibPy must first be built into a wheel.
 
@@ -289,7 +316,7 @@ Then, run the examples:
 > run.bat <example name>
 ```
 
-#### Downloading Pipeline Artifacts
+### Downloading Pipeline Artifacts
 
 Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from pipelines by run ID and name:
 
@@ -297,13 +324,13 @@ Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from
 ~/photonvision$ gh run download 11759699679 -n jar-Linux
 ```
 
-#### MacOS Builds
+### MacOS Builds
 
 MacOS builds are not published to releases as MacOS is not an officially
 supported platform. However, MacOS builds are still available from the MacOS
 build action, which can be found [here](https://github.com/PhotonVision/photonvision/actions/workflows/build.yml).
 
-#### Forcing Object Detection in the UI
+### Forcing Object Detection in the UI
 
 In order to force the Object Detection interface to be visible, it's necessary to hardcode the platform that `Platform.java` returns. This can be done by changing the function that detects the RK3588S/QCS6490 platform to always return true, and changing the `getCurrentPlatform()` function to always return the RK3588S/QCS6490 architecture.
 Alternatively, it's possible to modify the frontend code by changing all instances of `useSettingsStore().general.supportedBackends.length > 0` to `true`, which will force the card to render.

docs/source/docs/contributing/guidelines.md

@@ -0,0 +1,68 @@
+# Welcome!
+
+First and foremost, welcome to PhotonVision Development! We're pumped that you're interested to jump in, and help out!
+
+Like most things in FIRST, PhotonVision is reliant on the hard work of dedicated volunteers. It doesn't exist without you. You're joining in with a strong tradition of open-source software development.
+
+This page talks a bit about how we develop PhotonVision, as a community. It applies to all repos and community aspects for PhotonVision.
+
+## Getting Started
+
+The very first thing we'd recommend - get your computer set up to be able to build and run PhotonVision. [Docs for that are here](building-photon.md).
+
+The two best ways to figure out what to do first:
+
+1. Take a look at [the main PhotonVision Repo's Issues](https://github.com/PhotonVision/photonvision/issues) - especially those marked `bug` or `good first issue`!
+2. Connect on [the Discord Server](https://discord.gg/wYxTwym) - Introduce yourself, and talk about what you're interested in!
+
+From there - assign yourself to an issue if you intend to work it. Create a Fork in github, and make and test your changes. Once passing builds, meeting your expectations, and passing CI, open a pull request back to the main repo.
+
+## Submitting A PR
+
+Pull Requests are the mechanism used to ensure we only merge high-quality, reviewed, concrete, and organized changes to the codebase.
+
+Things that peer reviewers will look for include:
+
+* All CI checks are passing on the server.
+* Documentation - does the PR match the issue? Is the description detailed?
+* Cohesiveness - does the PR express a singular, related set of changes?
+* Architecture - is the code consistent with other code around it? Is it maintainable for the long term?
+* Testing - have unit tests been added as appropriate? Has the change been tested on real hardware?
+
+Work as you can to clean up any changes requested. Once all changes are addressed, the contain should get merged, and included in the next release! Horary!
+
+## General Developer Interaction
+
+The main guiding principle: remember that we're all volunteers. While promptness is always appreciated (and occasionally required as release deadlines approach), it's important to remember each individual is only contributing when their personal schedule allows. Expect delays, prefer asynchronous communication, and be polite with reminders.
+
+While most of the community members are either FIRST robotics mentors or students, the PhotonVision development team is primarily focused on delivering high quality software. Mentorship can and does occur, but is not the primary goal. Members are expected to do their learning fairly independently.
+
+Seek to build trust in the quality of your work. Think carefully on your opinions before asking others to think about them too.
+
+Bias toward action, and productionizable code. Limit the number of active PR's to help keep focus.
+
+Finally, be sure to embody the ethos of Gracious Professionalism in all your actions, on all platforms in the project. See more in our [code of conduct](https://github.com/PhotonVision/.github/blob/738dfcb792fdbfc2e8408c0135e389179fc483c0/codeofcoduct.md)
+
+### AI Usage
+
+Coding assistants driven by Large Language Models ("AI") are extremely powerful tools, and have been used on more than one occasion to accelerate development.
+
+PhotonVision still maintains a fundamental philosophy that the human submitting the pull request is responsible for the code and its behavior, regardless of the tools used to create it.
+
+These tools can also generate a large volume of code changes, very rapidly. The above guidelines on PR quality still apply - large, undirected, or overly-scoped PR's are likely to be ignored, regardless of tooling used to generate them.
+
+### Violations
+
+We're thankful that we've rarely experienced major issues in our community. In all cases, the project leads shall have the final decision making authority when dealing with violations of these guidelines.
+
+## Yearly Development Cycle
+
+PhotonVision's Development Cycle follows the same general flow as the FRC Build Season. Larger experiments get done over the summer, fall focuses on testing and "production-readiness", build season focuses on keeping all teams running smoothly.
+
+The actual priorities also shift as developers have more or time to commit, or express interest in specific direction.
+
+PR's are absolutely always welcome. Just note depending on the scope and size, they may not be reviewed or merged immediately.
+
+## Project Governance
+
+This project is jointly lead by Matt and Banks, who may be contacted on Discord. They serve as a "Benevolent leader for life" role, coordinating and approving architecture as needed, and curating the team of developers who have Pull Request review and merge responsibilities.

docs/source/docs/contributing/index.md

@@ -1,6 +1,7 @@
 # Contributing to PhotonVision Projects
 
 ```{toctree}
+guidelines
 building-photon
 building-docs
 linting

docs/source/docs/hardware/customhardware.md

@@ -103,9 +103,9 @@ If your hardware contains a camera with a known field of vision, it can be enter
       }
 ```
 
-## Cosmetic & Branding
+## Device Name Branding
 
-To help differentiate your hardware from other solutions, some customization is allowed.
+To help differentiate your hardware from other solutions, a device name may be set.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -113,8 +113,6 @@ To help differentiate your hardware from other solutions, some customization is
 
       {
         "deviceName" : "Super Cool Custom Hardware",
-        "deviceLogoPath" : "",
-        "supportURL" : "https://cat-bounce.com/",
       }
 ```
 
@@ -132,8 +130,6 @@ Here is a complete example `hardwareConfig.json`:
 
       {
         "deviceName" : "Blinky McBlinkface",
-        "deviceLogoPath" : "",
-        "supportURL" : "https://www.youtube.com/watch?v=b-CvLWbfZhU",
         "ledPins" : [2, 13],
         "ledsCanDim" : true,
         "ledBrightnessRange" : [ 0, 100 ],

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

@@ -52,10 +52,10 @@ Only use a static IP when connected to the **robot radio**, and never when testi
 3. Open the settings tab on the left pane.
 4. Under the Networking section, set your team number.
 5. Change your IP to Static.
-6. Set your coprocessor's IP address to “10.TE.AM.11”. More information on IP format can be found [here](https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/ip-configurations.html#on-the-field-static-configuration).
+6. Set your coprocessor's IP address to “10.TE.AM.xx”. "xx" should be a unique number not currently used by another device on the robot in the `.6-.19` range. More information on IP format can be found [here](https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/ip-configurations.html#on-the-field-static-configuration).
 7. Click the “Save” button.
 
-Power-cycle your robot and then you will now be access the PhotonVision dashboard at `10.TE.AM.11:5800`.
+Power-cycle your robot and then you will now be access the PhotonVision dashboard at `10.TE.AM.xx:5800`.
 
 ```{image} images/static.png
 :alt: Correctly set static IP

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

@@ -57,7 +57,7 @@ Limelight models will need a [custom hardware config file](https://github.com/Ph
 The Qualcomm Launcher caches files. If you flash multiple times, you may need to clear the cache by navigating to your temp directory, and deleting the `qualcomm-launcher` folder.
 :::
 
-To flash the Rubik Pi 3 coprocessor, it's necessary to use the [Qualcomm Launcher](https://softwarecenter.qualcomm.com/catalog/item/Qualcomm_Launcher). Upload a custom image by selecting the *Custom* option in the launcher. Choose the downloaded PhotonVision `.tar.xz` file and follow the prompts to complete the installation. It is recommended to skip the *Configure Login* process, as PhotonVision will handle the necessary settings.
+To flash the Rubik Pi 3 coprocessor, it's necessary to use the [Qualcomm Launcher](https://softwarecenter.qualcomm.com/catalog/item/Qualcomm_Launcher). Upload a custom image by selecting the *Custom* option in the launcher. If this is your first time flashing this board, ensure you check the USB firmware option. Choose the downloaded PhotonVision `.tar.xz` file and follow the prompts to complete the installation. It is recommended to skip the *Configure Login* process, as PhotonVision will handle the necessary settings.
 
 ### Alternative Flashing Method (advanced users only)
 

docs/source/docs/simulation/simulation-java.md

@@ -95,6 +95,27 @@ These `TargetModel` are paired with a target pose to create a `VisionTargetSim`.
 The pose of a `VisionTargetSim` object can be updated to simulate moving targets. Note, however, that this will break latency simulation for that target.
 :::
 
+To use simulated object detection, you must provide an objDetClassId (zero-indexed class ID) and confidence value. When you set objDetConf to -1, the simulation computes confidence based on the area of the target in the camera's field of view. To simulate a object detection model with one class (fuel, index 0) and specify confidence, you'd write:
+
+```{eval-rst}
+.. tab-set-code::
+
+   .. code-block:: java
+
+      // arbitrary position on field
+      final var targetPose = new Pose3d(new Translation3d(2, 0, 0), new Rotation3d());
+      // Class id, zero-indexed
+      final int classId = 0;
+      // Confidence, between 0 and 1.
+      final float conf = 0.67f;
+      // 6 inch diameter ball
+      final TargetModel ballModel = new TargetModel(Units.inchesToMeters(6));
+      final var ballTargetSim = new VisionTargetSim(targetPose, ballModel, classId, conf);
+
+      // Add this vision target to the vision system simulation to make it visible
+      visionSim.addVisionTargets(visionTarget);
+```
+
 For convenience, an `AprilTagFieldLayout` can also be added to automatically create a target for each of its AprilTags.
 
 ```{eval-rst}
@@ -196,6 +217,42 @@ If the camera is mounted on a mobile mechanism (like a turret) this transform ca
       visionSim.adjustCamera(cameraSim, robotToCamera);
 ```
 
+## Low-Resource Vision Simulation with Photonvision
+
+By default, PhotonCameraSim renders two simulated camera streams using OpenCV:
+
+- Raw stream - The unprocessed camera view
+- Processed stream - The camera view with vision processing overlays
+
+These streams are nice if you want to actually view the simulated images, but they can be computationally expensive. This may cause lag and reduced simulation performance on lower-powered computers.
+Lightweight Configuration
+
+The following configuration disables both streams while still allowing tag detection and pose simulation to work. It's not perfect, but it's much better performance-wise than the default configuration.
+
+.. code-block:: java
+
+     // lightweight config version
+     // var cameraProperties = new SimCameraProperties();
+     // cameraSim = new PhotonCameraSim(camera, cameraProperties, aprilTagLayout);
+     // cameraSim.enableRawStream(false);        // disables raw image stream
+     // cameraSim.enableProcessedStream(false);  // disables processed image stream
+
+**Use Case**
+
+This configuration is ideal for Chromebooks or low-spec machines where rendering the simulated camera images causes lag, but vision data is still desired for testing.
+
+**What Still Works**
+
+- AprilTag detection
+- Pose estimation
+- NetworkTables data publishing
+- Robot positioning and targeting
+
+**What's Disabled**
+
+- Visual camera stream rendering
+- Real-time visual debugging of camera output
+
 ## Updating The Simulation World
 
 To update the `VisionSystemSim`, we simply have to pass in the simulated robot pose periodically (in `simulationPeriodic()`).

