cancel the workflow if build-gradle fails and unblock previously dependent jobs (#2525)

If we don't evaluate IMAGE_VERSION when passing it into the image-runner
action, cache gets the variable name instead of the actual value. This
PR also cleans up the really long URLs in the matrix entries since it's
always the same.

.github/workflows/build.yml

@@ -91,27 +91,6 @@ jobs:
   #           ./gradlew build
   #           ./gradlew clean
 
-  typecheck-client:
-    name: "Typecheck Client"
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
-      - name: Install pnpm
-        uses: pnpm/action-setup@v5
-        with:
-          version: 10
-      - name: Setup Node.js
-        uses: actions/setup-node@v6
-        with:
-          node-version: 24
-          cache: pnpm
-          cache-dependency-path: photon-client/pnpm-lock.yaml
-      - name: Typecheck Client
-        working-directory: photon-client
-        run: |
-          pnpm install --frozen-lockfile
-          pnpm type-check
   playwright-tests:
     name: "Playwright E2E tests"
     runs-on: ubuntu-24.04
@@ -125,19 +104,20 @@ jobs:
           distribution: temurin
       - uses: pnpm/action-setup@v5
         with:
-          version: 10
+          version: 11
       - uses: actions/setup-node@v6
         with:
           cache: pnpm
           cache-dependency-path: photon-client/pnpm-lock.yaml
           node-version: 24
-      - name: Setup tests
+      - parallel:
-        working-directory: photon-client
+          - name: Setup tests
-        run: |
+            working-directory: photon-client
-          pnpm install
+            run: |
-          pnpm test-setup
+              pnpm install
-      - name: Prebuild Gradle
+              pnpm test-setup
-        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
+          - name: Prebuild Gradle
+            run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Run Playwright tests
         working-directory: photon-client
         run: pnpm test
@@ -164,7 +144,7 @@ jobs:
           distribution: temurin
       - uses: pnpm/action-setup@v5
         with:
-          version: 10
+          version: 11
       - uses: actions/setup-node@v6
         with:
           cache: pnpm
@@ -174,6 +154,19 @@ jobs:
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests and Coverage
         run: ./gradlew test jacocoTestReport --stacktrace
+      - name: Cancel on failure
+        if: failure()
+        uses: actions/github-script@v6
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const runId = context.runId;
+
+            await github.rest.actions.cancelWorkflowRun({
+              owner,
+              repo,
+              run_id: runId
+            });
   build-offline-docs:
     name: "Build Offline Docs"
     runs-on: ubuntu-24.04
@@ -337,7 +330,7 @@ jobs:
           path: output/*.zip
 
   build-package-linux:
-    needs: [build-gradle, build-offline-docs]
+    needs: [build-offline-docs]
 
     strategy:
       fail-fast: false
@@ -363,7 +356,7 @@ jobs:
           distribution: temurin
       - uses: pnpm/action-setup@v5
         with:
-          version: 10
+          version: 11
       - uses: actions/setup-node@v6
         with:
           node-version: 24
@@ -390,7 +383,7 @@ jobs:
           path: photon-targeting/build/libs
 
   build-package-macos:
-    needs: [build-gradle, build-offline-docs]
+    needs: [build-offline-docs]
 
     strategy:
       fail-fast: false
@@ -409,13 +402,13 @@ jobs:
     steps: *build-package-steps
 
   build-package-windows:
-    needs: [build-gradle, build-offline-docs]
+    needs: [build-offline-docs]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: windows-latest
+          - os: windows-2022
             artifact-name: Win
             arch-override: winx86-64
 
@@ -434,7 +427,7 @@ jobs:
           - os: ubuntu-24.04
             artifact-name: photonvision-*-linuxx86-64.jar
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-          - os: windows-latest
+          - os: windows-2022
             artifact-name: photonvision-*-winx86-64.jar
           - os: macos-latest
             artifact-name: photonvision-*-macarm64.jar
@@ -474,11 +467,11 @@ jobs:
           fi
           echo "=== Second run ==="
           java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-        if: ${{ (matrix.os) != 'windows-latest' }}
+        if: ${{ (matrix.os) != 'windows-2022' }}
       - 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' }}
+        if: ${{ (matrix.os) == 'windows-2022' }}
 
   build-image:
     needs: [build-package-linux]
@@ -490,67 +483,68 @@ jobs:
           - os: ubuntu-24.04-arm
             image_suffix: RaspberryPi
             plat_override: LINUX_RASPBIAN64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
+            image_name: photonvision_raspi.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
             image_suffix: limelight2
             plat_override: LINUX_RASPBIAN64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
+            image_name: photonvision_limelight.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
             image_suffix: limelight3
             plat_override: LINUX_RASPBIAN64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
+            image_name: photonvision_limelight3.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
             image_suffix: limelight3G
             plat_override: LINUX_RASPBIAN64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
+            image_name: photonvision_limelight3g.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
             image_suffix: limelight4
             plat_override: LINUX_RASPBIAN64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
+            image_name: photonvision_limelight4.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
             image_suffix: luma_p1
             plat_override: LINUX_RASPBIAN64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
+            image_name: photonvision_luma_p1.img.xz
             minimum_free_mb: 100
           - os: ubuntu-24.04-arm
             image_suffix: orangepi5
             plat_override: LINUX_RK3588_64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
+            image_name: photonvision_opi5.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
             image_suffix: orangepi5b
             plat_override: LINUX_RK3588_64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
+            image_name: photonvision_opi5b.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
             image_suffix: orangepi5plus
             plat_override: LINUX_RK3588_64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
+            image_name: photonvision_opi5plus.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
             image_suffix: orangepi5pro
             plat_override: LINUX_RK3588_64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
+            image_name: photonvision_opi5pro.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
             image_suffix: orangepi5max
             plat_override: LINUX_RK3588_64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
+            image_name: photonvision_opi5max.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
             image_suffix: rock5c
             plat_override: LINUX_RK3588_64
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
+            image_name: photonvision_rock5c.img.xz
             minimum_free_mb: 1024
           - os: ubuntu-24.04-arm
             image_suffix: rubikpi3
+            cache: 'yes'
             plat_override: LINUX_QCS6490
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz
+            image_name: photonvision_rubikpi3.tar.xz
             minimum_free_mb: 1024
             root_location: 'offset=569376768'
             shrink_image: 'no'
@@ -566,11 +560,12 @@ jobs:
       - uses: actions/download-artifact@v8
         with:
           pattern: photonvision-*-linuxarm64.jar
-      - uses: photonvision/photon-image-runner@HEAD
+      - uses: photonvision/photon-image-runner@v2.0.0
         name: Generate image
         id: generate_image
         with:
-          image_url: ${{ matrix.image_url }}
+          image_url: "https://github.com/PhotonVision/photon-image-modifier/releases/download/${{ env.IMAGE_VERSION }}/${{ matrix.image_name }}"
+          use_cache: ${{ matrix.cache || 'no' }}
           minimum_free_mb: ${{ matrix.minimum_free_mb }}
           root_location: ${{ matrix.root_location || 'partition=2' }}
           shrink_image: ${{ matrix.shrink_image || 'yes' }}

