lint

## Description

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

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

## Meta

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

.github/pull_request_template.md

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

.github/workflows/build.yml

@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.1.2
+  IMAGE_VERSION: v2026.1.3
 
 jobs:
 
@@ -248,11 +248,11 @@ jobs:
       - run: git fetch --tags --force
       - run: ./gradlew photon-targeting:build photon-lib:build
         name: Build with Gradle
-      - run: ./gradlew photon-lib:publish photon-targeting:publish
-        name: Publish
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+      # - run: ./gradlew photon-lib:publish photon-targeting:publish
+      #   name: Publish
+      #   env:
+      #     ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+      #   if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
       - uses: actions/upload-artifact@v6
@@ -289,11 +289,11 @@ jobs:
       - name: Build PhotonLib
         # We don't need to run tests, since we specify only non-native platforms
         run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
-      - name: Publish
-        run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+      # - name: Publish
+      #   run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
+      #   env:
+      #     ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+      #   if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
       - uses: actions/upload-artifact@v6
@@ -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
@@ -635,12 +664,9 @@ jobs:
           pattern: image-*
 
       - run: find
-      # Push to dev release
       - uses: pyTooling/Actions/releaser@r6
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
           snapshots: false
           files: |
             **/*.xz
@@ -648,13 +674,13 @@ jobs:
             **/*win*.jar
             **/photonlib*.json
             **/photonlib*.zip
-        if: github.event_name == 'push'
-      - name: Create Vendor JSON Repo PR
-        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
-        with:
-          repo: PhotonVision/vendor-json-repo
-          token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
-          vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
-          pr_title: Update photonlib to ${{ github.ref_name }}
-          pr_branch: photonlib-${{ github.ref_name }}
-        if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v')
+      # - name: Create Vendor JSON Repo PR
+      #   uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
+      #   with:
+      #     repo: PhotonVision/vendor-json-repo
+      #     token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
+      #     vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
+      #     pr_title: Update photonlib to ${{ github.ref_name }}
+      #     pr_branch: photonlib-${{ github.ref_name }}
+      #   if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')

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

@@ -84,22 +84,22 @@ jobs:
         with:
           pattern: docs-*
       - run: find .
-      - name: Publish Docs To Development
-        if: github.ref == 'refs/heads/main'
-        uses: up9cloud/action-rsync@v1.4
-        env:
-          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
-          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
-          KEY: ${{secrets.WEBMASTER_SSH_KEY}}
-          TARGET: /var/www/html/photonvision-docs/development/
-      - name: Publish Docs To Release
-        if: startsWith(github.ref, 'refs/tags/v')
-        uses: up9cloud/action-rsync@v1.4
-        env:
-          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
-          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
-          KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
-          TARGET: /var/www/html/photonvision-docs/release/
+      # - name: Publish Docs To Development
+      #   if: github.ref == 'refs/heads/main'
+      #   uses: up9cloud/action-rsync@v1.4
+      #   env:
+      #     HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+      #     USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+      #     KEY: ${{secrets.WEBMASTER_SSH_KEY}}
+      #     TARGET: /var/www/html/photonvision-docs/development/
+      # - name: Publish Docs To Release
+      #   if: startsWith(github.ref, 'refs/tags/v')
+      #   uses: up9cloud/action-rsync@v1.4
+      #   env:
+      #     HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+      #     USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+      #     KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
+      #     TARGET: /var/www/html/photonvision-docs/release/
 
   publish_demo:
       name: Publish PhotonClient Demo
@@ -111,7 +111,6 @@ jobs:
           name: built-demo
       - run: find .
       - name: Publish demo
-        if: github.ref == 'refs/heads/main'
         uses: up9cloud/action-rsync@v1.4
         env:
           HOST: ${{ secrets.WEBMASTER_SSH_HOST }}

.github/workflows/python.yml

@@ -123,23 +123,23 @@ jobs:
             ./run.sh $folder
           done
 
-  deploy:
-    needs: [test-py, build-python-examples]
-    runs-on: ubuntu-24.04
-    # Only upload on tags
-    if: startsWith(github.ref, 'refs/tags/v')
+  # deploy:
+  #   needs: [test-py, build-python-examples]
+  #   runs-on: ubuntu-24.04
+  #   # Only upload on tags
+  #   if: startsWith(github.ref, 'refs/tags/v')
 
-    steps:
-      - name: Download artifacts
-        uses: actions/download-artifact@v6
-        with:
-          name: dist
-          path: dist/
+  #   steps:
+  #     - name: Download artifacts
+  #       uses: actions/download-artifact@v6
+  #       with:
+  #         name: dist
+  #         path: dist/
 
-      - name: Publish package distributions to PyPI
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          packages-dir: ./dist/
+  #     - name: Publish package distributions to PyPI
+  #       uses: pypa/gh-action-pypi-publish@release/v1
+  #       with:
+  #         packages-dir: ./dist/
 
-    permissions:
-      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+  #   permissions:
+  #     id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing

.gitignore

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

.wpiformat

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

ExternalLicenses/ApacheCommons-License

@@ -0,0 +1,201 @@
+                                 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/EJML-License

@@ -0,0 +1,176 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   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