docs/source/docs/troubleshooting/unix-commands.md

@@ -132,3 +132,41 @@ journalctl --output cat -u photonvision -f
 ```
 
 `--output cat` is used to prevent journalctl from printing its own timestamps, because we log our own timestamps.
+
+### lsusb
+
+[lsusb](https://linux.die.net/man/8/lsusb) is a command that can be used to find all the USB buses on a device. When run with the `--tree` flag, it will give you more information on the available ports and connected devices. See the example below.
+
+```
+photon@photonvision:~$ lsusb -t
+/:  Bus 001.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/4p, 480M
+    |__ Port 001: Dev 002, If 0, Class=Video, Driver=uvcvideo, 480M
+    |__ Port 001: Dev 002, If 1, Class=Video, Driver=uvcvideo, 480M
+    |__ Port 001: Dev 002, If 2, Class=Audio, Driver=snd-usb-audio, 480M
+    |__ Port 001: Dev 002, If 3, Class=Audio, Driver=snd-usb-audio, 480M
+    |__ Port 002: Dev 003, If 0, Class=Video, Driver=uvcvideo, 480M
+    |__ Port 002: Dev 003, If 1, Class=Video, Driver=uvcvideo, 480M
+/:  Bus 002.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/4p, 5000M
+    |__ Port 003: Dev 002, If 0, Class=Vendor Specific Class, Driver=ax_usb_nic, 5000M
+/:  Bus 003.Port 001: Dev 001, Class=root_hub, Driver=xhci-hcd/1p, 480M
+```
+
+The most important information from this list is the bandwitdth. This is the last number we see, followed by an M (megabytes).
+
+### usbtop
+
+[usbtop](https://github.com/aguinet/usbtop) is a program that can be used to monitor traffic on your device's USB buses. To use it, run `sudo modprobe usbmon` then `sudo usbtop`. An example output can be found below.
+
+```
+Bus ID 1 (Raw USB traffic, bus number 1)	To device	From device
+  Device ID 1 :			                    0.00 kb/s	0.00 kb/s
+  Device ID 2 :			                    141.71 kb/s	23595.81 kb/s
+  Device ID 3 :			                    0.13 kb/s	0.13 kb/s
+Bus ID 2 (Raw USB traffic, bus number 2)	To device	From device
+  Device ID 1 :			                    0.00 kb/s	0.00 kb/s
+  Device ID 2 :			                    450.42 kb/s	17.45 kb/s
+Bus ID 3 (Raw USB traffic, bus number 3)	To device	From device
+  Device ID 1 :			                    0.00 kb/s	0.00 kb/s
+```
+
+The above output can be used to debug USB bandwidth issues, by comparing the size of data being sent with the bandwidth limits (bandwidth limits can be found using lsusb).

photon-client/eslint.config.mjs

@@ -4,7 +4,7 @@ import { defineConfigWithVueTs, vueTsConfigs } from "@vue/eslint-config-typescri
 import skipFormattingConfig from "@vue/eslint-config-prettier/skip-formatting";
 
 export default defineConfigWithVueTs(
-  pluginVue.configs["flat/recommended"],
+  pluginVue.configs["flat/recommended-error"],
   vueTsConfigs.recommended,
   skipFormattingConfig,
   {
@@ -26,10 +26,24 @@ export default defineConfigWithVueTs(
 
       semi: ["error", "always"],
       "eol-last": "error",
+      eqeqeq: "error",
+      "no-useless-concat": "error",
       "object-curly-spacing": ["error", "always"],
       "quote-props": ["error", "as-needed"],
       "no-case-declarations": "off",
+      "vue/eqeqeq": "error",
+      "vue/no-useless-concat": "error",
+      "vue/no-constant-condition": "error",
+      "vue/no-empty-pattern": "error",
+      "vue/no-undef-directives": "error",
+      "vue/no-undef-properties": "error",
+      "vue/no-unused-properties": "error",
+      "vue/no-unused-refs": "error",
+      "vue/no-use-v-else-with-v-for": "error",
+      "vue/no-useless-mustaches": "error",
+      "vue/no-useless-v-bind": "error",
       "vue/require-default-prop": "off",
+      "vue/v-for-delimiter-style": "error",
       "vue/v-on-event-hyphenation": "off",
       "@typescript-eslint/no-explicit-any": "off",
       "vue/valid-v-slot": ["error", { allowModifiers: true }]

photon-client/package.json

@@ -41,11 +41,11 @@
     "@vue/eslint-config-typescript": "^14.5.0",
     "@vue/tsconfig": "^0.7.0",
     "eslint": "^9.31.0",
-    "eslint-plugin-vue": "^10.3.0",
+    "eslint-plugin-vue": "^10.7.0",
     "prettier": "^3.6.2",
     "sass": "^1.89.2",
     "typescript": "^5.8.3",
-    "vite": "^7.0.5",
+    "vite": "^8.0.2",
     "vite-plugin-vuetify": "^2.1.1"
   }
 }

photon-client/playwright.config.ts

@@ -74,7 +74,7 @@ export default defineConfig({
 
   /* Run your local dev server before starting the tests */
   webServer: {
-    command: process.platform == "win32" ? "" : "./" + "gradlew run",
+    command: process.platform === "win32" ? "" : "./gradlew run",
     url: "http://localhost:5800",
     timeout: 300 * 1000,
     reuseExistingServer: !process.env.CI,

photon-client/src/components/app/photon-3d-visualizer.vue

@@ -50,8 +50,8 @@ const drawTargets = async (targets: PhotonTarget[]) => {
     return;
   }
 
-  if (theme.global.name.value === "LightTheme") scene.background = new Color(0xa9a9a9);
-  else scene.background = new Color(0x000000);
+  if (theme.global.current.value.dark) scene.background = new Color(0x000000);
+  else scene.background = new Color(0xa9a9a9);
 
   scene.remove(...previousTargets);
   previousTargets = [];
@@ -158,8 +158,8 @@ onMounted(async () => {
   if (!canvas) return;
   renderer = new WebGLRenderer({ canvas: canvas });
 
-  if (theme.global.name.value === "LightTheme") scene.background = new Color(0xa9a9a9);
-  else scene.background = new Color(0x000000);
+  if (theme.global.current.value.dark) scene.background = new Color(0x000000);
+  else scene.background = new Color(0xa9a9a9);
 
   onWindowResize();
   window.addEventListener("resize", onWindowResize);
@@ -234,7 +234,7 @@ watchEffect(() => {
         <v-btn
           style="width: 100%"
           color="buttonActive"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="resetCamFirstPerson"
         >
           First Person
@@ -244,7 +244,7 @@ watchEffect(() => {
         <v-btn
           style="width: 100%"
           color="buttonActive"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="resetCamThirdPerson"
         >
           Third Person

photon-client/src/components/app/photon-calibration-visualizer.vue

@@ -208,8 +208,8 @@ onMounted(async () => {
   const ambientLight = new AmbientLight(0xffffff, 0.6);
   scene.add(ambientLight);
 
-  if (theme.global.name.value === "LightTheme") scene.background = new Color(0xa9a9a9);
-  else scene.background = new Color(0x000000);
+  if (theme.global.current.value.dark) scene.background = new Color(0x000000);
+  else scene.background = new Color(0xa9a9a9);
 
   // Initialize a stable aspect ratio so subsequent resize events derive
   // height from width, avoiding layout feedback during continuous resizing
@@ -347,7 +347,7 @@ watch(
         <v-btn
           style="width: 100%"
           color="buttonActive"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="resetCamFirstPerson"
         >
           First Person
@@ -357,7 +357,7 @@ watch(
         <v-btn
           style="width: 100%"
           color="buttonActive"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="resetCamThirdPerson"
         >
           Third Person

photon-client/src/components/app/photon-camera-stream.vue

@@ -50,7 +50,7 @@ const containerStyle = computed<StyleValue>(() => {
 });
 
 const overlayStyle = computed<StyleValue>(() => {
-  if (useStateStore().colorPickingMode || streamSrc.value == emptyStreamSrc) {
+  if (useStateStore().colorPickingMode || streamSrc.value === emptyStreamSrc) {
     return { display: "none" };
   } else {
     return {};

photon-client/src/components/app/photon-error-snackbar.vue

@@ -14,7 +14,7 @@ import { useStateStore } from "@/stores/StateStore";
       {{ useStateStore().snackbarData.message }}
     </p>
     <v-progress-linear
-      v-if="useStateStore().snackbarData.progressBar != -1"
+      v-if="useStateStore().snackbarData.progressBar !== -1"
       v-model="useStateStore().snackbarData.progressBar"
       height="15"
       :color="useStateStore().snackbarData.progressBarColor"

photon-client/src/components/app/photon-sidebar.vue

@@ -38,7 +38,7 @@ const renderCompact = computed<boolean>(() => compact.value || !mdAndUp.value);
       <v-list-item link to="/settings" prepend-icon="mdi-cog">
         <v-list-item-title>Settings</v-list-item-title>
       </v-list-item>
-      <v-list-item ref="camerasTabOpener" link to="/cameras" prepend-icon="mdi-camera">
+      <v-list-item link to="/cameras" prepend-icon="mdi-camera">
         <v-list-item-title>Camera</v-list-item-title>
       </v-list-item>
       <v-list-item
@@ -73,7 +73,7 @@ const renderCompact = computed<boolean>(() => compact.value || !mdAndUp.value);
         </v-list-item>
         <v-list-item
           link
-          :prepend-icon="theme.global.name.value === 'LightTheme' ? 'mdi-white-balance-sunny' : 'mdi-weather-night'"
+          :prepend-icon="theme.global.current.value.dark ? 'mdi-weather-night' : 'mdi-white-balance-sunny'"
           @click="() => toggleTheme(theme)"
         >
           <v-list-item-title>Theme</v-list-item-title>

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

@@ -28,7 +28,7 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
   if (useCameraSettingsStore().currentCameraSettings.validVideoFormats.length === 0) return uniqueResolutions;
   useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format) => {
     const index = uniqueResolutions.findIndex((v) => resolutionsAreEqual(v.resolution, format.resolution));
-    const contains = index != -1;
+    const contains = index !== -1;
     let skip = false;
     if (contains && format.fps > uniqueResolutions[index].fps) {
       uniqueResolutions.splice(index, 1);
@@ -132,7 +132,7 @@ const downloadCalibBoard = async () => {
           const yPos = chessboardStartY + squareY * squareSizeIn.value;
 
           // Only draw the odd squares to create the chessboard pattern
-          if (squareY % 2 != squareX % 2) {
+          if (squareY % 2 !== squareX % 2) {
             doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
           }
         }
@@ -293,7 +293,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           <v-card-subtitle v-if="!isCalibrating" class="pl-0 pb-3 pt-4 opacity-100"
             >Configure New Calibration</v-card-subtitle
           >
-          <v-form ref="form" v-model="settingsValid">
+          <v-form v-model="settingsValid">
             <pv-select
               v-model="uniqueVideoResolutionString"
               label="Resolution"
@@ -470,7 +470,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           closable
           density="compact"
           class="mb-5"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
           :color="useSettingsStore().general.mrCalWorking ? 'buttonPassive' : 'error'"
           :icon="useSettingsStore().general.mrCalWorking ? 'mdi-check' : 'mdi-close'"
           :text="
@@ -481,7 +481,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
         />
         <div v-if="isCalibrating" class="d-flex justify-center align-center pb-5">
           <v-chip
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+            :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
             label
             :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonPassive' : 'light-grey'"
           >
@@ -494,7 +494,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
             color="buttonPassive"
             size="small"
             block
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             :disabled="!settingsValid"
             @click="downloadCalibBoard"
           >
@@ -509,7 +509,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           density="compact"
           text="Too many corners. Finish calibration now!"
           icon="mdi-alert-circle-outline"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
         />
         <div class="d-flex pt-5">
           <v-col cols="6" class="pa-0 pr-2">
@@ -517,7 +517,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               size="small"
               block
               color="buttonActive"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               :disabled="!settingsValid || tooManyPoints"
               @click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
             >
@@ -531,7 +531,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
             <v-btn
               size="small"
               block
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonActive' : 'error'"
               :disabled="!isCalibrating || !settingsValid"
               @click="endCalibration"

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

@@ -40,8 +40,8 @@ const importCalibration = async () => {
   const data = await parseJsonFile<CameraCalibrationResult>(uploadedJson);
 
   if (
-    data.resolution.height != props.videoFormat.resolution.height ||
-    data.resolution.width != props.videoFormat.resolution.width
+    data.resolution.height !== props.videoFormat.resolution.height ||
+    data.resolution.width !== props.videoFormat.resolution.width
   ) {
     useStateStore().showSnackbarMessage({
       color: "error",
@@ -121,7 +121,7 @@ const viewingImg = ref(0);
           <v-btn
             color="buttonPassive"
             style="width: 100%"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="openUploadPhotonCalibJsonPrompt"
           >
             <v-icon start size="large"> mdi-import</v-icon>
@@ -140,7 +140,7 @@ const viewingImg = ref(0);
             color="buttonPassive"
             :disabled="!currentCalibrationCoeffs"
             style="width: 100%"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="openExportCalibrationPrompt"
           >
             <v-icon start size="large">mdi-export</v-icon>
@@ -318,7 +318,7 @@ const viewingImg = ref(0);
               color="primary"
               text="The selected video format has not been calibrated."
               icon="mdi-alert-circle-outline"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+              :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
             />
           </div>
           <Suspense v-else-if="tab === 'details'">
@@ -341,7 +341,7 @@ const viewingImg = ref(0);
   <pv-delete-modal
     v-model="confirmRemoveDialog.show"
     :width="500"
-    :title="'Delete Calibration'"
+    title="Delete Calibration"
     :description="`Are you sure you want to delete the calibration for '${confirmRemoveDialog.vf.resolution.width}x${confirmRemoveDialog.vf.resolution.height}'? This action cannot be undone.`"
     :on-confirm="() => removeCalibration(confirmRemoveDialog.vf)"
   />

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

@@ -99,7 +99,7 @@ const expanded = ref([]);
     <v-card-text class="pt-0">
       <v-btn
         color="buttonPassive"
-        :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+        :variant="theme.global.current.value.dark ? 'outlined' : 'tonal'"
         @click="fetchSnapshots"
       >
         <v-icon start class="open-icon" size="large"> mdi-folder </v-icon>
@@ -115,7 +115,7 @@ const expanded = ref([]);
             density="compact"
             text="There are currently no saved snapshots."
             icon="mdi-information-outline"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+            :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
           />
         </v-card-text>
         <v-card-text v-else class="pt-0">
@@ -125,7 +125,7 @@ const expanded = ref([]);
             density="compact"
             text="Snapshot timestamps depend on when the coprocessor was last connected to the internet."
             icon="mdi-information-outline"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+            :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
           />
           <v-data-table
             v-model:expanded="expanded"

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

@@ -66,10 +66,10 @@ const settingsHaveChanged = (): boolean => {