.github/workflows/lint-format.yml

@@ -109,3 +109,12 @@ jobs:
             echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
             exit $exit_code
           fi
+      - name: Run Typechecking
+        run: |
+          set +e
+          pnpm run type-check
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi

build.gradle

@@ -34,7 +34,7 @@ ext {
     wpilibVersion = "2027.0.0-alpha-6"
     openCVversion = "2027-4.13.0-3"
     ejmlVersion = "0.43.1";
-    avajeJsonbVersion = "3.14-RC4";
+    avajeJsonbVersion = "3.14";
     msgpackVersion = "0.9.0";
     quickbufVersion = "1.3.3";
     jacocoVersion = "0.8.14";

photon-client/package.json

@@ -21,6 +21,7 @@
     "type-check": "vue-tsc --noEmit"
   },
   "dependencies": {
+    "@adam-rocska/units-and-measurement": "^1.2.0",
     "@fontsource/prompt": "^5.2.6",
     "@mdi/font": "^7.4.47",
     "@msgpack/msgpack": "^3.1.2",
@@ -36,11 +37,10 @@
   },
   "devDependencies": {
     "@eslint/js": "^9.31.0",
-    "@playwright/test": "^1.56.1",
+    "@playwright/test": "^1.61.1",
     "@types/node": "^24.0.0",
     "@types/three": "^0.178.0",
     "@vitejs/plugin-vue": "^6.0.6",
-    "vue-tsc": "^3.2.5",
     "@vue/eslint-config-prettier": "^10.2.0",
     "@vue/eslint-config-typescript": "^14.5.0",
     "@vue/tsconfig": "^0.7.0",
@@ -50,6 +50,7 @@
     "sass": "^1.89.2",
     "typescript": "^5.8.3",
     "vite": "^8.0.10",
-    "vite-plugin-vuetify": "^2.1.1"
+    "vite-plugin-vuetify": "^2.1.1",
+    "vue-tsc": "^3.2.5"
   }
 }

photon-client/pnpm-lock.yaml

@@ -8,6 +8,9 @@ importers:
 
   .:
     dependencies:
+      '@adam-rocska/units-and-measurement':
+        specifier: ^1.2.0
+        version: 1.2.0
       '@fontsource/prompt':
         specifier: ^5.2.6
         version: 5.2.6
@@ -49,8 +52,8 @@ importers:
         specifier: ^9.31.0
         version: 9.31.0
       '@playwright/test':
-        specifier: ^1.56.1
+        specifier: ^1.61.1
-        version: 1.56.1
+        version: 1.61.1
       '@types/node':
         specifier: ^24.0.0
         version: 24.12.2
@@ -96,6 +99,10 @@ importers:
 
 packages:
 
+  '@adam-rocska/units-and-measurement@1.2.0':
+    resolution: {integrity: sha512-mBnZ8/STbztVec+Mz9DH932z0gny52SebtSJ/y3n+IVtuF7KqbtQ3t1u1lpFSkLFU1msaNGzFgqsW7Emj0lrXA==}
+    engines: {node: '>=20.0.0'}
+
   '@babel/helper-string-parser@7.27.1':
     resolution: {integrity: sha512-qMlSxKbpRlAridDExk92nSobyDdpPijUq2DW6oDnUqd0iOGxmQjyqhMIihI9+zv4LPyZdRje2cavWPbCbWm3eA==}
     engines: {node: '>=6.9.0'}
@@ -313,8 +320,8 @@ packages:
     resolution: {integrity: sha512-ROFF39F6ZrnzSUEmQQZUar0Jt4xVoP9WnDRdWwF4NNcXs3xBTLgBUDoOwW141y1jP+S8nahIbdxbFC7IShw9Iw==}
     engines: {node: ^12.20.0 || ^14.18.0 || >=16.0.0}
 
-  '@playwright/test@1.56.1':
+  '@playwright/test@1.61.1':
-    resolution: {integrity: sha512-vSMYtL/zOcFpvJCW71Q/OEGQb7KYBPAdKh35WNSkaZA75JlAO8ED8UN6GUNTm3drWomcbcqRPFqQbLae8yBTdg==}
+    resolution: {integrity: sha512-8nKv6+0RJSL9FE4jYOEGXnPeM/Hg12qZpmqzZjRh3qM0Y7c3z1mrOTfFLids72RDQYVh9WpLEfR5WdpNX4fkig==}
     engines: {node: '>=18'}
     hasBin: true
 