ExternalLicenses/Javalin-LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "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 2017 David Åse
+
+   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/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
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+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
+                           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/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/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU Affero General Public License is a free, copyleft license for
+software and other kinds of works, specifically designed to ensure
+cooperation with the community in the case of network server software.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+our General Public Licenses are intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  Developers that use our General Public Licenses protect your rights
+with two steps: (1) assert copyright on the software, and (2) offer
+you this License which gives you legal permission to copy, distribute
+and/or modify the software.
+
+  A secondary benefit of defending all users' freedom is that
+improvements made in alternate versions of the program, if they
+receive widespread use, become available for other developers to
+incorporate.  Many developers of free software are heartened and
+encouraged by the resulting cooperation.  However, in the case of
+software used on network servers, this result may fail to come about.
+The GNU General Public License permits making a modified version and
+letting the public access it on a server without ever releasing its
+source code to the public.
+
+  The GNU Affero General Public License is designed specifically to
+ensure that, in such cases, the modified source code becomes available
+to the community.  It requires the operator of a network server to
+provide the source code of the modified version running there to the
+users of that server.  Therefore, public use of a modified version, on
+a publicly accessible server, gives the public access to the source
+code of the modified version.
+
+  An older license, called the Affero General Public License and
+published by Affero, was designed to accomplish similar goals.  This is
+a different license, not a version of the Affero GPL, but Affero has
+released a new version of the Affero GPL which permits relicensing under
+this license.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU Affero General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy.  Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+  To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies.  Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+  An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License.  If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+  1. Source Code.
+
+  The "source code" for a work means the preferred form of the work
+for making modifications to it.  "Object code" means any non-source
+form of a work.
+
+  A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+  The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
+implementation is available to the public in source code form.  A
+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+  The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities.  However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work.  For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+  The Corresponding Source need not include anything that users
+can regenerate automatically from other parts of the Corresponding
+Source.
+
+  The Corresponding Source for a work in source code form is that
+same work.
+
+  2. Basic Permissions.
+
+  All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met.  This License explicitly affirms your unlimited
+permission to run the unmodified Program.  The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work.  This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+  You may make, run and propagate covered works that you do not
+convey, without conditions so long as your license otherwise remains
+in force.  You may convey covered works to others for the sole purpose
+of having them make modifications exclusively for you, or provide you
+with facilities for running those works, provided that you comply with
+the terms of this License in conveying all material for which you do
+not control copyright.  Those thus making or running the covered works
+for you must do so exclusively on your behalf, under your direction
+and control, on terms that prohibit them from making any copies of
+your copyrighted material outside their relationship with you.
+
+  Conveying under any other circumstances is permitted solely under
+the conditions stated below.  Sublicensing is not allowed; section 10
+makes it unnecessary.
+
+  3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+  No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+  When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such circumvention
+is effected by exercising rights under this License with respect to
+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
+technological measures.
+
+  4. Conveying Verbatim Copies.
+
+  You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+  You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+  5. Conveying Modified Source Versions.
+
+  You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
+    a) The work must carry prominent notices stating that you modified
+    it, and giving a relevant date.
+
+    b) The work must carry prominent notices stating that it is
+    released under this License and any conditions added under section
+    7.  This requirement modifies the requirement in section 4 to
+    "keep intact all notices".
+
+    c) You must license the entire work, as a whole, under this
+    License to anyone who comes into possession of a copy.  This
+    License will therefore apply, along with any applicable section 7
+    additional terms, to the whole of the work, and all its parts,
+    regardless of how they are packaged.  This License gives no
+    permission to license the work in any other way, but it does not
+    invalidate such permission if you have separately received it.
+
+    d) If the work has interactive user interfaces, each must display
+    Appropriate Legal Notices; however, if the Program has interactive
+    interfaces that do not display Appropriate Legal Notices, your
+    work need not make them do so.
+
+  A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit.  Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+  6. Conveying Non-Source Forms.
+
+  You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+    a) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by the
+    Corresponding Source fixed on a durable physical medium
+    customarily used for software interchange.
+
+    b) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by a
+    written offer, valid for at least three years and valid for as
+    long as you offer spare parts or customer support for that product
+    model, to give anyone who possesses the object code either (1) a
+    copy of the Corresponding Source for all the software in the
+    product that is covered by this License, on a durable physical
+    medium customarily used for software interchange, for a price no
+    more than your reasonable cost of physically performing this
+    conveying of source, or (2) access to copy the
+    Corresponding Source from a network server at no charge.
+
+    c) Convey individual copies of the object code with a copy of the
+    written offer to provide the Corresponding Source.  This
+    alternative is allowed only occasionally and noncommercially, and
+    only if you received the object code with such an offer, in accord
+    with subsection 6b.
+
+    d) Convey the object code by offering access from a designated
+    place (gratis or for a charge), and offer equivalent access to the
+    Corresponding Source in the same way through the same place at no
+    further charge.  You need not require recipients to copy the
+    Corresponding Source along with the object code.  If the place to
+    copy the object code is a network server, the Corresponding Source
+    may be on a different server (operated by you or a third party)
+    that supports equivalent copying facilities, provided you maintain
+    clear directions next to the object code saying where to find the
+    Corresponding Source.  Regardless of what server hosts the
+    Corresponding Source, you remain obligated to ensure that it is
+    available for as long as needed to satisfy these requirements.
+
+    e) Convey the object code using peer-to-peer transmission, provided
+    you inform other peers where the object code and Corresponding
+    Source of the work are being offered to the general public at no
+    charge under subsection 6d.
+
+  A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+  A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
+into a dwelling.  In determining whether a product is a consumer product,
+doubtful cases shall be resolved in favor of coverage.  For a particular
+product received by a particular user, "normally used" refers to a
+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product.  A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+  "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source.  The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+  If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information.  But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+  The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed.  Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+  Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+  7. Additional Terms.
+
+  "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law.  If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+  When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it.  (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.)  You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+  Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+    a) Disclaiming warranty or limiting liability differently from the
+    terms of sections 15 and 16 of this License; or
+
+    b) Requiring preservation of specified reasonable legal notices or
+    author attributions in that material or in the Appropriate Legal
+    Notices displayed by works containing it; or
+
+    c) Prohibiting misrepresentation of the origin of that material, or
+    requiring that modified versions of such material be marked in
+    reasonable ways as different from the original version; or
+
+    d) Limiting the use for publicity purposes of names of licensors or
+    authors of the material; or
+
+    e) Declining to grant rights under trademark law for use of some
+    trade names, trademarks, or service marks; or
+
+    f) Requiring indemnification of licensors and authors of that
+    material by anyone who conveys the material (or modified versions of
+    it) with contractual assumptions of liability to the recipient, for
+    any liability that these contractual assumptions directly impose on
+    those licensors and authors.
+
+  All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10.  If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term.  If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+  If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+  Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+  8. Termination.
+
+  You may not propagate or modify a covered work except as expressly
+provided under this License.  Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+  However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+  Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+  Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License.  If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+  9. Acceptance Not Required for Having Copies.
+
+  You are not required to accept this License in order to receive or
+run a copy of the Program.  Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance.  However,
+nothing other than this License grants you permission to propagate or
+modify any covered work.  These actions infringe copyright if you do
+not accept this License.  Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+  10. Automatic Licensing of Downstream Recipients.
+
+  Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License.  You are not responsible
+for enforcing compliance by third parties with this License.
+
+  An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations.  If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+  Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+  In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement).  To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Remote Network Interaction; Use with the GNU General Public License.
+
+  Notwithstanding any other provision of this License, if you modify the
+Program, your modified version must prominently offer all users
+interacting with it remotely through a computer network (if your version
+supports such interaction) an opportunity to receive the Corresponding
+Source of your version by providing access to the Corresponding Source
+from a network server at no charge, through some standard or customary
+means of facilitating copying of software.  This Corresponding Source
+shall include the Corresponding Source for any work covered by version 3
+of the GNU General Public License that is incorporated pursuant to the
+following paragraph.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the work with which it is combined will remain governed by version
+3 of the GNU General Public License.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU Affero General Public License from time to time.  Such new versions
+will be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU Affero General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU Affero General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU Affero General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Affero General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Affero General Public License for more details.
+
+    You should have received a copy of the GNU Affero General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If your software can interact with users remotely through a computer
+network, you should also make sure that it provides a way for users to
+get its source.  For example, if your program is a web application, its
+interface could display a "Source" link that leads users to an archive
+of the code.  There are many ways you could offer source, and different
+solutions will be better for different programs; see section 13 for the
+specific requirements.
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU AGPL, see
+<https://www.gnu.org/licenses/>.