   const b = useCameraSettingsStore().currentCameraSettings;
 
   for (const q in ValidQuirks) {
-    if (a.quirksToChange[q] != b.cameraQuirks.quirks[q]) return true;
+    if (a.quirksToChange[q] !== b.cameraQuirks.quirks[q]) return true;
   }
 
-  return a.fov != b.fov.value;
+  return a.fov !== b.fov.value;
 };
 
 const resetTempSettingsStruct = () => {
@@ -179,7 +179,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
           size="small"
           color="buttonActive"
           :disabled="!settingsHaveChanged()"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="saveCameraSettings"
         >
           <v-icon start size="large"> mdi-content-save </v-icon>
@@ -191,7 +191,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
           block
           size="small"
           color="error"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="() => (showDeleteCamera = true)"
         >
           <v-icon start size="large"> mdi-trash-can-outline </v-icon>

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

@@ -103,7 +103,7 @@ const fpsTooLow = computed<boolean>(() => {
         <v-btn
           color="buttonPassive"
           class="fill"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           :disabled="
             useCameraSettingsStore().isDriverMode ||
             useCameraSettingsStore().isCalibrationMode ||
@@ -116,7 +116,7 @@ const fpsTooLow = computed<boolean>(() => {
         <v-btn
           color="buttonPassive"
           class="fill"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           :disabled="
             useCameraSettingsStore().isDriverMode ||
             useCameraSettingsStore().isCalibrationMode ||

photon-client/src/components/common/pv-delete-modal.vue

@@ -49,7 +49,7 @@ const confirmationText = ref("");
               color="buttonActive"
               style="float: right"
               width="100%"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="onBackup"
             >
               <v-icon start class="open-icon" size="large"> mdi-export </v-icon>
@@ -65,7 +65,7 @@ const confirmationText = ref("");
                   ? confirmationText.toLowerCase() !== expectedConfirmationText.toLowerCase()
                   : false
               "
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="
                 onConfirm();
                 confirmationText = '';

photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue

@@ -407,14 +407,14 @@ const wrappedCameras = computed<SelectItem[]>(() =>
         <v-card-actions class="pr-5 pt-10px pb-5">
           <v-btn
             color="buttonPassive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="cancelPipelineCreation"
           >
             Cancel
           </v-btn>
           <v-btn
             color="buttonActive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             :disabled="checkPipelineName(newPipelineName) !== true"
             @click="createNewPipeline"
           >
@@ -441,7 +441,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
         <v-card-actions class="pa-5 pt-0">
           <v-btn
             color="buttonPassive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             class="text-black"
             @click="cancelChangePipelineType"
           >
@@ -449,7 +449,7 @@ const wrappedCameras = computed<SelectItem[]>(() =>
           </v-btn>
           <v-btn
             color="buttonActive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="confirmChangePipelineType"
           >
             Confirm

photon-client/src/components/dashboard/ConfigOptions.vue

@@ -122,14 +122,14 @@ const onBeforeTabUpdate = () => {
         density="compact"
         text="Camera is not connected. Please check your connection and try again."
         icon="mdi-alert-circle-outline"
-        :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+        :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
       />
     </template>
     <template v-else>
       <v-col
         v-for="(tabGroupData, tabGroupIndex) in tabGroups"
         :key="tabGroupIndex"
-        :cols="tabGroupIndex == 1 && useCameraSettingsStore().currentPipelineSettings.doMultiTarget ? 7 : ''"
+        :cols="tabGroupIndex === 1 && useCameraSettingsStore().currentPipelineSettings.doMultiTarget ? 7 : ''"
         :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
         @vue:before-update="onBeforeTabUpdate"
       >

photon-client/src/components/dashboard/StreamConfigCard.vue

@@ -35,7 +35,7 @@ const processingMode = computed<number>({
           <v-btn
             color="buttonPassive"
             :disabled="!useCameraSettingsStore().hasConnected"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             class="w-50"
           >
             <template #prepend>
@@ -48,10 +48,10 @@ const processingMode = computed<number>({
             :disabled="
               !useCameraSettingsStore().hasConnected ||
               !useCameraSettingsStore().isCurrentVideoFormatCalibrated ||
-              useCameraSettingsStore().currentPipelineSettings.pipelineType == PipelineType.ObjectDetection ||
-              useCameraSettingsStore().currentPipelineSettings.pipelineType == PipelineType.ColoredShape
+              useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.ObjectDetection ||
+              useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.ColoredShape
             "
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             class="w-50"
           >
             <template #prepend>
@@ -69,7 +69,7 @@ const processingMode = computed<number>({
           <v-btn
             color="buttonPassive"
             class="fill w-50"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           >
             <v-icon start class="mode-btn-icon" size="large">mdi-import</v-icon>
             <span class="mode-btn-label">Raw</span>
@@ -77,7 +77,7 @@ const processingMode = computed<number>({
           <v-btn
             color="buttonPassive"
             class="fill w-50"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           >
             <v-icon start class="mode-btn-icon" size="large">mdi-export</v-icon>
             <span class="mode-btn-label">Processed</span>

photon-client/src/components/dashboard/tabs/InputTab.vue

@@ -171,7 +171,7 @@ const interactiveCols = computed(() =>
     <pv-select
       v-model="useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode"
       label="Orientation"
-      tooltip="Rotates the camera stream. Rotation not available when camera has been calibrated."
+      tooltip="Rotates the camera stream"
       :items="cameraRotations"
       :select-cols="interactiveCols"
       @update:modelValue="

photon-client/src/components/dashboard/tabs/OutputTab.vue

@@ -168,7 +168,7 @@ const interactiveCols = computed(() =>
             block
             color="primary"
             class="text-black"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.Single)"
           >
             Take Point
@@ -179,7 +179,7 @@ const interactiveCols = computed(() =>
             size="small"
             block
             color="error"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.Clear)"
           >
             Clear All Points
@@ -196,7 +196,7 @@ const interactiveCols = computed(() =>
             block
             color="primary"
             class="text-black"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.DualFirst)"
           >
             Take First Point
@@ -208,7 +208,7 @@ const interactiveCols = computed(() =>
             block
             color="primary"
             class="text-black"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.DualSecond)"
           >
             Take Second Point
@@ -219,7 +219,7 @@ const interactiveCols = computed(() =>
             size="small"
             block
             color="error"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.Clear)"
           >
             Clear All Points

photon-client/src/components/dashboard/tabs/TargetsTab.vue

@@ -207,7 +207,7 @@ const resetCurrentBuffer = () => {
           color="buttonActive"
           class="mb-4 mt-1"
           style="width: min-content"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
           @click="resetCurrentBuffer"
           >Reset Samples</v-btn
         >

photon-client/src/components/dashboard/tabs/ThresholdTab.vue

@@ -191,7 +191,7 @@ const interactiveCols = computed(() =>
               block
               color="primary"
               class="text-black"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="enableColorPicking(useCameraSettingsStore().currentPipelineSettings.hueInverted ? 2 : 3)"
             >
               <v-icon start size="large"> mdi-minus </v-icon>
@@ -204,7 +204,7 @@ const interactiveCols = computed(() =>
               class="text-black"
               size="small"
               block
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="enableColorPicking(1)"
             >
               <v-icon start size="large"> mdi-plus-minus </v-icon>
@@ -217,7 +217,7 @@ const interactiveCols = computed(() =>
               block
               color="primary"
               class="text-black"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="enableColorPicking(useCameraSettingsStore().currentPipelineSettings.hueInverted ? 3 : 2)"
             >
               <v-icon start size="large"> mdi-plus </v-icon>
@@ -232,7 +232,7 @@ const interactiveCols = computed(() =>
               color="primary"
               class="text-black"
               size="small"
-              :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
               @click="disableColorPicking"
             >
               Cancel

photon-client/src/components/settings/DeviceCard.vue

@@ -30,11 +30,67 @@ const offlineUpdate = ref();
 const openOfflineUpdatePrompt = () => {
   offlineUpdate.value.click();
 };
-const handleOfflineUpdate = async () => {
+
+const offlineUpdateRegex = new RegExp("photonvision-((?:dev-)?v[\\w.-]+)-((?:linux|win|mac)\\w+)\\.jar");
+const majorVersionRegex = new RegExp("(?:dev-)?(\\d+)\\.\\d+\\.\\d+");
+
+const offlineUpdateDialog = ref({ show: false, confirmString: "" });
+
+const handleOfflineUpdateRequest = async () => {
   const files = offlineUpdate.value.files;
   if (files.length === 0) return;
+
+  const match = files[0].name.match(offlineUpdateRegex);
+  if (!match) {
+    useStateStore().showSnackbarMessage({
+      message: "Selected file does not match expected naming convention.",
+      color: "error"
+    });
+    return;
+  }
+
+  const version = match[1] as string;
+  const arch = match[2] as string;
+
+  const currentVersion = useSettingsStore().general.imageVersion;
+  const currentArch = useSettingsStore().general.wpilibArch;
+
+  const versionMajor = version.match(majorVersionRegex)?.[1];
+  const currentVersionMajor = currentVersion?.match(majorVersionRegex)?.[1];
+
+  const versionMatch = currentVersion ? versionMajor === currentVersionMajor : false;
+  const dev = version.includes("dev");
+
+  if (currentArch && arch !== currentArch) {
+    useStateStore().showSnackbarMessage({
+      message: `Selected file architecture (${arch}) does not match device architecture (${currentArch}).`,
+      color: "error"
+    });
+    return;
+  } else if (versionMatch && !dev) {
+    handleOfflineUpdate(files[0]);
+  } else if (!versionMatch && !dev) {
+    offlineUpdateDialog.value = {
+      show: true,
+      confirmString: `You are attempting to update from PhotonVision ${currentVersion} on image ${useSettingsStore().general.imageVersion} to ${version} from a different FRC year. These versions may be incompatible. Are you sure you want to proceed?`
+    };
+  } else if (versionMatch && dev) {
+    offlineUpdateDialog.value = {
+      show: true,
+      confirmString:
+        "You are attempting to update to a dev version. This could result in instability. Are you sure you want to proceed?"
+    };
+  } else if (!versionMatch && dev) {
+    offlineUpdateDialog.value = {
+      show: true,
+      confirmString: `You are attempting to update to a dev version, from PhotonVision ${currentVersion} on image ${useSettingsStore().general.imageVersion} to ${version} from a different FRC year. These versions may be incompatible, and you may experience instability. Are you sure you want to proceed?`
+    };
+  }
+};
+
+const handleOfflineUpdate = async (file: File) => {
   const formData = new FormData();
-  formData.append("jarData", files[0]);
+  formData.append("jarData", file);
   useStateStore().showSnackbarMessage({
     message: "New Software Upload in Progress...",
     color: "secondary",
@@ -134,6 +190,7 @@ interface MetricItem {
 const generalMetrics = computed<MetricItem[]>(() => {
   const stats = [
     { header: "Version", value: useSettingsStore().general.version || "Unknown" },
+    { header: "Image Version", value: useSettingsStore().general.imageVersion || "Unknown" },
     { header: "Hardware Model", value: useSettingsStore().general.hardwareModel || "Unknown" },
     { header: "Platform", value: useSettingsStore().general.hardwarePlatform || "Unknown" },
     { header: "GPU Acceleration", value: useSettingsStore().general.gpuAcceleration || "None detected" }
@@ -255,7 +312,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col>
               <v-btn
                 color="buttonPassive"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="useStateStore().showLogModal = true"
               >
                 <v-icon start class="open-icon" size="large"> mdi-eye </v-icon>
@@ -265,7 +322,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col>
               <v-btn
                 color="buttonPassive"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="openExportLogsPrompt"
               >
                 <v-icon start class="open-icon" size="large"> mdi-download </v-icon>
@@ -288,7 +345,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col>
               <v-btn
                 color="buttonPassive"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="() => (showImportDialog = true)"
               >
                 <v-icon start class="open-icon" size="large"> mdi-import </v-icon>
@@ -298,7 +355,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col>
               <v-btn
                 color="buttonPassive"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="openExportSettingsPrompt"
               >
                 <v-icon start class="open-icon" size="large"> mdi-export </v-icon>
@@ -312,7 +369,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col cols="12" sm="6"
               ><v-btn
                 color="buttonActive"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="restartProgram"
               >
                 <v-icon start class="open-icon" size="large"> mdi-restart </v-icon>
@@ -322,7 +379,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col cols="12" sm="6">
               <v-btn
                 color="buttonPassive"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="openOfflineUpdatePrompt"
               >
                 <v-icon start class="open-icon" size="large"> mdi-upload </v-icon>
@@ -333,7 +390,7 @@ watch(metricsHistorySnapshot, () => {
                 type="file"
                 accept=".jar"
                 style="display: none"
-                @change="handleOfflineUpdate"
+                @change="handleOfflineUpdateRequest"
               />
             </v-col>
           </v-row>
@@ -343,7 +400,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col cols="12" sm="6">
               <v-btn
                 color="buttonActive"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="restartDevice"
               >
                 <v-icon start class="open-icon" size="large"> mdi-restart-alert </v-icon>
@@ -353,7 +410,7 @@ watch(metricsHistorySnapshot, () => {
             <v-col cols="12" sm="6">
               <v-btn
                 color="error"