@@ -1242,13 +1249,13 @@ packages:
       typescript:
         optional: true
 
-  playwright-core@1.56.1:
+  playwright-core@1.61.1:
-    resolution: {integrity: sha512-hutraynyn31F+Bifme+Ps9Vq59hKuUCz7H1kDOcBs+2oGguKkWTU50bBWrtz34OUWmIwpBTWDxaRPXrIXkgvmQ==}
+    resolution: {integrity: sha512-h7Qlt6m4REp25qvIdvbDtVmD4LqVXfpRxhORv9L0jzETM05p4fuPJ3dKyuSXQxDSbXnmS79HAgi9589lGSpLkg==}
     engines: {node: '>=18'}
     hasBin: true
 
-  playwright@1.56.1:
+  playwright@1.61.1:
-    resolution: {integrity: sha512-aFi5B0WovBHTEvpM3DzXTUaeN6eN0qWnTkKx4NQaH4Wvcmc153PdaY2UBdSYKaGYw+UyWXSVyxDUg5DoPEttjw==}
+    resolution: {integrity: sha512-DWnY5o3YbLWK4GovuAVwpqL+1VwGNdUGrRr++8j8PtQQzvAVZUIMjKQ90fY689sEJZJBbZVw1rXaOKSTitkzPQ==}
     engines: {node: '>=18'}
     hasBin: true
 
@@ -1550,6 +1557,8 @@ packages:
 
 snapshots:
 
+  '@adam-rocska/units-and-measurement@1.2.0': {}
+
   '@babel/helper-string-parser@7.27.1': {}
 
   '@babel/helper-validator-identifier@7.27.1': {}
@@ -1732,9 +1741,9 @@ snapshots:
 
   '@pkgr/core@0.2.4': {}
 
-  '@playwright/test@1.56.1':
+  '@playwright/test@1.61.1':
     dependencies:
-      playwright: 1.56.1
+      playwright: 1.61.1
 
   '@rolldown/binding-android-arm64@1.0.0-rc.17':
     optional: true
@@ -2637,11 +2646,11 @@ snapshots:
     optionalDependencies:
       typescript: 5.8.3
 
-  playwright-core@1.56.1: {}
+  playwright-core@1.61.1: {}
 
-  playwright@1.56.1:
+  playwright@1.61.1:
     dependencies:
-      playwright-core: 1.56.1
+      playwright-core: 1.61.1
     optionalDependencies:
       fsevents: 2.3.2
 

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

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, ref, watchEffect } from "vue";
+import { computed, ref, watch, watchEffect } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { CalibrationBoardTypes, CalibrationTagFamilies, type VideoFormat } from "@/types/SettingTypes";
 import MonoLogo from "@/assets/images/logoMono.png";
@@ -15,12 +15,12 @@ import CameraCalibrationInfoCard from "@/components/cameras/CameraCalibrationInf
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useTheme } from "vuetify";
 import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+import { length } from "@adam-rocska/units-and-measurement/length";
 
 const PromptRegular = import("@/assets/fonts/PromptRegular");
 const jspdf = import("jspdf");
 
 const theme = useTheme();
-const MM_PER_INCH = 25.4;
 
 const settingsValid = ref(true);
 
@@ -110,8 +110,8 @@ watchEffect(() => {
   uniqueVideoResolutionIndex.value = currentIndex;
 });
 const dimensionUnit = ref<"in" | "mm">("in");
-const squareSizeIn = ref(1);
+const squareSize = ref(30);
-const markerSizeIn = ref(0.75);
+const markerSize = ref(22);
 const patternWidth = ref(8);
 const patternHeight = ref(8);
 const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
@@ -119,24 +119,9 @@ const useOldPattern = ref(false);
 const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
 const requestedVideoFormatIndex = ref(0);
 
-const convertInchesToDisplay = (valueInInches: number) =>
+watch(dimensionUnit, (value, oldValue) => {
-  dimensionUnit.value === "mm" ? valueInInches * MM_PER_INCH : valueInInches;
+  squareSize.value = length[oldValue](squareSize.value)[value].value;
-
+  markerSize.value = length[oldValue](markerSize.value)[value].value;
-const convertDisplayToInches = (displayValue: number) =>
-  dimensionUnit.value === "mm" ? displayValue / MM_PER_INCH : displayValue;
-
-const squareSize = computed({
-  get: () => convertInchesToDisplay(squareSizeIn.value),
-  set(value) {
-    squareSizeIn.value = convertDisplayToInches(value);
-  }
-});
-
-const markerSize = computed({
-  get: () => convertInchesToDisplay(markerSizeIn.value),
-  set(value) {
-    markerSizeIn.value = convertDisplayToInches(value);
-  }
 });
 
 const dimensionStep = computed(() => (dimensionUnit.value === "mm" ? 0.1 : 0.01));
@@ -161,25 +146,31 @@ const downloadCalibBoard = async () => {
 
   switch (boardType.value) {
     case CalibrationBoardTypes.Chessboard:
-      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn.value) / 2;
+      const squareSizeIn = length[dimensionUnit.value](squareSize.value).in.value;
+      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn) / 2;
 
-      const chessboardStartY = (paperHeight - patternWidth.value * squareSizeIn.value) / 2;
+      const chessboardStartY = (paperHeight - patternHeight.value * squareSizeIn) / 2;
 
       for (let squareY = 0; squareY < patternHeight.value; squareY++) {
         for (let squareX = 0; squareX < patternWidth.value; squareX++) {
-          const xPos = chessboardStartX + squareX * squareSizeIn.value;
+          const xPos = chessboardStartX + squareX * squareSizeIn;
-          const yPos = chessboardStartY + squareY * squareSizeIn.value;
+          const yPos = chessboardStartY + squareY * squareSizeIn;
 
