Remove NT reconnect loop entirely (#2398)

## Description

Back in
https://github.com/PhotonVision/photonvision/pull/467#issuecomment-1280964529
and
https://discord.com/channels/725836368059826228/725846784131203222/974498049609056266
we added code to poke our NT client every 5 seconds to "clicking the
save button in the settings window makes Photon show up again over
networktables". Total hack, but it seemed to work. We didn't at the time
dig any deeper in Wireshark or debug-level NT logs.

<img width="1373" height="679" alt="image"
src="https://github.com/user-attachments/assets/8cb2102e-0bae-4bfd-b9ac-55d31f8421b6"
/>

Now, it's 2026. 4 years on from the OG bug. And this code seems linked
to these issues

-
https://www.chiefdelphi.com/t/photonvision-coprocessor-not-sending-data-can-t-change-networking/516356/5
-
https://www.chiefdelphi.com/t/photonvision-network-tables-known-issue/515966

Craig collected these log files as well:


[craig-nt-never-connects.zip](https://github.com/user-attachments/files/26001809/craig-nt-never-connects.zip)

The code path that handles TCP re-connection was also changed entirely
since we first added this workaround. Regardless this hack was not
removed as part of the NT3 to NT4 upgrade:
- pre-NT4, reconnection was handled by `TCPConnector::connect_parallel`
which delegates to `TCPConnector`. This uses raw socket APIs
- post-NT4, reconnect is handled by `ParallelTcpConnector`. This uses
libuv exclusively

@crschardt did some really great debugging with a rio and radio in the
loop with a luma p1. In this test setup, removing this code improves
stability markedly. I'd still like to get this more on robot time, as
well as try to understand from Peter why we might have needed this code
in the first place.

## Changes

- Remove periodic stop/restart of NetworkTables client every 5 seconds
if `NetworkTablesInstance::isConnected` returns false.

## Meta

Merge checklist:
- [ ] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [ ] 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

---------

Co-authored-by: Craig Schardt <crschardt@fastem.com>

.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 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.1.2
+  IMAGE_VERSION: v2026.1.3
 
 jobs:
 
@@ -443,9 +443,32 @@ 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:
@@ -527,6 +550,12 @@ 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

.wpiformat

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

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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
+
+   Licensed under the Apache License, Version 2.0 (the "License");
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+   See the License for the specific language governing permissions and
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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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+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

ExternalLicenses/QuickBuffers-License

@@ -0,0 +1,201 @@
+                                 Apache License
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+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+
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+
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+
+      To apply the Apache License to your work, attach the following
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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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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
+                           Version 2.0, January 2004
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+
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+      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/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/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

@@ -196,6 +196,42 @@ 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/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/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" }
@@ -333,7 +390,7 @@ watch(metricsHistorySnapshot, () => {
                 type="file"
                 accept=".jar"
                 style="display: none"
-                @change="handleOfflineUpdate"
+                @change="handleOfflineUpdateRequest"
               />
             </v-col>
           </v-row>
@@ -483,6 +540,33 @@ 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.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+              @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/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/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-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/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/RubikObjectDetector.java

@@ -65,7 +65,9 @@ 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(

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/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/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/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/src/test/java/org/photonvision/OpenCVTest.java

@@ -33,7 +33,6 @@ import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.io.IOException;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
@@ -43,6 +42,7 @@ import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.estimation.RotTrlTransform3d;
 import org.photonvision.estimation.TargetModel;
+import org.photonvision.jni.CombinedRuntimeLoader;
 import org.photonvision.simulation.SimCameraProperties;
 import org.photonvision.simulation.VisionTargetSim;
 

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

@@ -23,6 +23,7 @@ import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Paths;
 import java.util.function.Supplier;
+import org.photonvision.jni.CombinedRuntimeLoader;
 
 @SuppressWarnings({"unused", "doclint"})
 public enum Platform {
@@ -139,6 +140,27 @@ public enum Platform {
         }
     }
 
+    /**
+     * This function serves to map between formats used in the CombinedRuntimeLoader and the platform
+     * names used in the wpilib-tools-plugin. This is typically used for native libraries.
+     *
+     * @return String representing the platform in the format used by wpilib-tools-plugin, or an empty
+     *     string if the platform is not recognized.
+     */
+    public static String getNativePlatform() {
+        String platPath = CombinedRuntimeLoader.getPlatformPath();
+
+        if (platPath == "/linux/x86-64/") {
+            return "linuxx64";
+        } else if (platPath == "/windows/x86-64/") {
+            return "winx64";
+        } else if (platPath == "/linux/arm64/") {
+            return "linuxarm64";
+        } else {
+            return "";
+        }
+    }
+
     public static String getHardwareModel() {
         return currentPlatform.hardwareModel;
     }