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
+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.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(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
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+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
+                        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/sqlite-jdbc-License

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

ExternalLicenses/zt-zip-License

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

build.gradle

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

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

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

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

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

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

@@ -167,15 +167,79 @@ repositories {
 }
 ```
 
-### VSCode Test Runner Extension
+### Debugging PhotonVision Running on a CoProcessor
 
-With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack), you can get the Test Runner for Java and Gradle for Java extensions. This lets you easily run specific tests through the IDE:
+We can use Java's remote debug capabilities to run the PhotonVision JAR file on a Coprocessor, and attach a debugger running on a desktop/laptop to the process remotely. Set up a VSCode configuration in {code}`launch.json`
 
-```{image} assets/vscode-runner-tests.png
-:alt: An image showing how unit tests can be ran in VSCode through the Test Runner for Java extension.
+```json
+{
+   // Use IntelliSense to learn about possible attributes.
+   // Hover to view descriptions of existing attributes.
+   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+   "version": "0.2.0",
+   "configurations": [
+     {
+         "type": "java",
+         "name": "Attach to CoProcessor",
+         "request": "attach",
+         "hostName": "photonvision.local",
+         "port": "5801",
+         "projectName": "photon-core"
+     },
+   ]
+}
 ```
 
-To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.
+Stop any existing instance of PhotonVision by running {code}`systemctl stop photonvision`.
+
+Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=y,address=*:5801 photonvision.jar` -- the JVM will wait for a debugger to connect before running `main`.
+
+Once the program says it is listening on port 5801, launch the debug configuration in VSCode.
+
+The program will wait for the VSCode debugger to attach before proceeding.
+
+
+## Running Tests
+
+### Running Default Tests
+
+Most unit tests [run as "headless" tests](https://docs.gradle.org/current/userguide/java_testing.html#test_filtering) (i.e have no UI component during the test) by default.
+To run a test, pass the test name(s):
+
+```{eval-rst}
+.. tab-set::
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ``./gradlew test --tests <Test Name>``
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ``./gradlew test --tests <Test Name>``
+
+   .. tab-item:: Windows (cmd)
+      :sync: windows
+
+      ``gradlew test --tests <Test Name>``
+```
+
+### Debugging PhotonVision Tests Locally
+
+Unit tests can also be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
+
+```{image} assets/vscode-gradle-tests.png
+:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
+```
+
+However, this will run all tests in a subproject.
+
+Similarly, a local instance of PhotonVision can be debugged in the same way using the Gradle ``run`` task. In both cases, additional arguments can be specified:
+
+```{image} assets/vscode-gradle-args.png
+:alt: An image showing how VSCode gradle tasks can specify additional arguments.
+```
 
 ### Running Tests With UI
 
@@ -200,58 +264,21 @@ By default, tests are run with UI disabled so they are not obtrusive during a bu
       ``gradlew test -PenableTestUi``
 ```
 
-### Debugging PhotonVision Running Locally
+### VSCode Test Runner Extension
 
-Unit tests can instead be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
+With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack), you can get the Test Runner for Java and Gradle for Java extensions. This lets you easily run specific tests through the IDE:
 
-```{image} assets/vscode-gradle-tests.png
-:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
+```{image} assets/vscode-runner-tests.png
+:alt: An image showing how unit tests can be ran in VSCode through the Test Runner for Java extension.
 ```
 
-However, this will run all tests in a subproject.
+To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.
 