           // Only draw the odd squares to create the chessboard pattern
           if (squareY % 2 !== squareX % 2) {
-            doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
+            doc.rect(xPos, yPos, squareSizeIn, squareSizeIn, "F");
           }
         }
       }
-      doc.text(`${patternWidth.value} x ${patternHeight.value} | ${squareSizeIn.value}in`, paperWidth - 1, 1.0, {
+      doc.text(
-        maxWidth: (paperWidth - 2.0) / 2,
+        `${patternWidth.value} x ${patternHeight.value} | ${squareSize.value}${dimensionUnit.value}`,
-        align: "right"
+        paperWidth - 1,
-      });
+        1.0,
+        {
+          maxWidth: (paperWidth - 2.0) / 2,
+          align: "right"
+        }
+      );
       break;
 
     case CalibrationBoardTypes.Charuco:
@@ -220,8 +211,8 @@ const isCalibrating = computed(
 
 const startCalibration = () => {
   useCameraSettingsStore().startPnPCalibration({
-    squareSizeIn: squareSizeIn.value,
+    squareSizeMeters: length[dimensionUnit.value](squareSize.value).m.value,
-    markerSizeIn: markerSizeIn.value,
+    markerSizeMeters: length[dimensionUnit.value](markerSize.value).m.value,
     patternHeight: patternHeight.value,
     patternWidth: patternWidth.value,
     boardType: boardType.value,

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

@@ -368,8 +368,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
      */
     startPnPCalibration(
       calibrationInitData: {
-        squareSizeIn: number;
+        squareSizeMeters: number;
-        markerSizeIn: number;
+        markerSizeMeters: number;
         patternWidth: number;
         patternHeight: number;
         boardType: CalibrationBoardTypes;

photon-client/src/types/WebsocketDataTypes.ts

@@ -87,8 +87,8 @@ export interface WebsocketCalibrationData {
   minCount: number;
   videoModeIndex: number;
   patternHeight: number;
-  squareSizeIn: number;
+  squareSizeMm: number;
-  markerSizeIn: number;
+  markerSizeMm: number;
 }
 
 export interface IncomingWebsocketData {

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

@@ -38,9 +38,10 @@ import org.photonvision.common.configuration.NeuralNetworkModelsSettings.ModelPr
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.tflite.TFLiteJNI.TFLiteSource;
 import org.photonvision.vision.objects.Model;
 import org.photonvision.vision.objects.RknnModel;
-import org.photonvision.vision.objects.RubikModel;
+import org.photonvision.vision.objects.TFLiteModel;
 
 /**
  * Manages the loading of neural network models.
@@ -280,10 +281,10 @@ public class NeuralNetworkModelManager {
      *
      * <p>If this method returns `Optional.of(..)` then the model should be safe to load.
      *
-     * @param modelUID the unique identifier of the model to retrieve
+     * @param modelPath the unique identifier of the model to retrieve
      * @return an Optional containing the model if found, or an empty Optional if not found
      */
-    public Optional<Model> getModel(String modelUID) {
+    public Optional<Model> getModel(Path modelPath) {
         if (models == null) {
             return Optional.empty();
         }
@@ -292,7 +293,7 @@ public class NeuralNetworkModelManager {
         for (Family backend : supportedBackends) {
             if (models.containsKey(backend)) {
                 Optional<Model> model =
-                        models.get(backend).stream().filter(m -> m.getUID().equals(modelUID)).findFirst();
+                        models.get(backend).stream().filter(m -> m.getPath().equals(modelPath)).findFirst();
                 if (model.isPresent()) {
                     return model;
                 }
@@ -360,7 +361,7 @@ public class NeuralNetworkModelManager {
                     models.get(properties.family()).add(new RknnModel(properties));
                 }
                 case RUBIK -> {
-                    models.get(properties.family()).add(new RubikModel(properties));
+                    models.get(properties.family()).add(new TFLiteModel(properties, TFLiteSource.RUBIK));
                 }
             }
             logger.info(
@@ -406,7 +407,8 @@ public class NeuralNetworkModelManager {
         // After loading all of the models, sort them by name to ensure a consistent
         // ordering
         models.forEach(
-                (backend, backendModels) -> backendModels.sort((a, b) -> a.getUID().compareTo(b.getUID())));
+                (backend, backendModels) ->
+                        backendModels.sort((a, b) -> a.getPath().compareTo(b.getPath())));
 
         // Log
         StringBuilder sb = new StringBuilder();
@@ -414,7 +416,7 @@ public class NeuralNetworkModelManager {
         models.forEach(
                 (backend, backendModels) -> {
                     sb.append(backend).append(" [");
-                    backendModels.forEach(model -> sb.append(model.getUID()).append(", "));
+                    backendModels.forEach(model -> sb.append(model.getPath()).append(", "));
                     sb.append("] ");
                 });
     }

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

@@ -17,13 +17,19 @@
 
 package org.photonvision.vision.objects;
 
+import java.nio.file.Path;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
 import org.photonvision.common.configuration.NeuralNetworkModelsSettings.ModelProperties;
 
 public interface Model {
     public ObjectDetector load();
 
-    public String getUID();
+    /**
+     * Gets the path to the model file. This is being used as a UID.
+     *
+     * @return the path to the model file (for use as a UID)
+     */
+    public Path getPath();
 
     public String getNickname();
 

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

@@ -17,6 +17,7 @@
 
 package org.photonvision.vision.objects;
 
+import java.nio.file.Path;
 import java.util.List;
 import org.opencv.core.Mat;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
@@ -43,8 +44,8 @@ public class NullModel implements Model, ObjectDetector {
     }
 