photon-targeting/src/main/java/org/photonvision/jni/CombinedRuntimeLoader.java

@@ -0,0 +1,307 @@
+/*
+ * Copyright (c) FIRST and other WPILib contributors.
+ * Open Source Software; you can modify and/or share it under the terms of
+ * the WPILib BSD license below:
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * Neither the name of FIRST, WPILib, nor the names of other WPILib
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ */
+
+package org.photonvision.jni;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import java.io.BufferedInputStream;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+import java.nio.file.StandardCopyOption;
+import java.security.DigestInputStream;
+import java.security.MessageDigest;
+import java.security.NoSuchAlgorithmException;
+import java.util.ArrayList;
+import java.util.HexFormat;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.concurrent.CopyOnWriteArrayList;
+
+/** Loads dynamic libraries for all platforms. */
+public final class CombinedRuntimeLoader {
+    private CombinedRuntimeLoader() {}
+
+    private static String extractionDirectory;
+
+    private static final Object extractCompleteLock = new Object();
+    private static boolean extractAndVerifyComplete = false;
+    private static List<String> filesAlreadyExtracted = new CopyOnWriteArrayList<>();
+
+    /**
+     * Returns library extraction directory.
+     *
+     * @return Library extraction directory.
+     */
+    public static synchronized String getExtractionDirectory() {
+        return extractionDirectory;
+    }
+
+    private static synchronized void setExtractionDirectory(String directory) {
+        extractionDirectory = directory;
+    }
+
+    private static String defaultExtractionRoot;
+
+    /**
+     * Gets the default extraction root location (~/.wpilib/nativecache) for use if
+     * setExtractionDirectory is not set.
+     *
+     * @return The default extraction root location.
+     */
+    public static synchronized String getDefaultExtractionRoot() {
+        if (defaultExtractionRoot != null) {
+            return defaultExtractionRoot;
+        }
+        String home = System.getProperty("user.home");
+        defaultExtractionRoot = Paths.get(home, ".wpilib", "nativecache").toString();
+        return defaultExtractionRoot;
+    }
+
+    /**
+     * Returns platform path.
+     *
+     * @return The current platform path.
+     * @throws IllegalStateException Thrown if the operating system is unknown.
+     */
+    public static String getPlatformPath() {
+        String filePath;
+        String arch = System.getProperty("os.arch");
+
+        boolean intel32 = "x86".equals(arch) || "i386".equals(arch);
+        boolean intel64 = "amd64".equals(arch) || "x86_64".equals(arch);
+
+        if (System.getProperty("os.name").startsWith("Windows")) {
+            if (intel32) {
+                filePath = "/windows/x86/";
+            } else {
+                filePath = "/windows/x86-64/";
+            }
+        } else if (System.getProperty("os.name").startsWith("Mac")) {
+            filePath = "/osx/universal/";
+        } else if (System.getProperty("os.name").startsWith("Linux")) {
+            if (intel32) {
+                filePath = "/linux/x86/";
+            } else if (intel64) {
+                filePath = "/linux/x86-64/";
+            } else if (new File("/usr/local/frc/bin/frcRunRobot.sh").exists()) {
+                filePath = "/linux/athena/";
+            } else if ("arm".equals(arch) || "arm32".equals(arch)) {
+                filePath = "/linux/arm32/";
+            } else if ("aarch64".equals(arch) || "arm64".equals(arch)) {
+                filePath = "/linux/arm64/";
+            } else {
+                filePath = "/linux/nativearm/";
+            }
+        } else {
+            throw new IllegalStateException();
+        }
+
+        return filePath;
+    }
+
+    private static String getLoadErrorMessage(String libraryName, UnsatisfiedLinkError ule) {
+        StringBuilder msg = new StringBuilder(512);
+        msg.append(libraryName)
+                .append(" could not be loaded from path\n" + "\tattempted to load for platform ")
+                .append(getPlatformPath())
+                .append("\nLast Load Error: \n")
+                .append(ule.getMessage())
+                .append('\n');
+        if (System.getProperty("os.name").startsWith("Windows")) {
+            msg.append(
+                    "A common cause of this error is missing the C++ runtime.\n"
+                            + "Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads\n");
+        }
+        return msg.toString();
+    }
+
+    /**
+     * Architecture-specific information containing file hashes for a specific CPU architecture (e.g.,
+     * x86-64, arm64).
+     */
+    public record ArchInfo(Map<String, String> fileHashes) {}
+
+    /**
+     * Platform-specific information containing architectures for a specific OS platform (e.g., linux,
+     * windows).
+     */
+    public record PlatformInfo(Map<String, ArchInfo> architectures) {}
+
+    /** Overall resource information to be serialized */
+    public record ResourceInformation(
+            // Combined MD5 hash of all native resource files
+            String hash,
+            // Platform-specific native libraries organized by platform then architecture
+            Map<String, PlatformInfo> platforms,
+            // List of supported versions for these native resources
+            List<String> versions) {}
+
+    /**
+     * Extract a list of native libraries.
+     *
+     * @param <T> The class where the resources would be located
+     * @param clazz The actual class object
+     * @param resourceName The resource name on the classpath to use for file lookup
+     * @return List of all libraries that were extracted