-                :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                 @click="() => (showFactoryReset = true)"
               >
                 <v-icon start class="open-icon" size="large"> mdi-trash-can-outline </v-icon>
@@ -396,7 +453,7 @@ watch(metricsHistorySnapshot, () => {
         <v-card-text class="pt-0 flex-0-0 pb-2">
           <div class="d-flex justify-space-between pb-3 pt-3">
             <span>CPU Temperature</span>
-            <span>{{ cpuTempData.at(-1)?.value == -1 ? "--- " : Math.round(cpuTempData.at(-1)?.value ?? 0) }}°C</span>
+            <span>{{ cpuTempData.at(-1)?.value === -1 ? "--- " : Math.round(cpuTempData.at(-1)?.value ?? 0) }}°C</span>
           </div>
           <Suspense>
             <!-- Allows us to import echarts when it's actually needed  -->
@@ -413,7 +470,10 @@ watch(metricsHistorySnapshot, () => {
               tooltip="Measured rate for this coprocessor ONLY. This FMS limit is for ALL robot communication. If you are experiencing bandwidth issues while under this limit, check other sources."
             />
             <span
-              >{{ networkUsageData.at(-1)?.value == -1 ? "---" : networkUsageData.at(-1)?.value.toFixed(3) }} Mb/s</span
+              >{{
+                networkUsageData.at(-1)?.value === -1 ? "---" : networkUsageData.at(-1)?.value.toFixed(3)
+              }}
+              Mb/s</span
             >
           </div>
           <Suspense>
@@ -472,7 +532,7 @@ watch(metricsHistorySnapshot, () => {
           <v-btn
             color="primary"
             :disabled="importFile === null"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="handleSettingsImport"
           >
             <v-icon start class="open-icon"> mdi-import </v-icon>
@@ -483,6 +543,33 @@ watch(metricsHistorySnapshot, () => {
     </v-card>
   </v-dialog>
 
+  <v-dialog v-model="offlineUpdateDialog.show" :width="700" dark>
+    <v-card color="surface" flat>
+      <v-card-title style="display: flex; justify-content: center"> Offline Update </v-card-title>
+      <v-card-text class="pt-0 pb-10px">
+        <span> {{ offlineUpdateDialog.confirmString }} </span>
+      </v-card-text>
+      <v-card-text class="pt-10px">
+        <v-row class="align-center text-white">
+          <v-col cols="12">
+            <v-btn
+              color="buttonActive"
+              width="100%"
+              :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
+              @click="
+                offlineUpdateDialog.show = false;
+                handleOfflineUpdate(offlineUpdate.files[0]);
+              "
+            >
+              <v-icon start class="open-icon" size="large"> mdi-upload </v-icon>
+              <span class="open-label"> Confirm Update </span>
+            </v-btn>
+          </v-col>
+        </v-row>
+      </v-card-text>
+    </v-card>
+  </v-dialog>
+
   <a
     ref="exportSettings"
     style="color: black; text-decoration: none; display: none"

photon-client/src/components/settings/GlobalSettingsCard.vue

@@ -185,7 +185,7 @@ watchEffect(() => {
     </v-card-title>
     <div class="pa-5 pt-0">
       <v-card-title class="pl-0 pt-0 pb-10px">Networking</v-card-title>
-      <v-form ref="form" v-model="settingsValid">
+      <v-form v-model="settingsValid">
         <pv-input
           v-model="tempSettingsStruct.ntServerAddress"
           label="Team Number/NetworkTables Server Address"
@@ -205,7 +205,7 @@ watchEffect(() => {
           density="compact"
           text="The NetworkTables Server Address is not set or is invalid. NetworkTables is unable to connect."
           icon="mdi-alert-circle-outline"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
         />
         <pv-radio
           v-show="!useSettingsStore().network.networkingDisabled"
@@ -279,7 +279,7 @@ watchEffect(() => {
           density="compact"
           text="Cannot detect any wired connections! Send program logs to the developers for help."
           icon="mdi-alert-circle-outline"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
         />
         <pv-switch
           v-model="tempSettingsStruct.runNTServer"
@@ -293,7 +293,7 @@ watchEffect(() => {
           density="compact"
           text="This mode is intended for debugging and should be off for proper usage. PhotonLib will NOT work!"
           icon="mdi-information-outline"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
         />
         <v-card-title class="pl-0 pt-3 pb-10px">Miscellaneous</v-card-title>
         <pv-switch
@@ -308,13 +308,13 @@ watchEffect(() => {
           density="compact"
           text="This mode is intended for debugging and may reduce performance; it should be off for field use."
           icon="mdi-information-outline"
-          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+          :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
         />
       </v-form>
       <v-btn
         color="primary"
         class="mt-3"
-        :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+        :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
         style="color: black; width: 100%"
         :disabled="!settingsValid || !settingsHaveChanged()"
         @click="saveGeneralSettings"
@@ -377,7 +377,7 @@ watchEffect(() => {
         </v-card-text>
         <v-card-actions class="pa-5 pt-0">
           <v-btn
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             color="buttonPassive"
             class="text-black"
             @click="showThemeConfig = false"
@@ -385,7 +385,7 @@ watchEffect(() => {
             Close
           </v-btn>
           <v-btn
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             color="buttonActive"
             class="text-black"
             @click="

photon-client/src/components/settings/MetricsChart.vue

@@ -53,9 +53,9 @@ const getOptions = (data: ChartData[] = []) => {
 
         return `${tooltip}</div>`;
       },
-      backgroundColor: theme.themes.value[theme.global.name.value].colors.background,
+      backgroundColor: theme.global.current.value.colors.background,
       textStyle: {
-        color: theme.themes.value[theme.global.name.value].colors.onBackground
+        color: theme.global.current.value.colors.onBackground
       },
       axisPointer: {
         animation: false
@@ -149,10 +149,9 @@ const getSeries = (data: ChartData[] = []) => {
           : null,
       lineStyle: {
         width: 1.5,
-        color:
-          theme.global.name.value === "LightTheme"
-            ? theme.themes.value[theme.global.name.value].colors.primary
-            : `rgb(${color.r}, ${color.g}, ${color.b})`
+        color: theme.global.current.value.dark
+          ? `rgb(${color.r}, ${color.g}, ${color.b})`
+          : theme.global.current.value.colors.primary
       },
       areaStyle: {
         color: {
@@ -164,17 +163,15 @@ const getSeries = (data: ChartData[] = []) => {
           colorStops: [
             {
               offset: 0,
-              color:
-                theme.global.name.value === "LightTheme"
-                  ? `${theme.themes.value[theme.global.name.value].colors.primary}40`
-                  : `rgba(${color.r}, ${color.g}, ${color.b}, 0.15)`
+              color: theme.global.current.value.dark
+                ? `rgba(${color.r}, ${color.g}, ${color.b}, 0.15)`
+                : `${theme.global.current.value.colors.primary}40`
             },
             {
               offset: 1,
-              color:
-                theme.global.name.value === "LightTheme"
-                  ? `${theme.themes.value[theme.global.name.value].colors.primary}40`
-                  : `rgba(${color.r}, ${color.g}, ${color.b}, 0.15)`
+              color: theme.global.current.value.dark
+                ? `rgba(${color.r}, ${color.g}, ${color.b}, 0.15)`
+                : `${theme.global.current.value.colors.primary}40`
             }
           ]
         }

photon-client/src/components/settings/ObjectDetectionCard.vue

@@ -166,7 +166,7 @@ const handleBulkImport = async () => {
           <v-btn
             color="buttonActive"
             class="justify-center"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="() => (showImportDialog = true)"
           >
             <v-icon start class="open-icon"> mdi-import </v-icon>
@@ -245,7 +245,7 @@ const handleBulkImport = async () => {
                       importHeight === null ||
                       importVersion === null
                     "
-                    :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                    :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                     @click="handleImport()"
                   >
                     <v-icon start class="open-icon" size="large"> mdi-import </v-icon>
@@ -260,7 +260,7 @@ const handleBulkImport = async () => {
           <v-btn
             color="buttonActive"
             class="justify-center"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="() => (showBulkImportDialog = true)"
           >
             <v-icon start class="open-icon"> mdi-import </v-icon>
@@ -278,7 +278,7 @@ const handleBulkImport = async () => {
                     color="buttonActive"
                     width="100%"
                     :disabled="importFile === null"
-                    :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                    :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                     @click="handleBulkImport()"
                   >
                     <v-icon start class="open-icon" size="large"> mdi-import </v-icon>
@@ -292,7 +292,7 @@ const handleBulkImport = async () => {
         <v-col cols="12" sm="6">
           <v-btn
             color="buttonPassive"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="openExportPrompt"
           >
             <v-icon start class="open-icon"> mdi-export </v-icon>
@@ -309,7 +309,7 @@ const handleBulkImport = async () => {
         <v-col cols="12" sm="6">
           <v-btn
             color="error"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
             @click="() => (showNukeDialog = true)"
           >
             <v-icon left class="open-icon"> mdi-trash </v-icon>
@@ -339,7 +339,7 @@ const handleBulkImport = async () => {
                     small
                     color="error"
                     title="Delete Model"
-                    :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                    :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                     @click="() => (confirmDeleteDialog = { show: true, model })"
                   >
                     <v-icon size="large">mdi-trash-can-outline</v-icon>
@@ -351,7 +351,7 @@ const handleBulkImport = async () => {
                     small
                     color="buttonActive"
                     title="Rename Model"
-                    :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                    :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                     @click="() => (showRenameDialog = { show: true, model, newName: '' })"
                   >
                     <v-icon size="large">mdi-pencil</v-icon>
@@ -362,7 +362,7 @@ const handleBulkImport = async () => {
                     icon
                     small
                     color="buttonPassive"
-                    :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                    :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                     @click="() => (showInfo = { show: true, model })"
                   >
                     <v-icon size="large">mdi-information</v-icon>
@@ -391,13 +391,13 @@ const handleBulkImport = async () => {
                 </div>
                 <v-card-actions class="pt-5 pb-0 pr-0" style="justify-content: flex-end">
                   <v-btn
-                    :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                    :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                     color="error"
                     @click="showRenameDialog.show = false"
                     >Cancel</v-btn
                   >
                   <v-btn
-                    :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                    :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                     color="buttonActive"
                     @click="renameModel(showRenameDialog.model, showRenameDialog.newName)"
                     >Rename</v-btn
@@ -413,7 +413,7 @@ const handleBulkImport = async () => {
                 <v-btn
                   color="buttonPassive"
                   width="100%"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   @click="openExportIndividualModelPrompt"
                 >
                   <v-icon left class="open-icon" size="large"> mdi-export </v-icon>
@@ -446,8 +446,8 @@ const handleBulkImport = async () => {
       :on-backup="openExportPrompt"
       :on-confirm="nukeModels"
       title="Delete and Reset All Object Detection Models"
-      :description="'This will delete ALL object detection models and re-extract the default object detection models. This action cannot be undone.'"
-      :expected-confirmation-text="'Delete Models'"
+      description="This will delete ALL object detection models and re-extract the default object detection models. This action cannot be undone."
+      expected-confirmation-text="Delete Models"
       delete-text="Delete all models"
     />
   </v-card>

photon-client/src/lib/ThemeManager.ts

@@ -2,7 +2,7 @@ import { type ThemeInstance } from "vuetify";
 import { LightTheme, DarkTheme } from "@/plugins/vuetify";
 
 export const resetTheme = (theme: ThemeInstance) => {
-  const themeType = theme.global.name.value === "LightTheme" ? "light" : "dark";
+  const themeType = theme.global.current.value.dark ? "dark" : "light";
   localStorage.removeItem(`${themeType}-background`);
   localStorage.removeItem(`${themeType}-primary`);
   localStorage.removeItem(`${themeType}-secondary`);
@@ -12,13 +12,13 @@ export const resetTheme = (theme: ThemeInstance) => {
 };
 
 export const getThemeColor = (theme: ThemeInstance, color: string): string => {
-  const themeType = theme.global.name.value === "LightTheme" ? "light" : "dark";
-  const defaultTheme = theme.global.name.value === "LightTheme" ? LightTheme : DarkTheme;
+  const themeType = theme.global.current.value.dark ? "dark" : "light";
+  const defaultTheme = theme.global.current.value.dark ? DarkTheme : LightTheme;
   return localStorage.getItem(`${themeType}-${color}`) ?? defaultTheme.colors![color]!;
 };
 
 export const setThemeColor = (theme: ThemeInstance, color: string, value: string | null) => {
-  const themeType = theme.global.name.value === "LightTheme" ? "light" : "dark";
+  const themeType = theme.global.current.value.dark ? "dark" : "light";
   if (value) localStorage.setItem(`${themeType}-${color}`, value);
   else localStorage.removeItem(`${themeType}-${color}`);
 
@@ -38,7 +38,7 @@ export const restoreThemeConfig = (theme: ThemeInstance) => {
   if (storedTheme) theme.global.name.value = storedTheme;
 
   // Restore custom theme colors
-  const themeType = theme.global.name.value === "LightTheme" ? "light" : "dark";
+  const themeType = theme.global.current.value.dark ? "dark" : "light";
   const defaultTheme = theme.global.name.value === "LightTheme" ? LightTheme : DarkTheme;
 
   const customBackground = localStorage.getItem(`${themeType}-background`);
@@ -47,7 +47,7 @@ export const restoreThemeConfig = (theme: ThemeInstance) => {
   const customSurface = localStorage.getItem(`${themeType}-surface`);
 
   theme.themes.value[theme.global.name.value].colors.background = customBackground ?? defaultTheme.colors!.background!;
-  theme.themes.value[theme.global.name.value].colors.sidebar = theme.themes.value[theme.global.name.value].dark
+  theme.themes.value[theme.global.name.value].colors.sidebar = theme.global.current.value.dark