     @Override
-    public String getUID() {
+    public Path getPath() {
-        return "NullModel";
+        return Path.of("null");
     }
 
     @Override

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

@@ -18,7 +18,7 @@
 package org.photonvision.vision.objects;
 
 import java.io.File;
-import org.opencv.core.Size;
+import java.nio.file.Path;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Version;
 import org.photonvision.common.configuration.NeuralNetworkModelsSettings.ModelProperties;
@@ -61,8 +61,8 @@ public class RknnModel implements Model {
     }
 
     /** Return the unique identifier for the model. In this case, it's the model's path. */
-    public String getUID() {
+    public Path getPath() {
-        return properties.modelPath().toString();
+        return properties.modelPath();
     }
 
     public String getNickname() {
@@ -78,8 +78,7 @@ public class RknnModel implements Model {
     }
 
     public ObjectDetector load() {
-        return new RknnObjectDetector(
+        return new RknnObjectDetector(this);
-                this, new Size(properties.resolutionWidth(), properties.resolutionHeight()));
     }
 
     public String toString() {

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

@@ -61,9 +61,10 @@ public class RknnObjectDetector implements ObjectDetector {
      * @param inputSize The required image dimensions for the model. Images will be {@link
      *     Letterbox}ed to this shape.
      */
-    public RknnObjectDetector(RknnModel model, Size inputSize) {
+    public RknnObjectDetector(RknnModel model) {
         this.model = model;
-        this.inputSize = inputSize;
+        this.inputSize =
+                new Size(model.properties.resolutionWidth(), model.properties.resolutionHeight());
 
         // Create the detector
         objPointer =

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

@@ -18,22 +18,27 @@
 package org.photonvision.vision.objects;
 
 import java.io.File;
-import org.opencv.core.Size;
+import java.nio.file.Path;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Version;
 import org.photonvision.common.configuration.NeuralNetworkModelsSettings.ModelProperties;
+import org.photonvision.tflite.TFLiteJNI.TFLiteSource;
 
-public class RubikModel implements Model {
+public class TFLiteModel implements Model {
     public final File modelFile;
     public final ModelProperties properties;
+    public final TFLiteSource backend;
 
     /**
-     * Rubik model constructor.
+     * TFLite model constructor.
      *
      * @param properties The properties of the model.
+     * @param backend The backend of the model should run on.
      * @throws IllegalArgumentException
      */
-    public RubikModel(ModelProperties properties) throws IllegalArgumentException {
+    public TFLiteModel(ModelProperties properties, TFLiteSource backend)
+            throws IllegalArgumentException {
+        this.backend = backend;
         modelFile = new File(properties.modelPath().toString());
         if (!modelFile.exists()) {
             throw new IllegalArgumentException("Model file does not exist: " + modelFile);
@@ -59,8 +64,8 @@ public class RubikModel implements Model {
     }
 
     /** Return the unique identifier for the model. In this case, it's the model's path. */
-    public String getUID() {
+    public Path getPath() {
-        return properties.modelPath().toString();
+        return properties.modelPath();
     }
 
     public String getNickname() {
@@ -76,11 +81,10 @@ public class RubikModel implements Model {
     }
 
     public ObjectDetector load() {
-        return new RubikObjectDetector(
+        return new TFLiteObjectDetector(this, backend);
-                this, new Size(this.properties.resolutionWidth(), this.properties.resolutionHeight()));
     }
 
     public String toString() {
-        return "RubikModel{" + "modelFile=" + modelFile + ", properties=" + properties + '}';
+        return "TFLiteModel{" + "modelFile=" + modelFile + ", properties=" + properties + '}';
     }
 }

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

@@ -30,9 +30,9 @@ import org.photonvision.tflite.TFLiteJNI;
 import org.photonvision.tflite.TFLiteJNI.TFLiteSource;
 import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;
 
-/** Manages an object detector using the rubik backend. */
+/** Manages an object detector using the TFLite backend. */
-public class RubikObjectDetector implements ObjectDetector {
+public class TFLiteObjectDetector implements ObjectDetector {
-    private static final Logger logger = new Logger(RubikObjectDetector.class, LogGroup.General);
+    private static final Logger logger = new Logger(TFLiteObjectDetector.class, LogGroup.General);
 
     private static final Cleaner cleaner = Cleaner.create();
 
@@ -45,26 +45,26 @@ public class RubikObjectDetector implements ObjectDetector {
     /** Pointer to the native object */
     private final long ptr;
 
-    private final RubikModel model;
+    private final TFLiteModel model;
 
     private final Size inputSize;
 
     /** Returns the model in use by this detector. */
     @Override
-    public RubikModel getModel() {
+    public TFLiteModel getModel() {
         return model;
     }
 
     /**
-     * Creates a new rubikObjectDetector from the given model.
+     * Creates a new TFLite detector from the given model.
      *
      * @param model The model to create the detector from.
-     * @param inputSize The required image dimensions for the model. Images will be {@link
+     * @param source The backend to run the detector on.
-     *     Letterbox}ed to this shape.
      */
-    public RubikObjectDetector(RubikModel model, Size inputSize) {
+    public TFLiteObjectDetector(TFLiteModel model, TFLiteSource backend) {
         this.model = model;
-        this.inputSize = inputSize;
+        this.inputSize =
+                new Size(model.properties.resolutionWidth(), model.properties.resolutionHeight());
 