-Similarly, a local instance of PhotonVision can be debugged in the same way using the Gradle ``run`` task. In both cases, additional arguments can be specified:
-
-```{image} assets/vscode-gradle-args.png
-:alt: An image showing how VSCode gradle tasks can specify additional arguments.
-```
-
-### Debugging PhotonVision Running on a CoProcessor
-
-Set up a VSCode configuration in {code}`launch.json`
-
-```json
-{
-   // Use IntelliSense to learn about possible attributes.
-   // Hover to view descriptions of existing attributes.
-   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-   "version": "0.2.0",
-   "configurations": [
-     {
-         "type": "java",
-         "name": "Attach to CoProcessor",
-         "request": "attach",
-         "hostName": "photonvision.local",
-         "port": "5801",
-         "projectName": "photon-core"
-     },
-   ]
-}
-```
-
-Stop any existing instance of PhotonVision.
-
-Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5801 photonvision.jar`
-
-Once the program says it is listening on port 5801, launch the debug configuration in VSCode.
-
-The program will wait for the VSCode debugger to attach before proceeding.
-
-### Running examples
+## Running examples
 
 You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the photonlib-*-examples subdirectories for each language.
 
-#### Running C++/Java
+### Running C++/Java
 
 PhotonLib must first be published to your local maven repository. This will also copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though not yet supported.
 
@@ -265,7 +292,7 @@ PhotonLib must first be published to your local maven repository. This will also
 ~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
 ```
 
-#### Running Python
+### Running Python
 
 PhotonLibPy must first be built into a wheel.
 
@@ -289,7 +316,7 @@ Then, run the examples:
 > run.bat <example name>
 ```
 
-#### Downloading Pipeline Artifacts
+### Downloading Pipeline Artifacts
 
 Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from pipelines by run ID and name:
 