     ? (customBackground ?? defaultTheme.colors!.sidebar!)
     : (customSurface ?? defaultTheme.colors!.sidebar!);
 

photon-client/src/stores/StateStore.ts

@@ -182,7 +182,7 @@ export const useStateStore = defineStore("state", {
         message: data.message,
         color: data.color,
         progressBarColor: data.progressBarColor || "",
-        timeout: data.timeout || 2000
+        timeout: data.timeout || 5000
       };
     }
   }

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -71,10 +71,10 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.DriverMode;
     },
     isCalibrationMode(): boolean {
-      return this.currentCameraSettings.currentPipelineIndex == WebsocketPipelineType.Calib3d;
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d;
     },
     isFocusMode(): boolean {
-      return this.currentCameraSettings.currentPipelineIndex == WebsocketPipelineType.FocusCamera;
+      return this.currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.FocusCamera;
     },
     isCSICamera(): boolean {
       return this.currentCameraSettings.isCSICamera;

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -68,9 +68,11 @@ export const useSettingsStore = defineStore("settings", {
   state: (): GeneralSettingsStore => ({
     general: {
       version: undefined,
+      imageVersion: undefined,
       gpuAcceleration: undefined,
       hardwareModel: undefined,
       hardwarePlatform: undefined,
+      wpilibArch: undefined,
       mrCalWorking: true,
       availableModels: [],
       supportedBackends: [],
@@ -155,8 +157,10 @@ export const useSettingsStore = defineStore("settings", {
     updateGeneralSettingsFromWebsocket(data: WebsocketSettingsUpdate) {
       this.general = {
         version: data.general.version || undefined,
+        imageVersion: data.general.imageVersion || undefined,
         hardwareModel: data.general.hardwareModel || undefined,
         hardwarePlatform: data.general.hardwarePlatform || undefined,
+        wpilibArch: data.general.wpilibArch || undefined,
         gpuAcceleration: data.general.gpuAcceleration || undefined,
         mrCalWorking: data.general.mrCalWorking,
         availableModels: data.general.availableModels || undefined,

photon-client/src/types/SettingTypes.ts

@@ -5,9 +5,11 @@ import { reactive } from "vue";
 
 export interface GeneralSettings {
   version?: string;
+  imageVersion?: string;
   gpuAcceleration?: string;
   hardwareModel?: string;
   hardwarePlatform?: string;
+  wpilibArch?: string;
   mrCalWorking: boolean;
   availableModels: ObjectDetectionModelProperties[];
   supportedBackends: string[];

photon-client/src/views/CameraMatchingView.vue

@@ -232,7 +232,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                 <v-btn
                   color="buttonPassive"
                   style="width: 100%"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   @click="
                     setCameraView(
                       module.matchedCameraInfo,
@@ -248,7 +248,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   class="text-black"
                   color="buttonActive"
                   style="width: 100%"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   :loading="deactivatingModule"
                   @click="deactivateModule(module.uniqueName)"
                 >
@@ -261,7 +261,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   color="error"
                   style="width: 100%"
                   :loading="module.uniqueName === deletingCamera"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   @click="
                     () =>
                       (confirmDeleteDialog = {
@@ -326,7 +326,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                 <v-btn
                   color="buttonPassive"
                   style="width: 100%"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   @click="
                     setCameraView(
                       module.matchedCameraInfo,
@@ -342,7 +342,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   class="text-black"
                   color="buttonActive"
                   style="width: 100%"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   :loading="activatingModule"
                   @click="activateModule(module.uniqueName)"
                 >
@@ -355,7 +355,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   color="error"
                   style="width: 100%"
                   :loading="module.uniqueName === deletingCamera"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   @click="
                     () =>
                       (confirmDeleteDialog = {
@@ -393,7 +393,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                 <v-btn
                   color="buttonPassive"
                   style="width: 100%"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   @click="setCameraView(camera, false)"
                 >
                   <span>Details</span>
@@ -405,7 +405,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
                   color="buttonActive"
                   style="width: 100%"
                   :loading="assigningCamera"
-                  :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+                  :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
                   @click="assignCamera(camera)"
                 >
                   Activate
@@ -457,7 +457,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
             density="compact"
             text="A different camera may have been connected to this device! Compare the following information carefully."
             icon="mdi-information-outline"
-            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+            :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
           />
           <PvCameraMatchCard :saved="viewingCamera[0]" :current="getMatchedDevice(viewingCamera[0])" />
         </v-card-text>

photon-client/src/views/DashboardView.vue

@@ -92,7 +92,7 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
       color="error"
       density="compact"
       icon="mdi-alert-circle-outline"
-      :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+      :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
     >
       <span>
         Arducam camera detected! Please configure the camera model in the <a href="#/cameras">Camera tab</a>!
@@ -104,7 +104,7 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
       color="error"
       density="compact"
       icon="mdi-alert-circle-outline"
-      :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+      :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
     >
       <span>
         Conflicting hostname detected! Please change the hostname in the <a href="#/settings">Settings tab</a>!
@@ -116,7 +116,7 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
       color="error"
       density="compact"
       icon="mdi-alert-circle-outline"
-      :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+      :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
     >
       <span
         >One or more cameras have an FPS limit set! This may cause performance issues. Check your logs for more
@@ -129,7 +129,7 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
       color="error"
       density="compact"
       icon="mdi-alert-circle-outline"
-      :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'tonal'"
+      :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
     >
       <span
         >Conflicting camera name(s) detected! Please change the name(s) of

photon-client/vite.config.ts

@@ -25,7 +25,7 @@ export default defineConfig({
     }
   },
   build: {
-    rollupOptions: {
+    rolldownOptions: {
       external: ["html2canvas", "dompurify", "canvg"]
     },
     sourcemap: true

photon-core/build.gradle

@@ -3,6 +3,7 @@ apply plugin: 'org.photonvision.tools.WpilibTools'
 import java.nio.file.Path
 
 ext.licenseFile = file("$rootDir/LICENSE")
+ext.externalLicensesFolder = file("$rootDir/ExternalLicenses")
 apply from: "${rootDir}/shared/common.gradle"
 
 wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()

photon-core/src/main/java/org/photonvision/common/LoadJNI.java

@@ -17,9 +17,9 @@
 
 package org.photonvision.common;
 
-import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.io.IOException;
 import java.util.HashMap;
+import org.photonvision.jni.CombinedRuntimeLoader;
 import org.photonvision.jni.LibraryLoader;
 
 public class LoadJNI {

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

@@ -23,8 +23,6 @@ import java.util.ArrayList;
 @JsonIgnoreProperties(ignoreUnknown = true)
 public class HardwareConfig {
     public final String deviceName;
-    public final String deviceLogoPath;
-    public final String supportURL;
 
     // LED control
     public final ArrayList<Integer> ledPins;
@@ -47,8 +45,6 @@ public class HardwareConfig {
 
     public HardwareConfig(
             String deviceName,
-            String deviceLogoPath,
-            String supportURL,
             ArrayList<Integer> ledPins,
             boolean ledsCanDim,
             ArrayList<Integer> ledBrightnessRange,
@@ -63,8 +59,6 @@ public class HardwareConfig {
             String restartHardwareCommand,
             double vendorFOV) {
         this.deviceName = deviceName;
-        this.deviceLogoPath = deviceLogoPath;
-        this.supportURL = supportURL;
         this.ledPins = ledPins;
         this.ledsCanDim = ledsCanDim;
         this.ledBrightnessRange = ledBrightnessRange;
@@ -82,8 +76,6 @@ public class HardwareConfig {
 
     public HardwareConfig() {
         deviceName = "";
-        deviceLogoPath = "";
-        supportURL = "";
         ledPins = new ArrayList<>();
         ledsCanDim = false;
         ledBrightnessRange = new ArrayList<>();
@@ -121,10 +113,6 @@ public class HardwareConfig {
     public String toString() {
         return "HardwareConfig[deviceName="
                 + deviceName
-                + ", deviceLogoPath="
-                + deviceLogoPath
-                + ", supportURL="
-                + supportURL
                 + ", ledPins="
                 + ledPins
                 + ", ledsCanDim="

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -104,7 +104,6 @@ public class NetworkTablesManager {
 
     public void registerTimedTasks() {
         m_timeSync.start();
-        TimedTaskManager.getInstance().addTask("NTManager", this::ntTick, 5000);
         TimedTaskManager.getInstance()
                 .addTask("CheckHostnameAndCameraNames", this::checkHostnameAndCameraNames, 10000);
     }
@@ -380,23 +379,6 @@ public class NetworkTablesManager {
         broadcastVersion();
     }
 
-    // So it seems like if Photon starts before the robot NT server does, and both aren't static IP,
-    // it'll never connect. This hack works around it by restarting the client/server while the nt
-    // instance isn't connected, same as clicking the save button in the settings menu (or restarting
-    // the service)
-    private void ntTick() {
-        if (!ntInstance.isConnected()
-                && !ConfigManager.getInstance().getConfig().getNetworkConfig().runNTServer) {
-            setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
-        }
-
-        if (!ntInstance.isConnected() && !m_isRetryingConnection) {
-            m_isRetryingConnection = true;
-            logger.error(
-                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
-        }
-    }
-
     public long getTimeSinceLastPong() {
         return m_timeSync.getTimeSinceLastPong();
     }

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

@@ -23,32 +23,38 @@ import org.photonvision.common.configuration.NeuralNetworkModelsSettings;
 public class UIGeneralSettings {
     public UIGeneralSettings(
             String version,
+            String imageVersion,
             String gpuAcceleration,
             boolean mrCalWorking,
             NeuralNetworkModelsSettings.ModelProperties[] availableModels,
             List<String> supportedBackends,
             String hardwareModel,
             String hardwarePlatform,
+            String wpilibArch,
             boolean conflictingHostname,
             String conflictingCameras) {
         this.version = version;
+        this.imageVersion = imageVersion;
         this.gpuAcceleration = gpuAcceleration;
         this.mrCalWorking = mrCalWorking;
         this.availableModels = availableModels;
         this.supportedBackends = supportedBackends;
         this.hardwareModel = hardwareModel;
         this.hardwarePlatform = hardwarePlatform;
+        this.wpilibArch = wpilibArch;
         this.conflictingHostname = conflictingHostname;
         this.conflictingCameras = conflictingCameras;
     }
 
     public String version;
+    public String imageVersion;
     public String gpuAcceleration;
     public boolean mrCalWorking;
     public NeuralNetworkModelsSettings.ModelProperties[] availableModels;
     public List<String> supportedBackends;
     public String hardwareModel;
     public String hardwarePlatform;
+    public String wpilibArch;
     public boolean conflictingHostname;
     public String conflictingCameras;
 }

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

@@ -24,6 +24,7 @@ import org.photonvision.common.LoadJNI.JNITypes;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
 import org.photonvision.common.configuration.PhotonConfiguration;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
+import org.photonvision.common.hardware.OsImageData;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.networking.NetworkUtils;
@@ -52,6 +53,9 @@ public class UIPhotonConfiguration {
                                 !c.getHardwareConfig().ledPins.isEmpty()),
                         new UIGeneralSettings(
                                 PhotonVersion.versionString,
+                                OsImageData.IMAGE_METADATA.isPresent()
+                                        ? OsImageData.IMAGE_METADATA.get().commitTag()
+                                        : "",
                                 // TODO add support for other types of GPU accel
                                 LoadJNI.hasLoaded(JNITypes.LIBCAMERA) ? "Zerocopy Libcamera Working" : "",
                                 LoadJNI.hasLoaded(JNITypes.MRCAL),
@@ -61,6 +65,7 @@ public class UIPhotonConfiguration {
                                         ? Platform.getHardwareModel()
                                         : c.getHardwareConfig().deviceName,
                                 Platform.getPlatformName(),
+                                Platform.getNativePlatform(),
                                 NetworkTablesManager.getInstance().conflictingHostname,
                                 NetworkTablesManager.getInstance().conflictingCameras),
                         c.getApriltagFieldLayout()),

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

@@ -38,8 +38,11 @@ public class OsImageData {
     private static Path imageVersionFile = Path.of("/opt/photonvision/image-version");
     private static Path imageMetadataFile = Path.of("/opt/photonvision/image-version.json");
 
-    /** The OS image version string, if available. This is legacy, use {@link ImageMetadata}. */
-    public static final Optional<String> IMAGE_VERSION = getImageVersion();
+    /**
+     * The OS image version string, if available. This is legacy, use {@link ImageMetadata}.
+     * Deprecated for removal in 2027.
+     */
+    @Deprecated public static final Optional<String> IMAGE_VERSION = getImageVersion();
 
     private static Optional<String> getImageVersion() {
         if (!imageVersionFile.toFile().exists()) {

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

@@ -449,7 +449,7 @@ public class SystemMonitor {
     /**
      * Returns the total GPU memory in MiB.
      *