         // Create the detector
         try {
@@ -72,7 +72,7 @@ public class RubikObjectDetector implements ObjectDetector {
                     TFLiteJNI.create(
                             model.modelFile.getPath().toString(),
                             model.properties.version().ordinal(),
-                            TFLiteSource.RUBIK.value());
+                            backend.value());
         } catch (Exception e) {
             logger.error("Failed to create detector from path " + model.modelFile.getPath(), e);
             throw new RuntimeException(
@@ -83,7 +83,7 @@ public class RubikObjectDetector implements ObjectDetector {
             logger.error(
                     "Failed to create detector from path "
                             + model.modelFile.getPath()
-                            + ". Please ensure the model is valid and compatible with the Rubik backend.");
+                            + ". Please ensure the model is valid and compatible with the TFLite backend.");
             throw new RuntimeException(
                     "Failed to create detector from path " + model.modelFile.getPath());
         } else if (!TFLiteJNI.isQuantized(ptr)) {
@@ -107,7 +107,7 @@ public class RubikObjectDetector implements ObjectDetector {
     }
 
     /**
-     * Detects objects in the given input image using the rubikDetector.
+     * Detects objects in the given input image using the TFLite detector.
      *
      * @param in The input image to perform object detection on.
      * @param nmsThresh The threshold value for non-maximum suppression.

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

@@ -57,8 +57,7 @@ public class ObjectDetectionPipeline
     protected void setPipeParamsImpl() {
         Optional<Model> selectedModel =
                 settings.model != null
-                        ? NeuralNetworkModelManager.getInstance()
+                        ? NeuralNetworkModelManager.getInstance().getModel(settings.model.modelPath())
-                                .getModel(settings.model.modelPath().toString())
                         : Optional.empty();
 
         // If the desired model couldn't be found, log an error and try to use the default model

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

@@ -24,11 +24,11 @@ import org.opencv.objdetect.Objdetect;
 public class UICalibrationData {
     public int videoModeIndex;
     public int count;
-    public double squareSizeIn;
+    public double squareSizeMeters;
     public int patternWidth;
     public int patternHeight;
     public BoardType boardType;
-    public double markerSizeIn;
+    public double markerSizeMeters;
     public boolean useOldPattern;
     public TagFamily tagFamily;
 
@@ -37,8 +37,8 @@ public class UICalibrationData {
     public UICalibrationData(
             int count,
             int videoModeIndex,
-            double squareSizeIn,
+            double squareSizeMeters,
-            double markerSizeIn,
+            double markerSizeMeters,
             int patternWidth,
             int patternHeight,
             BoardType boardType,
@@ -46,8 +46,8 @@ public class UICalibrationData {
             TagFamily tagFamily) {
         this.count = count;
         this.videoModeIndex = videoModeIndex;
-        this.squareSizeIn = squareSizeIn;
+        this.squareSizeMeters = squareSizeMeters;
-        this.markerSizeIn = markerSizeIn;
+        this.markerSizeMeters = markerSizeMeters;
         this.patternWidth = patternWidth;
         this.patternHeight = patternHeight;
         this.boardType = boardType;
@@ -98,10 +98,10 @@ public class UICalibrationData {
                 + videoModeIndex
                 + ", count="
                 + count
-                + ", squareSizeIn="
+                + ", squareSizeMeters="
-                + squareSizeIn
+                + squareSizeMeters
-                + ", markerSizeIn="
+                + ", markerSizeMeters="
-                + markerSizeIn
+                + markerSizeMeters
                 + ", patternWidth="
                 + patternWidth
                 + ", patternHeight="

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

@@ -55,7 +55,6 @@ import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Units;
 import org.wpilib.vision.camera.CameraServerJNI;
 import org.wpilib.vision.camera.VideoException;
 
@@ -391,8 +390,8 @@ public class VisionModule {
                         + data.videoModeIndex
                         + " and settings "
                         + data);
-        settings.gridSize = Units.inchesToMeters(data.squareSizeIn);
+        settings.gridSize = data.squareSizeMeters;
-        settings.markerSize = Units.inchesToMeters(data.markerSizeIn);
+        settings.markerSize = data.markerSizeMeters;
         settings.boardHeight = data.patternHeight;
         settings.boardWidth = data.patternWidth;
         settings.boardType = data.boardType;