@@ -297,13 +324,13 @@ Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from
 ~/photonvision$ gh run download 11759699679 -n jar-Linux
 ```
 
-#### MacOS Builds
+### MacOS Builds
 
 MacOS builds are not published to releases as MacOS is not an officially
 supported platform. However, MacOS builds are still available from the MacOS
 build action, which can be found [here](https://github.com/PhotonVision/photonvision/actions/workflows/build.yml).
 
-#### Forcing Object Detection in the UI
+### Forcing Object Detection in the UI
 
 In order to force the Object Detection interface to be visible, it's necessary to hardcode the platform that `Platform.java` returns. This can be done by changing the function that detects the RK3588S/QCS6490 platform to always return true, and changing the `getCurrentPlatform()` function to always return the RK3588S/QCS6490 architecture.
 Alternatively, it's possible to modify the frontend code by changing all instances of `useSettingsStore().general.supportedBackends.length > 0` to `true`, which will force the card to render.

docs/source/docs/contributing/guidelines.md

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

docs/source/docs/contributing/index.md

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

docs/source/docs/hardware/customhardware.md

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

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

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

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

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

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

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

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

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

photon-client/eslint.config.mjs

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

photon-client/package.json

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

photon-client/playwright.config.ts

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

photon-client/src/App.vue

@@ -75,6 +75,36 @@ onBeforeMount(() => {
     <photon-log-view />
     <photon-error-snackbar />
   </v-app>
+
+  <!-- Quarky overlay -->
+  <div class="quarky-overlay">
+    <div id="quarkyContainer" class="quarky-container" style="left: calc(100vw - 550px); top: calc(100vh - 550px)">
+      <img id="quarkyImage" src="" alt="Quarky" />
+      <div
+        id="quarkySpeechBubble"
+        style="
+          display: none;
+          position: absolute;
+          left: 50%;
+          top: 0;
+          transform: translateX(-50%);
+          min-width: 120px;
+          max-width: 320px;
+          padding: 16px 24px;
+          background: #fff;
+          color: #222;
+          border-radius: 16px;
+          box-shadow: 0 4px 16px rgba(0, 0, 0, 0.15);
+          font-size: 1.2em;
+          font-family: sans-serif;
+          opacity: 0;
+          transition: opacity 0.7s;
+          pointer-events: none;
+          z-index: 10;
+        "
+      ></div>
+    </div>
+  </div>
 </template>
 
 <style lang="scss">
@@ -117,4 +147,33 @@ onBeforeMount(() => {
 div.v-layout {
   overflow: unset !important;
 }
+
+/* Overlay container for Quarky */
+.quarky-overlay {
+  position: fixed;
+  top: 0;
+  left: 0;
+  width: 100%;
+  height: 100%;
+  pointer-events: none;
+  z-index: 1000;
+}
+
+/* Quarky animation container */
+.quarky-container {
+  position: absolute;
+  width: 500px;
+  height: 500px;
+  background-color: transparent;
+  transition:
+    left 1s cubic-bezier(0.42, 0, 0.58, 1),
+    top 1s cubic-bezier(0.42, 0, 0.58, 1);
+}
+
+.quarky-container img {
+  width: 100%;
+  height: 100%;
+  object-fit: contain;
+  display: block;
+}
 </style>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

photon-client/src/lib/ThemeManager.ts

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

photon-client/src/lib/quarky.js

@@ -0,0 +1,452 @@
+import IDLEGIF from "@/assets/images/idle.gif";
+import GROWGIF from "@/assets/images/grow.gif";
+import BLINKGIF from "@/assets/images/blink.gif";
+import WAVEGIF from "@/assets/images/wave.gif";
+import SPEAKGIF from "@/assets/images/speak.gif";
+import SHRINKGIF from "@/assets/images/shrink.gif";
+import POINTGIF from "@/assets/images/point.gif";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+
+const ANIMATIONS = {
+  idle: IDLEGIF,
+  grow: GROWGIF,
+  blink: BLINKGIF,
+  wave: WAVEGIF,
+  speak: SPEAKGIF,
+  shrink: SHRINKGIF,
+  point: POINTGIF
+};
+
+// Extended animation sequence
+const SEQUENCE = [
+  { animation: "grow", loops: 1 },
+  { animation: "idle", loops: 2 },
+  { animation: "blink", loops: 1 },
+  { animation: "idle", loops: 1 },
+  { animation: "speak", loops: 1 },
+  { animation: "idle", loops: 1 },
+  { animation: "point", loops: 1 },
+  { animation: "idle", loops: 1 },
+  { animation: "wave", loops: 1 },
+  { animation: "idle", loops: 1 }
+];
+
+let quarkyImage;
+let quarkyContainer;
+let speechBubble;
+let currentSequenceIndex = 0;
+let currentLoopCount = 0;
+let isMovingDemo = false;
+let hasPlayedGrow = false;
+
+// Speech bubble text (configurable)
+let quarkySpeechText = "Hello from Quarky!";
+
+// Turbo-encabulator style nonsense phrases
+const quarkyPhrases = [
+  "Reverse phase oscillation detected!",
+  "Initializing hyperflux capacitor...",
+  "Reticulating splines in progress.",
+  "Quantum entanglement buffer overflowzomg",
+  "Did you remember the turbo-encabulator?",
+  "Engaging magnetic flux inverter.",
+  "Calibrating photon resonance field.",
+  "Deploying recursive feedback loop.",
+  "wow.",
+  "I applaud your pseudo-random bitstream.",
+  "Rebooting quantum foam stabilizer.",
+  "Analyzing subspace harmonics.",
+  "Transmitting encrypted flux packets.",
+  "Verifying entropic phase alignment.",
+  "Reconfiguring nano-particle array.",
+  "pew pew. pew pew.",
+  "I can't parse the synthetic logic matrix.",
+  "Don't forget to make the holographic interface.",
+  "You should generate more stochastic resonance.",
+  "Greetings",
+  "You look like you need some help!",
+  "Set this slider to 25",
+  "Set this slider to 67. HAHA 67!!!!",
+  "That's a horrible choice!",
+  "Fun is a core value! Is that a fun choice?",