-     * @return The total GPU memory in MiB, or -1.0 if not avaialable on this platform.
+     * @return The total GPU memory in MiB, or -1.0 if not available on this platform.
      */
     public double getGpuMem() {
         return -1.0;

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

@@ -223,9 +223,10 @@ public class NetworkManager {
             return;
         }
 
-        // guess at the gateway from the staticIp
+        // Default gateway handed out by the VH-109 DHCP server is 10.TE.AM.4
+        // https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/ip-configurations.html#on-the-field-dhcp-configuration
         String[] parts = config.staticIp.split("\\.");
-        parts[parts.length - 1] = "1";
+        parts[parts.length - 1] = "4";
         String gateway = String.join(".", parts);
 
         var shell = new ShellExec();

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

@@ -17,8 +17,6 @@
 
 package org.photonvision.vision.camera;
 
-import com.fasterxml.jackson.annotation.JsonAlias;
-
 public enum CameraQuirk {
     /** Camera settable for controllable image gain */
     Gain,
@@ -29,7 +27,6 @@ public enum CameraQuirk {
     /** Cap at 100FPS for high-bandwidth cameras */
     FPSCap100,
     /** Separate red/blue gain controls available */
-    @JsonAlias("AWBGain") // remove after https://github.com/PhotonVision/photonvision/issues/1488
     AwbRedBlueGain,
     /** Will not work with photonvision - Logitech C270 at least */
     CompletelyBroken,
@@ -43,11 +40,8 @@ public enum CameraQuirk {
      * Camera is an arducam USB ov9281 which has a funky exposure issue where it is defined in v4l as
      * 1-5000 instead of 1-75
      */
-    @JsonAlias("ArduOV9281") // remove after https://github.com/PhotonVision/photonvision/issues/1488
     ArduOV9281Controls,
     /** Dummy quirk to tell OV2311 from OV9281 */
-    // from 2024.3.1
-    @JsonAlias("ArduOV2311") // remove after https://github.com/PhotonVision/photonvision/issues/1488
     ArduOV2311Controls,
     ArduOV9782Controls,
     /**

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

@@ -169,10 +169,13 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
 
     @Override
     public void setAutoExposure(boolean cameraAutoExposure) {
-        if (configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281Controls)
+        if ((configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281Controls)
+                        || configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV9782Controls)
+                        || configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311Controls))
                 && !cameraAutoExposure) {
-            // OV9281 on Linux seems to sometimes ignore our exposure requests on first boot if we're in
-            // manual mode. Poking the camera into and out of auto exposure seems to fix it.
+            // OV9281, OV9782, and OV2311 on Linux seems to sometimes ignore our exposure requests on
+            // first boot if we're in manual mode. Poking the camera into and out of auto exposure seems
+            // to fix it.
             try {
                 setAutoExposureImpl(false);
                 Thread.sleep(2000);
@@ -180,7 +183,7 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
                 Thread.sleep(2000);
                 setAutoExposureImpl(false);
             } catch (InterruptedException e) {
-                logger.error("Thread interrupted while setting OV9281 exposure!", e);
+                logger.error("Thread interrupted while setting OV9281 or OV9782 exposure!", e);
             }
         } else {
             setAutoExposureImpl(cameraAutoExposure);

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

@@ -17,11 +17,15 @@
 
 package org.photonvision.vision.frame;
 
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
 
 public class Frame implements Releasable {
+    private static final Logger logger = new Logger(Frame.class, LogGroup.General);
+
     public final long sequenceID;
     public final long timestampNanos;
 
@@ -45,6 +49,15 @@ public class Frame implements Releasable {
         this.type = type;
         this.timestampNanos = timestampNanos;
         this.frameStaticProperties = frameStaticProperties;
+
+        logger.trace(
+                () ->
+                        "Allocated Frame "
+                                + sequenceID
+                                + "; color image "
+                                + colorImage.matId
+                                + "; processed "
+                                + processedImage.matId);
     }
 
     public Frame(
@@ -73,6 +86,15 @@ public class Frame implements Releasable {
 
     @Override
     public void release() {
+        logger.trace(
+                () ->
+                        "Releasing Frame "
+                                + sequenceID
+                                + "; color image "
+                                + colorImage.matId
+                                + "; processed "
+                                + processedImage.matId);
+
         colorImage.release();
         processedImage.release();
     }

photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java

@@ -24,7 +24,6 @@ import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ImageRotationMode;
-import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.GrayscalePipe;
 import org.photonvision.vision.pipe.impl.HSVPipe;
 import org.photonvision.vision.pipe.impl.RotateImagePipe;
@@ -64,26 +63,18 @@ public abstract class CpuImageProcessor extends FrameProvider {
 
     @Override
     public final Frame get() {
-        // TODO Auto-generated method stub
         var input = getInputMat();
 
+        m_rImagePipe.run(input.colorImage.getMat());
+
         CVMat outputMat = null;
-        long sumNanos = 0;
-
-        {
-            CVPipeResult<Void> out = m_rImagePipe.run(input.colorImage.getMat());
-            sumNanos += out.nanosElapsed;
-        }
-
         if (!input.colorImage.getMat().empty()) {
             if (m_processType == FrameThresholdType.HSV) {
                 var hsvResult = m_hsvPipe.run(input.colorImage.getMat());
                 outputMat = new CVMat(hsvResult.output);
-                sumNanos += hsvResult.nanosElapsed;
             } else if (m_processType == FrameThresholdType.GREYSCALE) {
                 var result = m_grayPipe.run(input.colorImage.getMat());
                 outputMat = new CVMat(result.output);
-                sumNanos += result.nanosElapsed;
             } else {
                 outputMat = new CVMat();
             }

photon-core/src/main/java/org/photonvision/vision/objects/Letterbox.java

@@ -21,7 +21,8 @@ import java.util.ArrayList;
 import java.util.List;
 import org.opencv.core.Core;
 import org.opencv.core.Mat;
-import org.opencv.core.Rect2d;
+import org.opencv.core.Point;
+import org.opencv.core.RotatedRect;
 import org.opencv.core.Scalar;
 import org.opencv.core.Size;
 import org.opencv.imgproc.Imgproc;
@@ -86,21 +87,26 @@ public class Letterbox {
      * @return The resized detections
      */
     public List<NeuralNetworkPipeResult> resizeDetections(List<NeuralNetworkPipeResult> unscaled) {
-        var ret = new ArrayList<NeuralNetworkPipeResult>();
+        var ret = new ArrayList<NeuralNetworkPipeResult>(unscaled.size());
 
         for (var t : unscaled) {
             var scale = 1.0 / this.scale;
             var boundingBox = t.bbox();
-            double x = (boundingBox.x - this.dx) * scale;
-            double y = (boundingBox.y - this.dy) * scale;
-            double width = boundingBox.width * scale;
-            double height = boundingBox.height * scale;
+
+            double cx = (boundingBox.center.x - this.dx) * scale;
+            double cy = (boundingBox.center.y - this.dy) * scale;
+            double width = boundingBox.size.width * scale;
+            double height = boundingBox.size.height * scale;
+
+            Point center = new Point(cx, cy);
+            Size size = new Size(width, height);
+
+            // angle is unchanged from letterbox transformation
 
             ret.add(
                     new NeuralNetworkPipeResult(
-                            new Rect2d(x, y, width, height), t.classIdx(), t.confidence()));
+                            new RotatedRect(center, size, boundingBox.angle), t.classIdx(), t.confidence()));
         }
-
         return ret;
     }
 }

photon-core/src/main/java/org/photonvision/vision/objects/RknnObjectDetector.java

@@ -19,8 +19,8 @@ package org.photonvision.vision.objects;
 
 import java.awt.Color;
 import java.lang.ref.Cleaner;
+import java.lang.ref.Cleaner.Cleanable;
 import java.util.List;
-import java.util.concurrent.atomic.AtomicBoolean;
 import org.opencv.core.Mat;
 import org.opencv.core.Size;
 import org.photonvision.common.logging.LogGroup;
@@ -36,8 +36,11 @@ public class RknnObjectDetector implements ObjectDetector {
     /** Cleaner instance to release the detector when it goes out of scope */
     private final Cleaner cleaner = Cleaner.create();
 
-    /** Atomic boolean to ensure that the native object can only be released once. */
-    private AtomicBoolean released = new AtomicBoolean(false);
+    private final Cleanable cleanable;
+
+    private static Runnable cleanupAction(long ptr) {
+        return () -> RknnJNI.destroy(ptr);
+    }
 
     /** Pointer to the native object */
     private final long objPointer;
@@ -80,7 +83,7 @@ public class RknnObjectDetector implements ObjectDetector {
         logger.debug("Created detector for model " + model.modelFile.getName());
 
         // Register the cleaner to release the detector when it goes out of scope
-        cleaner.register(this, this::release);
+        cleanable = cleaner.register(this, cleanupAction(objPointer));
     }
 
     /**
@@ -137,17 +140,6 @@ public class RknnObjectDetector implements ObjectDetector {
     /** Thread-safe method to release the detector. */
     @Override
     public void release() {
-        // Checks if the atomic is 'false', and if so, sets it to 'true'
-        if (released.compareAndSet(false, true)) {
-            if (objPointer <= 0) {
-                logger.error(
-                        "Detector is not initialized, and so it can't be released! Model: "
-                                + model.modelFile.getName());
-                return;
-            }
-
-            RknnJNI.destroy(objPointer);
-            logger.debug("Released detector for model " + model.modelFile.getName());
-        }
+        cleanable.clean();
     }
 }

photon-core/src/main/java/org/photonvision/vision/objects/RubikObjectDetector.java

@@ -19,8 +19,8 @@ package org.photonvision.vision.objects;
 
 import java.awt.Color;
 import java.lang.ref.Cleaner;
+import java.lang.ref.Cleaner.Cleanable;
 import java.util.List;
-import java.util.concurrent.atomic.AtomicBoolean;
 import org.opencv.core.Mat;
 import org.opencv.core.Size;
 import org.photonvision.common.logging.LogGroup;
@@ -36,8 +36,11 @@ public class RubikObjectDetector implements ObjectDetector {
     /** Cleaner instance to release the detector when it goes out of scope */
     private final Cleaner cleaner = Cleaner.create();
 
-    /** Atomic boolean to ensure that the native object can only be released once. */
-    private AtomicBoolean released = new AtomicBoolean(false);
+    private final Cleanable cleanable;
+
+    private static Runnable cleanupAction(long ptr) {
+        return () -> RubikJNI.destroy(ptr);
+    }
 
     /** Pointer to the native object */
     private final long ptr;
@@ -65,7 +68,9 @@ public class RubikObjectDetector implements ObjectDetector {
 
         // Create the detector
         try {
-            ptr = RubikJNI.create(model.modelFile.getPath().toString());
+            ptr =
+                    RubikJNI.create(
+                            model.modelFile.getPath().toString(), model.properties.version().ordinal());
         } catch (Exception e) {
             logger.error("Failed to create detector from path " + model.modelFile.getPath(), e);
             throw new RuntimeException(
@@ -86,7 +91,7 @@ public class RubikObjectDetector implements ObjectDetector {
         logger.debug("Created detector for model " + model.modelFile.getName());
 
         // Register the cleaner to release the detector when it goes out of scope
-        cleaner.register(this, this::release);
+        cleanable = cleaner.register(this, cleanupAction(ptr));
     }
 
     /**
@@ -144,17 +149,7 @@ public class RubikObjectDetector implements ObjectDetector {
     /** Thread-safe method to release the detector. */
     @Override
     public void release() {
-        // Checks if the atomic is 'false', and if so, sets it to 'true'
-        if (released.compareAndSet(false, true)) {
-            if (!isValid()) {
-                logger.error(
-                        "Detector is not initialized, and so it can't be released! Model: "
-                                + model.modelFile.getName());
-                return;
-            }
-            RubikJNI.destroy(ptr);
-            logger.debug("Released detector for model " + model.modelFile.getName());
-        }
+        cleanable.clean();
     }
 
     private boolean isValid() {

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

@@ -18,21 +18,57 @@
 package org.photonvision.vision.opencv;
 
 import edu.wpi.first.util.RawFrame;
-import java.util.HashMap;
+import java.lang.ref.PhantomReference;
+import java.lang.ref.ReferenceQueue;
+import java.util.Collections;
+import java.util.Set;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicInteger;
 import org.opencv.core.Mat;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public class CVMat implements Releasable {
     private static final Logger logger = new Logger(CVMat.class, LogGroup.General);
+    private static final AtomicInteger matIdCounter = new AtomicInteger(0);
 
-    private static int allMatCounter = 0;
-    private static final HashMap<Mat, Integer> allMats = new HashMap<>();
+    // All mats that have not yet been released(). these may still need to be GCed
+    private static final Set<MatTracker> allMats =
+            Collections.newSetFromMap(new ConcurrentHashMap<>());
+    private static final ReferenceQueue<CVMat> refQueue = new ReferenceQueue<>();
 
     private static boolean shouldPrint;
 
-    private final Mat mat;
-    private final RawFrame backingFrame;
+    private Mat mat;
+    private RawFrame backingFrame;
+    public final int matId;
+    private final MatTracker tracker;
+    private volatile boolean released = false;
+
+    /** Track a single CVMat instance using a PhantomReference */
+    private static class MatTracker extends PhantomReference<CVMat> {
+        final int id;
+        final long nativePtr;
+        final String allocTrace;
+        volatile boolean explicitlyReleased = false;
+
+        MatTracker(CVMat cvmat, int id, ReferenceQueue<CVMat> queue) {
+            super(cvmat, queue);
+            this.id = id;
+            this.nativePtr = cvmat.mat.nativeObj;
+            this.allocTrace = shouldPrint ? getStackTrace() : "";
+        }
+
+        private static String getStackTrace() {
+            var trace = Thread.currentThread().getStackTrace();
+            final int SKIP = 4; // Skip getStackTrace, <init>, CVMat.<init>, caller
+            var sb = new StringBuilder();
+            for (int i = SKIP; i < Math.min(trace.length, SKIP + 10); i++) {
+                sb.append("\n\t").append(trace[i]);
+            }
+            return sb.toString();
+        }
+    }
 
     public CVMat() {
         this(new Mat());
@@ -42,6 +78,19 @@ public class CVMat implements Releasable {
         this(mat, null);
     }
 
+    public CVMat(Mat mat, RawFrame frame) {
+        this.mat = mat;
+        this.backingFrame = frame;
+        this.matId = matIdCounter.incrementAndGet();