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

@@ -69,97 +69,28 @@ public enum TargetModel implements Releasable {
                     new Point3(Units.inchesToMeters(-19.625), Units.inchesToMeters(-8.5), 0),
                     new Point3(Units.inchesToMeters(19.625), Units.inchesToMeters(-8.5), 0)),
             Units.inchesToMeters(12)),
-    kCircularPowerCell7in(
+    kCircularPowerCell7in(circleTargetCorners(Units.inchesToMeters(7)), 0),
-            List.of(
+    k2022CircularCargoBall(circleTargetCorners(Units.inchesToMeters(9.5)), 0),
-                    new Point3(
+    k2025Algae(circleTargetCorners(Units.inchesToMeters(16.25)), 0),
-                            -Units.inchesToMeters(7) / 2,
-                            -Units.inchesToMeters(7) / 2,
-                            -Units.inchesToMeters(7) / 2),
-                    new Point3(
-                            -Units.inchesToMeters(7) / 2,
-                            Units.inchesToMeters(7) / 2,
-                            -Units.inchesToMeters(7) / 2),
-                    new Point3(
-                            Units.inchesToMeters(7) / 2,
-                            Units.inchesToMeters(7) / 2,
-                            -Units.inchesToMeters(7) / 2),
-                    new Point3(
-                            Units.inchesToMeters(7) / 2,
-                            -Units.inchesToMeters(7) / 2,
-                            -Units.inchesToMeters(7) / 2)),
-            0),
-    k2022CircularCargoBall(
-            List.of(
-                    new Point3(
-                            -Units.inchesToMeters(9.5) / 2,
-                            -Units.inchesToMeters(9.5) / 2,
-                            -Units.inchesToMeters(9.5) / 2),
-                    new Point3(
-                            -Units.inchesToMeters(9.5) / 2,
-                            Units.inchesToMeters(9.5) / 2,
-                            -Units.inchesToMeters(9.5) / 2),
-                    new Point3(
-                            Units.inchesToMeters(9.5) / 2,
-                            Units.inchesToMeters(9.5) / 2,
-                            -Units.inchesToMeters(9.5) / 2),
-                    new Point3(
-                            Units.inchesToMeters(9.5) / 2,
-                            -Units.inchesToMeters(9.5) / 2,
-                            -Units.inchesToMeters(9.5) / 2)),
-            0),
-    k2025Algae(
-            List.of(
-                    new Point3(
-                            -Units.inchesToMeters(16.25) / 2,
-                            -Units.inchesToMeters(16.25) / 2,
-                            -Units.inchesToMeters(16.25) / 2),
-                    new Point3(
-                            -Units.inchesToMeters(16.25) / 2,
-                            Units.inchesToMeters(16.25) / 2,
-                            -Units.inchesToMeters(16.25) / 2),
-                    new Point3(
-                            Units.inchesToMeters(16.25) / 2,
-                            Units.inchesToMeters(16.25) / 2,
-                            -Units.inchesToMeters(16.25) / 2),
-                    new Point3(
-                            Units.inchesToMeters(16.25) / 2,
-                            -Units.inchesToMeters(16.25) / 2,
-                            -Units.inchesToMeters(16.25) / 2)),
-            0),
     // 2023 AprilTag, with 6 inch marker width (inner black square).
     // MIGRATION: 2023
     @Json.Alias({"k6in_16h5"})
     kAprilTag6in_16h5(
             // Corners of the tag's inner black square (excluding white border)
-            List.of(
+            squareTargetCorners(Units.inchesToMeters(6)), Units.inchesToMeters(6)),
-                    new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
-                    new Point3(-Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
-                    new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
-                    new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
-            Units.inchesToMeters(3 * 2)),
     // 2024 AprilTag, with 6.5 inch marker width (inner black square).
     // MIGRATION: 2023
     @Json.Alias({"k6p5in_36h11", "k200mmAprilTag", "kAruco6p5in_36h11"})
     kAprilTag6p5in_36h11(
             // Corners of the tag's inner black square (excluding white border)
-            List.of(
+            squareTargetCorners(Units.inchesToMeters(6.5)), Units.inchesToMeters(6.5));
-                    new Point3(-Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
-                    new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
-                    new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
-                    new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
-            Units.inchesToMeters(6.5));
 
     @Json.Ignore private final MatOfPoint3f realWorldTargetCoordinates;
     @Json.Ignore private final MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();
     @Json.Ignore private final MatOfPoint3f visualizationBoxTop = new MatOfPoint3f();
 
-    private List<Point3> realWorldCoordinatesArray;
-    private double boxHeight;
-
     TargetModel(MatOfPoint3f realWorldTargetCoordinates, double boxHeight) {
         this.realWorldTargetCoordinates = realWorldTargetCoordinates;
-        this.realWorldCoordinatesArray = realWorldTargetCoordinates.toList();
-        this.boxHeight = boxHeight;
 
         var bottomList = realWorldTargetCoordinates.toList();
         var topList = new ArrayList<Point3>();
@@ -175,22 +106,6 @@ public enum TargetModel implements Releasable {
         this(listToMat(realWorldCoordinatesArray), boxHeight);
     }
 
-    public List<Point3> getRealWorldCoordinatesArray() {
-        return this.realWorldCoordinatesArray;
-    }
-
-    public double getBoxHeight() {
-        return boxHeight;
-    }
-
-    public void setRealWorldCoordinatesArray(List<Point3> realWorldCoordinatesArray) {
-        this.realWorldCoordinatesArray = realWorldCoordinatesArray;
-    }
-
-    public void setBoxHeight(double boxHeight) {
-        this.boxHeight = boxHeight;
-    }
-
     private static MatOfPoint3f listToMat(List<Point3> points) {
         var mat = new MatOfPoint3f();
         mat.fromList(points);
@@ -209,15 +124,23 @@ public enum TargetModel implements Releasable {
         return visualizationBoxTop;
     }
 
-    //    public static TargetModel getCircleTarget(double Units.inchesToMeters(7)) {
+    private static List<Point3> circleTargetCorners(double diameter) {
-    //        var corners =
+        double radius = diameter / 2;
-    //            List.of(
+        return List.of(
-    //                new Point3(-Units.inchesToMeters(7) / 2, -radius / 2, -radius / 2),
+                new Point3(-radius, -radius, -radius),
-    //                new Point3(-Units.inchesToMeters(7) / 2, radius / 2, -radius / 2),
+                new Point3(-radius, radius, -radius),
-    //                new Point3(Units.inchesToMeters(7) / 2, radius / 2, -radius / 2),
+                new Point3(radius, radius, -radius),
-    //                new Point3(Units.inchesToMeters(7) / 2, -radius / 2, -radius / 2));
+                new Point3(radius, -radius, -radius));
-    //        return new TargetModel(corners, 0);
+    }
-    //    }
+
+    private static List<Point3> squareTargetCorners(double edgeLength) {
+        double radius = edgeLength / 2;
+        return List.of(
+                new Point3(-radius, -radius, 0),
+                new Point3(-radius, radius, 0),
+                new Point3(radius, radius, 0),
+                new Point3(radius, -radius, 0));
+    }
 
     @Json.Value
     @Override

photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java

@@ -62,7 +62,7 @@ public class TargetCalculationsTest {
                     null);
 