+  "If your grandma saw that choice, would she be proud?",
+  "Chute Door?",
+  "Yes, Chute Door!",
+  "That's a bold strategy, Cotton.",
+  "asdflkjaslkdflklnf2222",
+  "00110101? That's just gibberish!",
+  "Three is my favorite number too!",
+  "Robots should not quit, but yours did!",
+  "Don’t forget to disable auto-exposure! Or enable it. I'm not sure. ",
+  "Have you glued your lenses to keep them in focus?",
+  "Don’t put spaces in your camera names — it makes the robot very sad",
+  "Upgrade to Photon Pro for gtsam support 👍",
+  "Did you forget to take off the lense covers? It’s dark in here…"
+];
+
+// State-specific humorous phrases
+const cameraNeedsSetupPhrases = [
+  "These cameras are just standing there... menacingly",
+  "Are your cameras plugged in? Trick question -- they aren't!",
+  "Have you hot-glued your USB cameras?"
+];
+
+const backendNotConnectedPhrases = [
+  "Um, is this thing even on?",
+  "Anyone home? Bulldozer? Bulldozer?",
+  "Have you tried turning the NI™ RoboRIO™ off and on again?"
+];
+
+const ntDisconnectedPhrases = [
+  "NetworkTables? More like Network'(; DROP TABLE websockets;--",
+  "Robots shouldn't quit, but I sure can't talk to yours!",
+  "Are you an OM5P? Because I can't talk to you over the LAN!",
+  "I'm a sentient subatomic particle, not a networking engineer."
+];
+
+/**
+ * Get list of applicable phrase categories based on current UI state
+ */
+function getApplicablePhraseLists() {
+  const cameraStore = useCameraSettingsStore();
+  const stateStore = useStateStore();
+
+  // Build list of applicable phrase categories
+  const applicableLists = [quarkyPhrases];
+
+  // Add state-specific categories (additive, not replacing)
+  if (cameraStore?.needsCameraConfiguration) {
+    applicableLists.push(cameraNeedsSetupPhrases);
+  }
+
+  if (!stateStore?.backendConnected) {
+    applicableLists.push(backendNotConnectedPhrases);
+  }
+
+  if (!stateStore?.ntConnectionStatus?.connected) {
+    applicableLists.push(ntDisconnectedPhrases);
+  }
+
+  return applicableLists;
+}
+
+/**
+ * Pick a random phrase from applicable categories
+ */
+function pickRandomPhrase() {
+  const applicableLists = getApplicablePhraseLists();
+  const randomList = applicableLists[Math.floor(Math.random() * applicableLists.length)];
+  return randomList[Math.floor(Math.random() * randomList.length)];
+}
+
+/**
+ * Get the duration of an animation in milliseconds
+ */
+function getAnimationDuration(animation) {
+  if (!animation) return 500; // Default 0.5s for empty state
+
+  // Animation durations (in seconds) based on quarky_generator.py
+  const durations = {
+    idle: 0.5,
+    grow: 2.0,
+    blink: 0.3,
+    wave: 1.8,
+    speak: 2.0,
+    shrink: 2.0,
+    point: 1.5
+  };
+
+  return (durations[animation] || 1.0) * 1000; // Convert to ms
+}
+
+/**
+ * Play an animation
+ */
+function playAnimation(animation) {
+  if (!animation) {
+    quarkyImage.src = "";
+    quarkyImage.style.display = "none";
+    return;
+  }
+  quarkyImage.style.display = "block";
+  quarkyImage.src = ANIMATIONS[animation];
+  if (animation === "speak") {
+    // Pick random phrase from applicable categories
+    quarkySpeechText = pickRandomPhrase();
+    speechBubble.textContent = quarkySpeechText;
+    speechBubble.style.display = "block";
+    speechBubble.style.opacity = 1;
+    setTimeout(() => {
+      speechBubble.style.opacity = 0;
+      setTimeout(() => {
+        speechBubble.style.display = "none";
+      }, 700);
+    }, 3000);
+  }
+}
+
+// Mini Quarky management
+let miniQuarkies = [];
+const MAX_MINI_QUARKIES = 20;
+const MINI_QUARKY_SIZE = 120;
+const MINI_QUARKY_Z_INDEX = 999;
+const MINI_QUARKY_VELOCITY_MULTIPLIER = 12;
+const MINI_QUARKY_VELOCITY_CENTER = 0.5;
+const DIRECTION_CHANGE_PROBABILITY = 0.02;
+const DIRECTION_CHANGE_VELOCITY_MULTIPLIER = 4;
+const MINI_QUARKY_ANIMATION_INTERVAL_MS = 50;
+const MINI_QUARKY_SPAWN_BASE_DELAY_MS = 4000;
+const MINI_QUARKY_SPAWN_DELAY_RANGE_MS = 8000;
+
+// Random movement every few cycles
+let mouseX = window.innerWidth / 2;
+let mouseY = window.innerHeight / 2;
+let mouseMoving = false;
+let mouseMoveTimeout = null;
+
+/**
+ * Clamp Quarky's position to stay within the viewport, accounting for the sidebar
+ */
+function clampQuarkyPosition(x, y) {
+  const rect = quarkyContainer.getBoundingClientRect();
+
+  // Get sidebar width (account for both expanded and compact modes)
+  const sidebar = document.querySelector(".v-navigation-drawer");
+  const sidebarWidth = sidebar ? sidebar.offsetWidth : 0;
+
+  // Clamp to viewport, starting after the sidebar
+  const clampedX = Math.max(sidebarWidth, Math.min(x, window.innerWidth - rect.width));
+  const clampedY = Math.max(0, Math.min(y, window.innerHeight - rect.height));
+  return { x: clampedX, y: clampedY };
+}
+
+function mouseMoveHandler(e) {
+  mouseX = e.clientX + window.scrollX;
+  mouseY = e.clientY + window.scrollY;
+  mouseMoving = true;
+  clearTimeout(mouseMoveTimeout);
+  // After 1.5s of no movement, return Quarky to home and resume nonsense
+  mouseMoveTimeout = setTimeout(() => {
+    mouseMoving = false;
+    quarkyContainer.style.left = "calc(100vw - 550px)";
+    quarkyContainer.style.top = "calc(100vh - 550px)";
+    isMovingDemo = false;
+    playNextAnimation();
+  }, 1500);
+  // Actively track mouse: update Quarky's position every mouse move (clamped to viewport)
+  const clamped = clampQuarkyPosition(mouseX, mouseY);
+  quarkyContainer.style.left = `${clamped.x}px`;
+  quarkyContainer.style.top = `${clamped.y}px`;
+  // Immediately trigger Quarky to point at cursor
+  if (!isMovingDemo) {
+    isMovingDemo = true;
+    playAnimation("point");
+    setTimeout(() => {
+      playAnimation("idle");
+    }, getAnimationDuration("point"));
+  }
+}
+
+/**
+ * Advance to the next animation in the sequence
+ */
+function playNextAnimation() {
+  if (isMovingDemo) return;
+  let currentStep = SEQUENCE[currentSequenceIndex];
+
+  // On loop, skip grow after first time
+  if (hasPlayedGrow && currentSequenceIndex === 0 && currentStep.animation === "grow") {
+    currentSequenceIndex = 1;
+    currentStep = SEQUENCE[currentSequenceIndex];
+  }
+
+  // If mouse is moving, don't do normal cycle
+  if (mouseMoving) {
