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## Description [OSHI](https://github.com/oshi/oshi) is a free (MIT license) JNA-based library for accessing hardware and system performance information. This PR includes a re-write of the metrics monitoring code to be based on OSHI. The original intent was to gain access to data about network traffic for addition to the Settings tab. An additional benefit is that collecting the data is now around two orders of magnitude (or more) faster! ## 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_ - [ ] 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 - [x] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2 - [x] 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 --------- Co-authored-by: samfreund <samf.236@proton.me>
84 lines
4.9 KiB
Markdown
84 lines
4.9 KiB
Markdown
# PhotonVision
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[](https://discord.gg/wYxTwym)
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PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).
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The latest release of platform-specific jars and images is found [here](https://github.com/PhotonVision/photonvision/releases).
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If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
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## Authors
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<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
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<img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
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</a>
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## Documentation
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- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
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- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org)
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- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org)
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- C++ Doxygen [cppdocs.photonvision.org](https://cppdocs.photonvision.org)
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## Building
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Gradle is used for all C++ and Java code, and pnpm is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).
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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-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
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## Gradle Arguments
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Note that these are case sensitive!
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* `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
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* winx32
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* winx64
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* winarm64
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* macx64
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* macarm64
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* linuxx64
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* linuxarm64
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* linuxathena
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- `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
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- `-PtgtUser`: Specifies custom username for `./gradlew deploy` to SSH into
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- `-PtgtPw`: Specifies custom password for `./gradlew deploy` to SSH into
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- `-Pprofile`: enables JVM profiling
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- `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`
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If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
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## Out-of-Source Dependencies
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PhotonVision uses the following additional out-of-source repositories for building code.
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- Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
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- C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
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- JNI code for [mrcal](https://mrcal.secretsauce.net/): https://github.com/PhotonVision/mrcal-java
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- Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
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- JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni
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## Acknowledgments
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PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
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* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/main/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/main/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
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* [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
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* [Javalin](https://javalin.io/)
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* [JSON](https://json.org)
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* [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
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* [OSHI](https://github.com/oshi/oshi)
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## License
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PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html).
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## Meeting Notes
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Our [meeting notes](https://github.com/PhotonVision/photonvision/wiki/PhotonVision-Meeting-Notes) can be found in the wiki section of this repository.
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