     @BeforeAll
-    public static void setup() {
+    public static void init() {
         LoadJNI.loadLibraries();
     }
 

photon-core/src/test/java/org/photonvision/vision/target/TargetModelTest.java

@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.target;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import java.util.List;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Test;
+import org.opencv.core.Point3;
+import org.photonvision.common.LoadJNI;
+import org.wpilib.math.util.Units;
+
+public class TargetModelTest {
+    @BeforeAll
+    public static void init() {
+        LoadJNI.loadLibraries();
+    }
+
+    @Test
+    void testCircleTargetGeneration() {
+        assertApproxEquals(
+                List.of(
+                        new Point3(
+                                -Units.inchesToMeters(7) / 2,
+                                -Units.inchesToMeters(7) / 2,
+                                -Units.inchesToMeters(7) / 2),
+                        new Point3(
+                                -Units.inchesToMeters(7) / 2,
+                                Units.inchesToMeters(7) / 2,
+                                -Units.inchesToMeters(7) / 2),
+                        new Point3(
+                                Units.inchesToMeters(7) / 2,
+                                Units.inchesToMeters(7) / 2,
+                                -Units.inchesToMeters(7) / 2),
+                        new Point3(
+                                Units.inchesToMeters(7) / 2,
+                                -Units.inchesToMeters(7) / 2,
+                                -Units.inchesToMeters(7) / 2)),
+                TargetModel.kCircularPowerCell7in.getRealWorldTargetCoordinates().toList(),
+                1E-6);
+    }
+
+    @Test
+    void testSquareTargetGeneration() {
+        assertApproxEquals(
+                List.of(
+                        new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
+                        new Point3(-Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
+                        new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
+                        new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
+                TargetModel.kAprilTag6p5in_36h11.getRealWorldTargetCoordinates().toList(),
+                1E-6);
+    }
+
+    static void assertApproxEquals(List<Point3> expected, List<Point3> actual, double delta) {
+        assertEquals(expected.size(), actual.size());
+        for (int i = 0; i < actual.size(); i++) {
+            assertEquals(expected.get(i).x, actual.get(i).x, delta, "Bad x for point %d".formatted(i));
+            assertEquals(expected.get(i).y, actual.get(i).y, delta, "Bad y for point %d".formatted(i));
+            assertEquals(expected.get(i).z, actual.get(i).z, delta, "Bad z for point %d".formatted(i));
+        }
+    }
+}

photon-core/src/test/java/org/photonvision/vision/target/TrackedTargetTest.java

@@ -20,7 +20,7 @@ package org.photonvision.vision.target;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import java.util.List;
-import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.Point;
@@ -30,8 +30,8 @@ import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.opencv.DualOffsetValues;
 
 public class TrackedTargetTest {
-    @BeforeEach
+    @BeforeAll
-    public void Init() {
+    public static void init() {
         LoadJNI.loadLibraries();
     }
 

photon-server/build.gradle

@@ -17,6 +17,10 @@ dependencies {
 
     // Needed for Javalin Runtime Logging
     implementation "org.slf4j:slf4j-simple:2.0.7"
+
+    implementation("org.photonvision:tflite_jni-java:$tfliteVersion") {
+        transitive = false
+    }
 }
 
 group = 'org.photonvision'

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

@@ -55,12 +55,13 @@ import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.ShellExec;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
+import org.photonvision.tflite.TFLiteJNI.TFLiteSource;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.objects.ObjectDetector;
 import org.photonvision.vision.objects.RknnModel;
-import org.photonvision.vision.objects.RubikModel;
+import org.photonvision.vision.objects.TFLiteModel;
 import org.photonvision.vision.processes.VisionSourceManager;
 import org.zeroturnaround.zip.ZipUtil;
 
@@ -679,7 +680,7 @@ public class RequestHandler {
                 try {
                     objDetector =
                             switch (family) {
-                                case RUBIK -> new RubikModel(modelProperties).load();
+                                case RUBIK -> new TFLiteModel(modelProperties, TFLiteSource.RUBIK).load();
                                 case RKNN -> new RknnModel(modelProperties).load();
                             };
                 } catch (RuntimeException e) {

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

@@ -17,8 +17,10 @@
 
 package org.photonvision.server;
 
+import io.avaje.jsonb.javalin.JavalinJsonb;
 import io.javalin.Javalin;
 import io.javalin.plugin.bundled.CorsPlugin;
+import io.javalin.plugin.bundled.CorsPluginConfig.CorsRule;
 import java.net.InetSocketAddress;
 import java.util.List;
 import java.util.StringJoiner;
@@ -60,14 +62,7 @@ public class Server {
                         javalinConfig -> {
                             javalinConfig.showJavalinBanner = false;
                             javalinConfig.staticFiles.add("web");
-                            javalinConfig.registerPlugin(
+                            javalinConfig.registerPlugin(new CorsPlugin(cors -> cors.addRule(CorsRule::anyHost)));
-                                    new CorsPlugin(
-                                            cors -> {
-                                                cors.addRule(
-                                                        it -> {
-                                                            it.anyHost();
-                                                        });
-                                            }));
                             javalinConfig.requestLogger.http(
                                     (ctx, ms) -> {
                                         StringJoiner joiner =
@@ -103,6 +98,7 @@ public class Server {
                                                                     return "Got WebSockets binary message from host: " + host;
                                                                 }));
                                     });
+                            javalinConfig.jsonMapper(new JavalinJsonb());
                         });
 
         /* Web Socket Events for Data Exchange */

shared/common.gradle

@@ -37,6 +37,7 @@ dependencies {
     implementation group: "io.avaje", name: "avaje-jsonb", version: avajeJsonbVersion
     annotationProcessor group: "io.avaje", name: "avaje-jsonb-generator", version: avajeJsonbVersion
     implementation group: "io.avaje", name: "avaje-jsonb-jackson", version: avajeJsonbVersion
+    implementation group: "io.avaje", name: "avaje-jsonb-javalin-mapper", version: avajeJsonbVersion
 
     implementation group: "org.ejml", name: "ejml-simple", version: ejmlVersion
     implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: quickbufVersion;