+        this.tracker = new MatTracker(this, matId, refQueue);
+
+        allMats.add(tracker);
+
+        if (shouldPrint) {
+            logger.trace("CVMat" + matId + " allocated - count: " + allMats.size() + tracker.allocTrace);
+        }
+    }
+
     public void copyFrom(CVMat srcMat) {
         copyFrom(srcMat.getMat());
     }
@@ -50,56 +99,73 @@ public class CVMat implements Releasable {
         srcMat.copyTo(mat);
     }
 
-    private StringBuilder getStackTraceBuilder() {
-        var trace = Thread.currentThread().getStackTrace();
-
-        final int STACK_FRAMES_TO_SKIP = 3;
-        final var traceStr = new StringBuilder();
-        for (int idx = STACK_FRAMES_TO_SKIP; idx < trace.length; idx++) {
-            traceStr.append("\t\n").append(trace[idx]);
-        }
-        traceStr.append("\n");
-        return traceStr;
-    }
-
-    public CVMat(Mat mat, RawFrame frame) {
-        this.mat = mat;
-        this.backingFrame = frame;
-
-        allMatCounter++;
-        allMats.put(mat, allMatCounter);
-
-        if (shouldPrint) {
-            logger.trace(() -> "CVMat" + allMatCounter + " alloc - new count: " + allMats.size());
-            logger.trace(getStackTraceBuilder()::toString);
-        }
-    }
-
     @Override
     public void release() {
-        if (this.backingFrame != null) this.backingFrame.close();
+        synchronized (this) {
+            if (released) {
+                if (shouldPrint) {
+                    logger.error("CVMat" + matId + " already released (ignored)");
+                }
+                return;
+            }
+            released = true;
+        }
 
-        // If this mat is empty, all we can do is return
-        if (mat.empty()) return;
+        tracker.explicitlyReleased = true;
 
-        // If the mat isn't in the hashmap, we can't remove it
-        Integer matNo = allMats.get(mat);
-        if (matNo != null) allMats.remove(mat);
-        mat.release();
+        // Free RawFrames exactly ONCE
+        if (backingFrame != null) {
+            try {
+                backingFrame.close();
+                backingFrame = null;
+            } catch (Exception e) {
+                logger.error("Error closing RawFrame for CVMat" + matId, e);
+            }
+        }
+
+        try {
+            if (mat != null) {
+                mat.release();
+                mat = null;
+            } else {
+                logger.error("Mat was already null, this is a no-op");
+            }
+        } catch (Exception e) {
+            logger.error("Error releasing Mat for CVMat" + matId, e);
+        }
+
+        // write down it's freed
+        allMats.remove(tracker);
 
         if (shouldPrint) {
-            logger.trace(() -> "CVMat" + matNo + " de-alloc - new count: " + allMats.size());
-            logger.trace(getStackTraceBuilder()::toString);
+            logger.trace("CVMat" + matId + " released - count: " + allMats.size());
         }
     }
 
     public Mat getMat() {
+        if (released) {
+            throw new IllegalStateException("CVMat" + matId + " has been released!");
+        }
         return mat;
     }
 
+    public boolean isReleased() {
+        return released;
+    }
+
     @Override
     public String toString() {
-        return "CVMat{" + mat.toString() + '}';
+        return "CVMat [mat="
+                + mat
+                + ", backingFrame="
+                + backingFrame
+                + ", matId="
+                + matId
+                + ", tracker="
+                + tracker
+                + ", released="
+                + released
+                + "]";
     }
 
     public static int getMatCount() {
@@ -109,4 +175,61 @@ public class CVMat implements Releasable {
     public static void enablePrint(boolean enabled) {
         shouldPrint = enabled;
     }
+
+    // todo move to somewhere else
+    static {
+        Thread cleanupThread =
+                new Thread(
+                        () -> {
+                            while (true) {
+                                try {
+                                    MatTracker ref = (MatTracker) refQueue.remove();
+
+                                    // Check if it was released before GC
+                                    if (!ref.explicitlyReleased) {
+                                        // This is a leak - remove from tracking and warn
+                                        allMats.remove(ref);
+
+                                        logger.warn(
+                                                "CVMat"
+                                                        + ref.id
+                                                        + " was GC'd without release()! "
+                                                        + "Native memory may have leaked."
+                                                        + "\nAllocated by "
+                                                        + ref.allocTrace);
+                                        if (ref.allocTrace != null) {
+                                            logger.warn("Allocated at:" + ref.allocTrace);
+                                        }
+                                    }
+
+                                    // Because we use PhantomReferences, we can't try to be nice
+                                } catch (InterruptedException e) {
+                                    Thread.currentThread().interrupt();
+                                    break;
+                                }
+                            }
+                        },
+                        "CVMat-Cleanup");
+        cleanupThread.setDaemon(true);
+        cleanupThread.start();
+    }
+
+    // Paranoia
+    @Override
+    @SuppressWarnings("deprecation")
+    protected void finalize() throws Throwable {
+        try {
+            if (!released) {
+                logger.error(
+                        "CVMat"
+                                + matId
+                                + " finalized without release()! Leaking native memory. Allocated by "
+                                + tracker.allocTrace);
+                // Don't call release() here - finalization order is unpredictable
+                // and backingFrame might already be finalized
+            }
+        } finally {
+            super.finalize();
+        }
+    }
 }

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

@@ -57,6 +57,17 @@ public class Contour implements Releasable {
                         new Point(box.x, box.y + box.height));
     }
 
+    public Contour(RotatedRect obb) {
+        Point[] pts = new Point[4];
+        for (int i = 0; i < 4; ++i) pts[i] = new Point();
+
+        obb.points(pts);
+
+        // target: tl tr br bl
+        // pts array: "The order is bottomLeft, topLeft, topRight, bottomRight."
+        this.mat = new MatOfPoint(pts[1], pts[2], pts[3], pts[0]);
+    }
+
     public MatOfPoint2f getMat2f() {
         if (mat2f == null) {
             mat2f = new MatOfPoint2f(mat.toArray());

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

@@ -22,6 +22,7 @@ import java.util.List;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.pipe.CVPipe;
+import org.photonvision.vision.target.TargetCalculations;
 
 public class FilterObjectDetectionsPipe
         extends CVPipe<
@@ -44,13 +45,13 @@ public class FilterObjectDetectionsPipe
         var boc = contour.bbox();
 
         // Area filtering
-        double areaPercentage = boc.area() / params.frameStaticProperties().imageArea * 100.0;
+        double areaPercentage = boc.size.area() / params.frameStaticProperties().imageArea * 100.0;
         double minAreaPercentage = params.area().getFirst();
         double maxAreaPercentage = params.area().getSecond();
         if (areaPercentage < minAreaPercentage || areaPercentage > maxAreaPercentage) return;
 
-        // Aspect ratio filtering; much simpler since always axis-aligned
-        double aspectRatio = boc.width / boc.height;
+        // Aspect ratio filtering
+        double aspectRatio = TargetCalculations.getAspectRatio(boc, params.isLandscape());
         if (aspectRatio < params.ratio().getFirst() || aspectRatio > params.ratio().getSecond()) return;
 
         m_filteredContours.add(contour);

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

@@ -25,7 +25,9 @@ import org.opencv.imgproc.Imgproc;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class FocusPipe extends CVPipe<Mat, FocusPipe.FocusResult, FocusPipe.FocusParams> {
-    private double maxVariance = 0.0;
+    // cache these
+    MatOfDouble mean = new MatOfDouble();
+    MatOfDouble stddev = new MatOfDouble();
 
     @Override
     protected FocusResult process(Mat in) {
@@ -33,8 +35,6 @@ public class FocusPipe extends CVPipe<Mat, FocusPipe.FocusResult, FocusPipe.Focu
 
         Imgproc.Laplacian(in, outputMat, CvType.CV_64F, 3);
 
-        var mean = new MatOfDouble();
-        var stddev = new MatOfDouble();
         Core.meanStdDev(outputMat, mean, stddev);
         var sd = stddev.get(0, 0)[0];
         var variance = sd * sd;

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

@@ -17,6 +17,20 @@
 
 package org.photonvision.vision.pipe.impl;
 
+import org.opencv.core.Point;
 import org.opencv.core.Rect2d;
+import org.opencv.core.RotatedRect;
+import org.opencv.core.Size;
 
-public record NeuralNetworkPipeResult(Rect2d bbox, int classIdx, double confidence) {}
+public record NeuralNetworkPipeResult(RotatedRect bbox, int classIdx, double confidence) {
+    public NeuralNetworkPipeResult(Rect2d rect, int classIdx, double confidence) {
+        // turn the axis-aligned rect into a RotatedRect with angle 0 degrees
+        this(
+                new RotatedRect(
+                        new Point(rect.x + (rect.width) / 2, rect.y + (rect.height) / 2),
+                        new Size(rect.width, rect.height),
+                        0.0),
+                classIdx,
+                confidence);
+    }
+}

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

@@ -73,6 +73,10 @@ public class FocusPipeline extends CVPipeline<FocusPipelineResult, FocusPipeline
 
         var processedCVMat = new CVMat(displayMat);
 
+        // we no longer need the input frame's processed image, and nobody else will release it if we
+        // don't
+        frame.processedImage.release();
+
         return new FocusPipelineResult(
                 frame.sequenceID,
                 MathUtils.nanosToMillis(totalNanos),

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

@@ -150,7 +150,7 @@ public class OutputStreamPipeline {
             if (!(settings instanceof AprilTagPipelineSettings)
                     && !(settings instanceof ArucoPipelineSettings)
                     && !(settings instanceof Calibration3dPipelineSettings)) {
-                // If we're processing anything other than Apriltags..
+                // If we're processing anything other than AprilTags or Aruco targets
                 var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
                 sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;
 
@@ -203,7 +203,7 @@ public class OutputStreamPipeline {
                 }
             } else if (settings instanceof ArucoPipelineSettings) {
                 if (settings.solvePNPEnabled) {
-                    // Draw 3d Apriltag markers (camera is calibrated and running in 3d mode)
+                    // Draw 3d aruco markers (camera is calibrated and running in 3d mode)
                     pipeProfileNanos[5] = 0;
                     pipeProfileNanos[6] = 0;
 
@@ -213,7 +213,7 @@ public class OutputStreamPipeline {
                     pipeProfileNanos[8] = 0;
 
                 } else {
-                    // Draw 2d apriltag markers
+                    // Draw 2d aruco markers
                     var draw2dTargetsOnInput = draw2dArucoPipe.run(Pair.of(outMat, targetsToDraw));
                     sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
 

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

@@ -191,8 +191,8 @@ public class VisionRunner {
                 // give up without increasing loop count
                 // Still feed with blank frames just dont run any pipelines
 
+                frame.release();
                 pipelineResultConsumer.accept(new CVPipelineResult(0l, 0, 0, null, new Frame()));
-
             } else if (pipeline == pipelineSupplier.get()) {
                 // If the pipeline has changed while we are getting our frame we should scrap
                 // that frame it may result in incorrect frame settings like hsv values

photon-core/src/test/java/org/photonvision/hardware/HardwareConfigTest.java

@@ -38,8 +38,6 @@ public class HardwareConfigTest {
             var config =
                     new ObjectMapper().readValue(TestUtils.getHardwareConfigJson(), HardwareConfig.class);
             assertEquals(config.deviceName, "PhotonVision");
-            assertEquals(config.deviceLogoPath, "photonvision.png");
-            assertEquals(config.supportURL, "https://support.photonvision.com");
             // Ensure defaults are not null
             assertArrayEquals(config.ledPins.stream().mapToInt(i -> i).toArray(), new int[] {2, 13});
             NativeDeviceFactoryInterface deviceFactory = HardwareManager.configureCustomGPIO(config);

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

@@ -368,6 +368,15 @@ class PhotonCameraSim:
                     noisyTargetCorners,
                 )
 
+            # Compute object detection confidence if this is an obj det target
+            classId = tgt.objDetClassId
+            conf = tgt.objDetConf
+            if classId >= 0 and conf < 0:
+                # Simulate confidence using sqrt-scaled area for a more realistic
+                # curve. Raw areaPercent/100 is tiny for most targets; sqrt scaling
+                # gives reasonable values even for small-but-visible objects.
+                conf = max(0.0, min(1.0, math.sqrt(areaPercent / 100.0) * 2.0))
+
             smallVec: list[TargetCorner] = []
             for corner in minAreaRectPts:
                 smallVec.append(TargetCorner(corner[0], corner[1]))
@@ -381,6 +390,8 @@ class PhotonCameraSim:
                     area=areaPercent,
                     skew=math.degrees(centerRot.X()),
                     fiducialId=tgt.fiducialId,
+                    objDetectId=classId,
+                    objDetectConf=conf,
                     detectedCorners=cornersFloat,
                     minAreaRectCorners=smallVec,
                     bestCameraToTarget=pnpSim.best if pnpSim else Transform3d(),

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

@@ -6,7 +6,7 @@ import cv2 as cv
 import numpy as np
 import numpy.typing as npt
 from wpimath.geometry import Rotation2d, Rotation3d, Translation3d
-from wpimath.units import hertz, seconds
+from wpimath.units import hertz, milliseconds, seconds
 
 from ..estimation import RotTrlTransform3d
 
@@ -36,10 +36,10 @@ class SimCameraProperties:
         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
-        self.exposureTime: seconds = 0.0
-        self.avgLatency: seconds = 0.0
-        self.latencyStdDev: seconds = 0.0
+        self.frameSpeed: milliseconds = 0.0
+        self.exposureTime: milliseconds = 0.0
+        self.avgLatency: milliseconds = 0.0
+        self.latencyStdDev: milliseconds = 0.0
         self.viewplanes: list[np.ndarray] = []  # [3,1]
 
         self.setCalibrationFromFOV(960, 720, fovDiag=Rotation2d(math.radians(90.0)))
@@ -139,7 +139,7 @@ class SimCameraProperties:
 
         self.frameSpeed = max(1.0 / fps, self.exposureTime)
 
-    def setExposureTime(self, newExposureTime: seconds):
+    def setExposureTime(self, newExposureTime: milliseconds):
         """
         :param newExposureTime: The amount of time the "shutter" is open for one frame. Affects motion
                                blur. **Frame speed(from FPS) is limited to this!**