+    // Quarky will point at cursor via mousemove handler
+    return;
+  }
+
+  // Show speech bubble before speak
+  if (currentStep.animation === "speak") {
+    quarkySpeechText = pickRandomPhrase();
+    speechBubble.textContent = quarkySpeechText;
+    speechBubble.style.display = "block";
+    speechBubble.style.opacity = 1;
+    setTimeout(() => {
+      speechBubble.style.opacity = 0;
+      setTimeout(() => {
+        speechBubble.style.display = "none";
+      }, 700);
+    }, 3000);
+  }
+
+  // Fade out speech bubble after speak (during idle)
+  if (SEQUENCE[currentSequenceIndex - 1]?.animation === "speak" && currentStep.animation === "idle") {
+    // Speech bubble already has its own timeout from above
+  }
+
+  // Always return to corner when idle
+  quarkyContainer.style.left = "calc(100vw - 550px)";
+  quarkyContainer.style.top = "calc(100vh - 550px)";
+
+  // Play the animation
+  playAnimation(currentStep.animation);
+
+  // Calculate duration and schedule next animation
+  const duration = getAnimationDuration(currentStep.animation);
+
+  setTimeout(() => {
+    currentLoopCount++;
+
+    // Check if we've completed all loops for this step
+    if (currentLoopCount >= currentStep.loops) {
+      // Move to next step
+      currentLoopCount = 0;
+      currentSequenceIndex++;
+
+      // Loop back to start if we've completed the sequence
+      if (currentSequenceIndex >= SEQUENCE.length) {
+        currentSequenceIndex = 0;
+        hasPlayedGrow = true;
+      }
+    }
+
+    // Play the next animation
+    playNextAnimation();
+  }, duration);
+}
+
+function clickToPoint(e) {
+  // Ignore clicks on the button
+  if (e.target.id === "moveDemoBtn") return;
+  isMovingDemo = true;
+  const clickX = e.clientX + window.scrollX;
+  const clickY = e.clientY + window.scrollY;
+  const clamped = clampQuarkyPosition(clickX, clickY);
+  quarkyContainer.style.left = `${clamped.x}px`;
+  quarkyContainer.style.top = `${clamped.y}px`;
+  setTimeout(() => {
+    playAnimation("point");
+    setTimeout(() => {
+      playAnimation("idle");
+      quarkyContainer.style.left = "calc(100vw - 550px)";
+      quarkyContainer.style.top = "calc(100vh - 550px)";
+      setTimeout(() => {
+        isMovingDemo = false;
+        playNextAnimation();
+      }, 1000);
+    }, getAnimationDuration("point"));
+  }, 1000);
+}
+
+/**
+ * Spawn a mini Quarky that moves randomly around the screen
+ */
+function spawnMiniQuarky() {
+  console.log("SPAWNING A QUARKY");
+
+  // If at max, don't spawn
+  if (miniQuarkies.length >= MAX_MINI_QUARKIES) {
+    return;
+  }
+
+  const miniContainer = document.createElement("div");
+  miniContainer.style.position = "fixed";
+  miniContainer.style.width = `${MINI_QUARKY_SIZE}px`;
+  miniContainer.style.height = `${MINI_QUARKY_SIZE}px`;
+  miniContainer.style.pointerEvents = "none";
+  miniContainer.style.zIndex = MINI_QUARKY_Z_INDEX.toString();
+
+  // Spawn from main quarky's actual position
+  const rect = quarkyContainer.getBoundingClientRect();
+  const startX = rect.left + window.scrollX + rect.width / 2;
+  const startY = rect.top + window.scrollY + rect.height / 2;
+  miniContainer.style.left = startX + "px";
+  miniContainer.style.top = startY + "px";
+
+  const miniImage = document.createElement("img");
+  miniImage.src = ANIMATIONS["idle"];
+  miniImage.style.width = "100%";
+  miniImage.style.height = "100%";
+  miniImage.style.objectFit = "contain";
+
+  miniContainer.appendChild(miniImage);
+  document.body.appendChild(miniContainer);
+
+  const miniQuarky = {
+    container: miniContainer,
+    image: miniImage,
+    x: startX,
+    y: startY,
+    vx: (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * MINI_QUARKY_VELOCITY_MULTIPLIER,
+    vy: (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * MINI_QUARKY_VELOCITY_MULTIPLIER,
+    animationInterval: null
+  };
+
+  miniQuarkies.push(miniQuarky);
+
+  // Start movement loop
+  miniQuarky.animationInterval = setInterval(() => {
+    miniQuarky.x += miniQuarky.vx;
+    miniQuarky.y += miniQuarky.vy;
+
+    // Bounce off edges
+    if (miniQuarky.x <= 0 || miniQuarky.x >= window.innerWidth - MINI_QUARKY_SIZE) {
+      miniQuarky.vx *= -1;
+      miniQuarky.x = Math.max(0, Math.min(miniQuarky.x, window.innerWidth - MINI_QUARKY_SIZE));
+    }
+    if (miniQuarky.y <= 0 || miniQuarky.y >= window.innerHeight - MINI_QUARKY_SIZE) {
+      miniQuarky.vy *= -1;
+      miniQuarky.y = Math.max(0, Math.min(miniQuarky.y, window.innerHeight - MINI_QUARKY_SIZE));
+    }
+
+    // Occasionally change direction randomly
+    if (Math.random() < DIRECTION_CHANGE_PROBABILITY) {
+      miniQuarky.vx = (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * DIRECTION_CHANGE_VELOCITY_MULTIPLIER;
+      miniQuarky.vy = (Math.random() - MINI_QUARKY_VELOCITY_CENTER) * DIRECTION_CHANGE_VELOCITY_MULTIPLIER;
+    }
+
+    miniContainer.style.left = miniQuarky.x + "px";
+    miniContainer.style.top = miniQuarky.y + "px";
+  }, MINI_QUARKY_ANIMATION_INTERVAL_MS);
+}
+
+/**
+ * Clean up all mini Quarkies
+ */
+function cleanupMiniQuarkies() {
+  // eslint-disable-line @typescript-eslint/no-unused-vars
+  miniQuarkies.forEach((mini) => {
+    clearInterval(mini.animationInterval);
+    mini.container.remove();
+  });
+  miniQuarkies = [];
+}
+
+export default function setup() {
+  quarkyImage = document.getElementById("quarkyImage");
+  quarkyContainer = document.getElementById("quarkyContainer");
+  speechBubble = document.getElementById("quarkySpeechBubble");
+
+  // Start the animation sequence
+  playNextAnimation();
+
+  //Install mouse move handler
+  window.addEventListener("mousemove", mouseMoveHandler);
+
+  // Click-to-point feature installation
+  window.addEventListener("click", (e) => {
+    clickToPoint(e);
+  });
+
+  // Spawn mini Quarkies on a random timer
+  function scheduleNextMiniQuarkySpawn() {
+    const delayMs = MINI_QUARKY_SPAWN_BASE_DELAY_MS + Math.random() * MINI_QUARKY_SPAWN_DELAY_RANGE_MS;
+    setTimeout(() => {
+      spawnMiniQuarky();
+      scheduleNextMiniQuarkySpawn();
+    }, delayMs);
+  }
+  scheduleNextMiniQuarkySpawn();
+}

photon-client/src/main.ts

@@ -6,6 +6,8 @@ import router from "@/router";
 import vuetify from "@/plugins/vuetify";
 import axios from "axios";
 