+     * @throws IOException Thrown if resource not found or file could not be extracted
+     */
+    public static <T> List<String> extractLibraries(Class<T> clazz, String resourceName)
+            throws IOException {
+        ObjectMapper mapper = new ObjectMapper();
+        ResourceInformation resourceInfo;
+        try (var stream = clazz.getResourceAsStream(resourceName)) {
+            resourceInfo = mapper.readValue(stream, ResourceInformation.class);
+        }
+
+        var platformPath = Paths.get(getPlatformPath());
+        var platform = platformPath.getName(0).toString();
+        var arch = platformPath.getName(1).toString();
+
+        var platformInfo = resourceInfo.platforms().get(platform);
+        if (platformInfo == null) {
+            throw new IOException("Platform " + platform + " not found in resource information");
+        }
+
+        var archInfo = platformInfo.architectures().get(arch);
+        if (archInfo == null) {
+            throw new IOException("Architecture " + arch + " not found for platform " + platform);
+        }
+
+        // Map of <file to extract> to <hash we loaded from the JSON>
+        Map<String, String> filenameToHash = archInfo.fileHashes();
+
+        var extractionPathString = getExtractionDirectory();
+
+        if (extractionPathString == null) {
+            // Folder to extract to derived from overall hash
+            String combinedHash = resourceInfo.hash();
+
+            var defaultExtractionRoot = getDefaultExtractionRoot();
+            var extractionPath = Paths.get(defaultExtractionRoot, platform, arch, combinedHash);
+            extractionPathString = extractionPath.toString();
+
+            setExtractionDirectory(extractionPathString);
+        }
+
+        List<String> extractedFiles = new ArrayList<>();
+
+        for (String file : filenameToHash.keySet()) {
+            try (var stream = clazz.getResourceAsStream(file)) {
+                Objects.requireNonNull(stream);
+
+                var outputFile = Paths.get(extractionPathString, new File(file).getName());
+
+                String fileHash = filenameToHash.get(file);
+
+                extractedFiles.add(outputFile.toString());
+                if (outputFile.toFile().exists()) {
+                    if (hashEm(outputFile.toFile()).equals(fileHash)) {
+                        continue;
+                    } else {
+                        // Hashes don't match, delete and re-extract
+                        System.err.println(
+                                outputFile.toAbsolutePath().toString()
+                                        + " failed validation - deleting and re-extracting");
+                        outputFile.toFile().delete();
+                    }
+                }
+                var parent = outputFile.getParent();
+                if (parent == null) {
+                    throw new IOException("Output file has no parent");
+                }
+                parent.toFile().mkdirs();
+
+                try (var os = Files.newOutputStream(outputFile)) {
+                    Files.copy(stream, outputFile, StandardCopyOption.REPLACE_EXISTING);
+                }
+
+                if (!hashEm(outputFile.toFile()).equals(fileHash)) {
+                    throw new IOException("Hash of extracted file does not match expected hash");
+                }
+            }
+        }
+
+        return extractedFiles;
+    }
+
+    private static String hashEm(File f) throws IOException {
+        try {
+            MessageDigest fileHash = MessageDigest.getInstance("MD5");
+            try (var dis =
+                    new DigestInputStream(new BufferedInputStream(new FileInputStream(f)), fileHash)) {
+                dis.readAllBytes();
+            }
+            var ret = HexFormat.of().formatHex(fileHash.digest());
+            return ret;
+        } catch (NoSuchAlgorithmException e) {
+            throw new IOException("Unable to verify extracted native files", e);
+        }
+    }
+
+    /**
+     * Load a single library from a list of extracted files.
+     *
+     * @param libraryName The library name to load
+     * @param extractedFiles The extracted files to search
+     * @throws IOException If library was not found
+     */
+    public static void loadLibrary(String libraryName, List<String> extractedFiles)
+            throws IOException {
+        String currentPath = null;
+        try {
+            for (var extractedFile : extractedFiles) {
+                if (extractedFile.contains(libraryName)) {
+                    // Load it
+                    currentPath = extractedFile;
+                    System.load(extractedFile);
+                    return;
+                }
+            }
+            throw new IOException("Could not find library " + libraryName);
+        } catch (UnsatisfiedLinkError ule) {
+            throw new IOException(getLoadErrorMessage(currentPath, ule));
+        }
+    }
+
+    /**
+     * Load a list of native libraries out of a single directory.
+     *
+     * @param <T> The class where the resources would be located
+     * @param clazz The actual class object
+     * @param librariesToLoad List of libraries to load
+     * @throws IOException Throws an IOException if not found
+     */
+    public static <T> void loadLibraries(Class<T> clazz, String... librariesToLoad)
+            throws IOException {
+        synchronized (extractCompleteLock) {
+            if (extractAndVerifyComplete == false) {
+                // Extract everything
+                filesAlreadyExtracted = extractLibraries(clazz, "/ResourceInformation.json");
+                extractAndVerifyComplete = true;
+            }
+
+            for (var library : librariesToLoad) {
+                loadLibrary(library, filesAlreadyExtracted);
+            }
+        }
+    }
+}

photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java

@@ -24,7 +24,6 @@ import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.jni.WPIMathJNI;
 import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.util.CombinedRuntimeLoader;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.io.IOException;
 import org.opencv.core.Core;

photonlib-java-examples/build.gradle

@@ -16,7 +16,7 @@ spotless {
         toggleOffOn()
         googleJavaFormat()
         indentWithTabs(2)
-        indentWithSpaces(4)
+        leadingTabsToSpaces(4)
         removeUnusedImports()
         trimTrailingWhitespace()
         endWithNewline()

shared/config.gradle

@@ -19,6 +19,8 @@ nativeUtils.wpi.addWarningsAsErrors()
 
 nativeUtils.setSinglePrintPerPlatform()
 
+def externalLicensesFolder = file("$rootDir/ExternalLicenses")
+
 // Enable builds for all platforms.
 model {
     components {
@@ -121,6 +123,10 @@ ext.createComponentZipTasks = { components, names, base, type, project, func ->
                 into '/'
             }
 
+            from(externalLicensesFolder) {
+                into '/'
+            }
+
             func(it, value)
         }
         taskList.add(task)

shared/javacommon.gradle

@@ -14,6 +14,7 @@ def javaBaseName = "_GROUP_org_photonvision_${baseArtifactId}_ID_${baseArtifactI
 
 def outputsFolder = file("$buildDir/outputs")
 def licenseFile = ext.licenseFile
+def externalLicensesFolder = file("$rootDir/ExternalLicenses")
 
 javadoc {
     options {
@@ -24,18 +25,21 @@ javadoc {
 
 jar {
     from licenseFile
+    from externalLicensesFolder
 }
 
 task sourcesJar(type: Jar, dependsOn: classes) {
     archiveClassifier = 'sources'
     from sourceSets.main.allSource
     from licenseFile
+    from externalLicensesFolder
 }
 
 task javadocJar(type: Jar, dependsOn: javadoc) {
     archiveClassifier = 'javadoc'
     from javadoc.destinationDir
     from licenseFile
+    from externalLicensesFolder
 }
 
 task outputJar(type: Jar, dependsOn: classes) {
@@ -43,6 +47,7 @@ task outputJar(type: Jar, dependsOn: classes) {
     destinationDirectory = outputsFolder
     from sourceSets.main.output
     from licenseFile
+    from externalLicensesFolder
 }
 
 task outputSourcesJar(type: Jar, dependsOn: classes) {
@@ -51,6 +56,7 @@ task outputSourcesJar(type: Jar, dependsOn: classes) {
     archiveClassifier = 'sources'
     from sourceSets.main.allSource
     from licenseFile
+    from externalLicensesFolder
 }
 
 task outputJavadocJar(type: Jar, dependsOn: javadoc) {
@@ -59,6 +65,7 @@ task outputJavadocJar(type: Jar, dependsOn: javadoc) {
     archiveClassifier = 'javadoc'
     from javadoc.destinationDir
     from licenseFile
+    from externalLicensesFolder
 }
 
 artifacts {

shared/javacpp/publish.gradle

@@ -8,6 +8,7 @@ def artifactGroupId = 'org.photonvision'
 def zipBaseName = "_GROUP_org_photonvision_${baseArtifactId}_ID_${baseArtifactId}-cpp_CLS"
 
 def licenseFile = ext.licenseFile
+
 // Quick hack to make this name visible to photon-lib for combined
 ext.zipBaseName = zipBaseName
 ext.artifactGroupId = artifactGroupId

test-resources/hardware/HardwareConfig.json

@@ -1,7 +1,5 @@
 {
   "deviceName": "PhotonVision",
-  "deviceLogoPath": "photonvision.png",
-  "supportURL": "https://support.photonvision.com",
   "ledPins" : [2, 13],
   "statusRGBPins" : [-1, -1, -1],
   "ledsCanDim" : true,