@@ -148,14 +148,14 @@ class SimCameraProperties:
         self.exposureTime = newExposureTime
         self.frameSpeed = max(self.frameSpeed, self.exposureTime)
 
-    def setAvgLatency(self, newAvgLatency: seconds):
+    def setAvgLatency(self, newAvgLatency: milliseconds):
         """
         :param newAvgLatency: The average latency (from image capture to data published) in milliseconds
                              a frame should have
         """
-        self.vgLatency = newAvgLatency
+        self.avgLatency = newAvgLatency
 
-    def setLatencyStdDev(self, newLatencyStdDev: seconds):
+    def setLatencyStdDev(self, newLatencyStdDev: milliseconds):
         """
         :param latencyStdDevMs: The standard deviation in milliseconds of the latency
         """
@@ -182,16 +182,16 @@ class SimCameraProperties:
     def getFPS(self) -> hertz:
         return 1.0 / self.frameSpeed
 
-    def getFrameSpeed(self) -> seconds:
+    def getFrameSpeed(self) -> milliseconds:
         return self.frameSpeed
 
-    def getExposureTime(self) -> seconds:
+    def getExposureTime(self) -> milliseconds:
         return self.exposureTime
 
-    def getAverageLatency(self) -> seconds:
+    def getAverageLatency(self) -> milliseconds:
         return self.avgLatency
 
-    def getLatencyStdDev(self) -> seconds:
+    def getLatencyStdDev(self) -> milliseconds:
         return self.latencyStdDev
 
     def getContourAreaPercent(self, points: np.ndarray) -> float:
@@ -454,7 +454,7 @@ class SimCameraProperties:
         assert points.shape == retval.shape, retval
         return retval
 
-    def estLatency(self) -> seconds:
+    def estLatency(self) -> milliseconds:
         """
         :returns: Noisy estimation of a frame's processing latency
         """

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

@@ -1,4 +1,5 @@
 import math
+from typing import overload
 
 from wpimath.geometry import Pose3d, Translation3d
 
@@ -8,19 +9,78 @@ from ..estimation.targetModel import TargetModel
 class VisionTargetSim:
     """Describes a vision target located somewhere on the field that your vision system can detect."""
 
-    def __init__(self, pose: Pose3d, model: TargetModel, id: int = -1):
-        """Describes a fiducial tag located somewhere on the field that your vision system can detect.
+    @overload
+    def __init__(self, pose: Pose3d, model: TargetModel) -> None:
+        """
+        Describes a retro-reflective/colored shape vision target located somewhere on the field that
+        your vision system can detect.
+
+        :param pose:  Pose3d of the target in field-relative coordinates
+        :param model: TargetModel which describes the shape of the target
+        """
+        ...
+
+    @overload
+    def __init__(self, pose: Pose3d, model: TargetModel, id: int) -> None:
+        """
+        Describes a fiducial tag located somewhere on the field that your vision system can detect.
 
         :param pose:  Pose3d of the tag in field-relative coordinates
-        :param model: TargetModel which describes the shape of the target(tag)
+        :param model: TargetModel which describes the geometry of the target (tag)
         :param id:    The ID of this fiducial tag
         """
+        ...
+
+    @overload
+    def __init__(
+        self, pose: Pose3d, model: TargetModel, objDetClassId: int, objDetConf: float
+    ) -> None:
+        """
+        Describes an object-detection vision target located somewhere on the field that your vision
+        system can detect.
+
+        :param pose:          Pose3d of the target in field-relative coordinates
+        :param model:         TargetModel which describes the shape of the target
+        :param objDetClassId: The object detection class ID, or -1 to exclude from object detection
+        :param objDetConf:    The object detection confidence, or -1.0 to compute from target area
+                              in the camera's field of view
+        """
+        ...
+
+    def __init__(
+        self,
+        pose: Pose3d,
+        model: TargetModel,
+        *args,
+        **kwargs,
+    ):
+        if kwargs:
+            raise TypeError(
+                f"VisionTargetSim does not accept keyword arguments: {list(kwargs.keys())}"
+            )
 
         self.pose: Pose3d = pose
         self.model: TargetModel = model
-        self.fiducialId: int = id
-        self.objDetClassId: int = -1
-        self.objDetConf: float = -1.0
+
+        if len(args) == 0:
+            # VisionTargetSim(pose, model)
+            self.fiducialId: int = -1
+            self.objDetClassId: int = -1
+            self.objDetConf: float = -1.0
+        elif len(args) == 1:
+            # VisionTargetSim(pose, model, id)
+            self.fiducialId = args[0]
+            self.objDetClassId = -1
+            self.objDetConf = -1.0
+        elif len(args) == 2:
+            # VisionTargetSim(pose, model, objDetClassId, objDetConf)
+            self.fiducialId = -1
+            self.objDetClassId = args[0]
+            self.objDetConf = args[1]
+        else:
+            raise ValueError(
+                f"VisionTargetSim takes 2-4 arguments, got {2 + len(args)}"
+            )
 
     def __lt__(self, right) -> bool:
         return self.pose.translation().norm() < right.pose.translation().norm()

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

@@ -525,6 +525,16 @@ public class PhotonCameraSim implements AutoCloseable {
                                 .get();
             }
 
+            // If object detection (user classId valid) but conf wasn't provided, estimate
+            int classId = tgt.objDetClassId;
+            float conf = tgt.objDetConf;
+            if (classId >= 0 && conf < 0) {
+                // Simulate confidence using sqrt-scaled area for a more realistic
+                // curve. Raw areaPercent/100 is tiny for most targets; sqrt scaling
+                // gives reasonable values even for small-but-visible objects.
+                conf = (float) MathUtil.clamp(Math.sqrt(areaPercent / 100.0) * 2.0, 0.0, 1.0);
+            }
+
             detectableTgts.add(
                     new PhotonTrackedTarget(
                             -Math.toDegrees(centerRot.getZ()),
@@ -532,8 +542,8 @@ public class PhotonCameraSim implements AutoCloseable {
                             areaPercent,
                             Math.toDegrees(centerRot.getX()),
                             tgt.fiducialID,
-                            -1,
-                            -1,
+                            classId,
+                            conf,
                             pnpSim.best,
                             pnpSim.alt,
                             pnpSim.ambiguity,

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

@@ -36,16 +36,21 @@ public class VisionTargetSim {
 
     public final int fiducialID;
 
+    /** The object detection class ID, or -1 if not applicable. */
+    public final int objDetClassId;
+
+    /** The object detection confidence, or -1 if not applicable. */
+    public final float objDetConf;
+
     /**
-     * Describes a vision target located somewhere on the field that your vision system can detect.
+     * Describes a retro-reflective/colored shape vision target located somewhere on the field that
+     * your vision system can detect.
      *
      * @param pose Pose3d of the tag in field-relative coordinates
      * @param model TargetModel which describes the geometry of the target
      */
     public VisionTargetSim(Pose3d pose, TargetModel model) {
-        this.pose = pose;
-        this.model = model;
-        this.fiducialID = -1;
+        this(pose, model, -1, -1, -1);
     }
 
     /**
@@ -56,9 +61,33 @@ public class VisionTargetSim {
      * @param id The ID of this fiducial tag
      */
     public VisionTargetSim(Pose3d pose, TargetModel model, int id) {
+        this(pose, model, id, -1, -1);
+    }
+
+    /**
+     * Describes an object-detection vision target located somewhere on the field that your vision
+     * system can detect. Class ID is the (zero-indexed) index of the object's class ID in the list of
+     * all classes. Confidence can be specified, or pass -1 to estimate confidence based on 2 *
+     * sqrt(target area / total image area)
+     *
+     * @param pose Pose3d of the target in field-relative coordinates
+     * @param model TargetModel which describes the geometry of the target
+     * @param objDetClassId The object detection class ID, if -1 it will not be detected by object
+     *     detection
+     * @param objDetConf The object detection confidence, or -1 in which case the simulation will
+     *     compute a confidence based on the area of the target in the camera's field of view
+     */
+    public VisionTargetSim(Pose3d pose, TargetModel model, int objDetClassId, float objDetConf) {
+        this(pose, model, -1, objDetClassId, objDetConf);
+    }
+
+    private VisionTargetSim(
+            Pose3d pose, TargetModel model, int id, int objDetClassId, float objDetConf) {
         this.pose = pose;
         this.model = model;
         this.fiducialID = id;
+        this.objDetClassId = objDetClassId;
+        this.objDetConf = objDetConf;
     }
 
     /**
@@ -97,7 +126,11 @@ public class VisionTargetSim {
         return model;
     }
 
-    /** This target's vertices offset from its field pose. */
+    /**
+     * This target's vertices offset from its field pose.
+     *
+     * @return A vector of Translation3d representing the vertices of the target
+     */
     public List<Translation3d> getFieldVertices() {
         return model.getFieldVertices(pose);
     }

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -35,11 +35,10 @@
 #include <hal/FRCUsageReporting.h>
 #include <net/TimeSyncServer.h>
 #include <opencv2/core.hpp>
-#include <opencv2/core/mat.hpp>
+#include <opencv2/core/utility.hpp>
 #include <wpi/json.h>
 
 #include "PhotonVersion.h"
-#include "opencv2/core/utility.hpp"
 #include "photon/dataflow/structures/Packet.h"
 
 static constexpr units::second_t WARN_DEBOUNCE_SEC = 5_s;

photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp

@@ -26,7 +26,6 @@
 
 #include <limits>
 #include <optional>
-#include <span>
 #include <utility>
 #include <vector>
 

photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp

@@ -32,6 +32,11 @@
 #include <frc/apriltag/AprilTagFieldLayout.h>
 #include <frc/apriltag/AprilTagFields.h>
 
+#include "photon/estimation/CameraTargetRelation.h"
+#include "photon/estimation/RotTrlTransform3d.h"
+#include "photon/estimation/VisionEstimation.h"
+#include "photon/simulation/VideoSimUtil.h"
+
 namespace photon {
 PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera)
     : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG(),
@@ -214,12 +219,23 @@ PhotonPipelineResult PhotonCameraSim::Process(
     }
 
     std::optional<photon::PnpResult> pnpSim = std::nullopt;
-    if (tgt.fiducialId >= 0 && tgt.GetFieldVertices().size() == 4) {
+    if (tgt.GetFiducialId() >= 0 && tgt.GetFieldVertices().size() == 4) {
       pnpSim = OpenCVHelp::SolvePNP_Square(
           prop.GetIntrinsics(), prop.GetDistCoeffs(),
           tgt.GetModel().GetVertices(), noisyTargetCorners);
     }
 
+    // Compute object detection confidence if this is an obj det target
+    int classId = tgt.GetObjDetClassId();
+    float conf = tgt.GetObjDetConf();
+    if (classId >= 0 && conf < 0) {
+      // Simulate confidence using sqrt-scaled area for a more realistic
+      // curve. Raw areaPercent/100 is tiny for most targets; sqrt scaling
+      // gives reasonable values even for small-but-visible objects.
+      conf = static_cast<float>(
+          std::clamp(std::sqrt(areaPercent / 100.0) * 2.0, 0.0, 1.0));
+    }
+
     std::vector<std::pair<float, float>> tempCorners =
         OpenCVHelp::PointsToCorners(minAreaRectPts);
     std::vector<TargetCorner> smallVec;
@@ -236,8 +252,8 @@ PhotonPipelineResult PhotonCameraSim::Process(
     detectableTgts.emplace_back(
         -centerRot.Z().convert<units::degrees>().to<double>(),
         -centerRot.Y().convert<units::degrees>().to<double>(), areaPercent,
-        centerRot.X().convert<units::degrees>().to<double>(), tgt.fiducialId,
-        tgt.objDetClassId, tgt.objDetConf,
+        centerRot.X().convert<units::degrees>().to<double>(),
+        tgt.GetFiducialId(), classId, conf,
         pnpSim ? pnpSim->best : frc::Transform3d{},
         pnpSim ? pnpSim->alt : frc::Transform3d{},
         pnpSim ? pnpSim->ambiguity : -1, smallVec, cornersDouble);
@@ -254,8 +270,8 @@ PhotonPipelineResult PhotonCameraSim::Process(
       VisionTargetSim tgt = pair.first;
       std::vector<cv::Point2f> corners = pair.second;
 
-      if (tgt.fiducialId > 0) {
-        VideoSimUtil::Warp165h5TagImage(tgt.fiducialId, corners, true,
+      if (tgt.GetFiducialId() > 0) {
+        VideoSimUtil::Warp165h5TagImage(tgt.GetFiducialId(), corners, true,
                                         videoSimFrameRaw);
       } else if (!tgt.GetModel().GetIsSpherical()) {
         std::vector<cv::Point2f> contour = corners;

photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp

@@ -28,6 +28,8 @@
 #include <utility>
 #include <vector>
 
+#include <frc/Errors.h>
+
 using namespace photon;
 
 void SimCameraProperties::SetCalibration(int width, int height,

photon-lib/src/main/native/include/photon/PhotonCamera.h

@@ -31,7 +31,6 @@
 #include <frc/Alert.h>
 #include <networktables/BooleanTopic.h>
 #include <networktables/DoubleArrayTopic.h>
-#include <networktables/DoubleTopic.h>
 #include <networktables/IntegerTopic.h>
 #include <networktables/MultiSubscriber.h>
 #include <networktables/NetworkTable.h>

photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h

@@ -29,7 +29,7 @@
 #include <frc/geometry/Rotation3d.h>
 #include <frc/geometry/Transform3d.h>
 #include <frc/interpolation/TimeInterpolatableBuffer.h>
-#include <opencv2/core/mat.hpp>
+#include <wpi/SmallVector.h>
 
 #include "photon/PhotonCamera.h"
 #include "photon/targeting/PhotonPipelineResult.h"

photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h

@@ -26,11 +26,7 @@
 
 #include <cmath>
 
-#include "photon/dataflow/structures/Packet.h"
-#include "photon/targeting/MultiTargetPNPResult.h"
-#include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PnpResult.h"
 
 namespace photon {
 

photon-lib/src/main/native/include/photon/PhotonUtils.h

@@ -32,12 +32,6 @@
 #include <units/length.h>
 #include <units/math.h>
 
-#include "photon/dataflow/structures/Packet.h"
-#include "photon/targeting/MultiTargetPNPResult.h"
-#include "photon/targeting/PhotonPipelineResult.h"
-#include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PnpResult.h"
-
 namespace photon {
 class PhotonUtils {
  public:

photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h

@@ -24,23 +24,15 @@
 
 #pragma once
 
-#include <algorithm>
 #include <limits>
-#include <string>
-#include <utility>
 #include <vector>
 
 #include <cameraserver/CameraServer.h>
-#include <frc/Timer.h>
 #include <frc/apriltag/AprilTagFieldLayout.h>
 #include <frc/apriltag/AprilTagFields.h>
 #include <photon/PhotonCamera.h>
-#include <photon/PhotonTargetSortMode.h>
-#include <photon/estimation/CameraTargetRelation.h>
-#include <photon/estimation/VisionEstimation.h>
 #include <photon/networktables/NTTopicSet.h>
 #include <photon/simulation/SimCameraProperties.h>
-#include <photon/simulation/VideoSimUtil.h>
 #include <photon/simulation/VisionTargetSim.h>
 #include <units/math.h>
 #include <wpi/timestamp.h>

photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h

@@ -24,15 +24,12 @@
 
 #pragma once
 
-#include <algorithm>
 #include <random>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include <Eigen/Core>
-#include <frc/Errors.h>
-#include <frc/MathUtil.h>
 #include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation3d.h>
 #include <photon/estimation/OpenCVHelp.h>