+import setup from "@/lib/quarky.js";
+
 type PhotonClientRuntimeMode = "production" | "development" | "local-network-development";
 const runtimeMode: PhotonClientRuntimeMode = process.env.NODE_ENV as PhotonClientRuntimeMode;
 
@@ -45,3 +47,4 @@ app.use(pinia);
 app.use(vuetify);
 app.use(router);
 app.mount("#app");
+setup();

photon-client/src/stores/StateStore.ts

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

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

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

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

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

photon-client/src/types/SettingTypes.ts

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

photon-client/src/views/CameraMatchingView.vue

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

photon-client/src/views/DashboardView.vue

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

photon-client/vite.config.ts

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

photon-core/build.gradle

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -170,10 +170,12 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     @Override
     public void setAutoExposure(boolean cameraAutoExposure) {
         if ((configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281Controls)
-                        || configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV9782Controls))
+                        || configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV9782Controls)
+                        || configuration.cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311Controls))
                 && !cameraAutoExposure) {
-            // OV9281 and OV9782 on Linux seems to sometimes ignore our exposure requests on first boot if
-            // we're in manual mode. Poking the camera into and out of auto exposure seems to fix it.
+            // OV9281, OV9782, and OV2311 on Linux seems to sometimes ignore our exposure requests on
+            // first boot if we're in manual mode. Poking the camera into and out of auto exposure seems
+            // to fix it.
             try {
                 setAutoExposureImpl(false);
                 Thread.sleep(2000);

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -6,7 +6,7 @@ import cv2 as cv
 import numpy as np
 import numpy.typing as npt
 from wpimath.geometry import Rotation2d, Rotation3d, Translation3d
-from wpimath.units import hertz, seconds
+from wpimath.units import hertz, milliseconds, seconds
 
 from ..estimation import RotTrlTransform3d
 
@@ -36,10 +36,10 @@ class SimCameraProperties:
         self.distCoeffs: npt.NDArray[np.floating] = np.zeros((8, 1))  # [8,1]
         self.avgErrorPx: float = 0.0
         self.errorStdDevPx: float = 0.0
-        self.frameSpeed: seconds = 0.0
-        self.exposureTime: seconds = 0.0
-        self.avgLatency: seconds = 0.0
-        self.latencyStdDev: seconds = 0.0
+        self.frameSpeed: milliseconds = 0.0
+        self.exposureTime: milliseconds = 0.0
+        self.avgLatency: milliseconds = 0.0
+        self.latencyStdDev: milliseconds = 0.0
         self.viewplanes: list[np.ndarray] = []  # [3,1]
 
         self.setCalibrationFromFOV(960, 720, fovDiag=Rotation2d(math.radians(90.0)))
@@ -139,7 +139,7 @@ class SimCameraProperties:
 
         self.frameSpeed = max(1.0 / fps, self.exposureTime)
 
-    def setExposureTime(self, newExposureTime: seconds):
+    def setExposureTime(self, newExposureTime: milliseconds):
         """
         :param newExposureTime: The amount of time the "shutter" is open for one frame. Affects motion
                                blur. **Frame speed(from FPS) is limited to this!**
@@ -148,14 +148,14 @@ class SimCameraProperties:
         self.exposureTime = newExposureTime
         self.frameSpeed = max(self.frameSpeed, self.exposureTime)
 
-    def setAvgLatency(self, newAvgLatency: seconds):
+    def setAvgLatency(self, newAvgLatency: milliseconds):
         """
         :param newAvgLatency: The average latency (from image capture to data published) in milliseconds
                              a frame should have
         """
-        self.vgLatency = newAvgLatency
+        self.avgLatency = newAvgLatency
 
-    def setLatencyStdDev(self, newLatencyStdDev: seconds):
+    def setLatencyStdDev(self, newLatencyStdDev: milliseconds):
         """
         :param latencyStdDevMs: The standard deviation in milliseconds of the latency
         """
@@ -182,16 +182,16 @@ class SimCameraProperties:
     def getFPS(self) -> hertz:
         return 1.0 / self.frameSpeed
 
-    def getFrameSpeed(self) -> seconds:
+    def getFrameSpeed(self) -> milliseconds:
         return self.frameSpeed
 
-    def getExposureTime(self) -> seconds:
+    def getExposureTime(self) -> milliseconds:
         return self.exposureTime
 
-    def getAverageLatency(self) -> seconds:
+    def getAverageLatency(self) -> milliseconds:
         return self.avgLatency
 
-    def getLatencyStdDev(self) -> seconds:
+    def getLatencyStdDev(self) -> milliseconds:
         return self.latencyStdDev
 
     def getContourAreaPercent(self, points: np.ndarray) -> float:
@@ -454,7 +454,7 @@ class SimCameraProperties:
         assert points.shape == retval.shape, retval
         return retval
 
-    def estLatency(self) -> seconds:
+    def estLatency(self) -> milliseconds:
         """
         :returns: Noisy estimation of a frame's processing latency
         """

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

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

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

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

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

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

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

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

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

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

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

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

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

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