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## Description WPILib switched from FasterXML Jackson to Avaje Jsonb for speed reasons in https://github.com/wpilibsuite/allwpilib/pull/8721. This does the same for PhotonVision. Some temporary Jackson adapters are present to allow compatibility with alpha-4 ahead of updating Photon's WPILib version. A few old backwards compatibility migrations were also dropped if they were difficult to port to Avaje Jsonb or otherwise complicated the code. ## 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 --------- Co-authored-by: samfreund <samf.236@proton.me> Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
84 lines
5.0 KiB
Markdown
84 lines
5.0 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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## 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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## 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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## 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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* 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 must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain`
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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 supported coprocessors: 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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- JNI code for RKNN: https://github.com/PhotonVision/rknn_jni
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- JNI code for Rubik Pi NPU: https://github.com/PhotonVision/rubik_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 [allwpilib](https://github.com/wpilibsuite/allwpilib) and [their build of OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
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* [Apache Commons](https://commons.apache.org/) - Specifically [Commons IO](https://commons.apache.org/proper/commons-io/), and [Commons CLI](https://commons.apache.org/proper/commons-cli/)
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* [diozero](https://www.diozero.com/)
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* [EJML](https://github.com/lessthanoptimal/ejml)
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* [Javalin](https://javalin.io/)
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* [JSON](https://json.org)
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* [Avaje](https://avaje.io) - Specifically [jsonb](https://avaje.io/jsonb/)
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* [MessagePack for Java](https://github.com/msgpack/msgpack-java)
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* [OSHI](https://github.com/oshi/oshi)
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* [QuickBuffers](https://github.com/HebiRobotics/QuickBuffers)
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* [SQLite JDBC](https://github.com/xerial/sqlite-jdbc)
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* [ZT ZIP](https://github.com/zeroturnaround/zt-zip)
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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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