From bd1e6725744ea080054426936c2bcbe1a7261a3b Mon Sep 17 00:00:00 2001 From: samfreund Date: Wed, 2 Jul 2025 12:53:40 -0500 Subject: [PATCH 1/6] exit and delete-self on systemcore --- .../src/main/java/org/photonvision/Main.java | 53 +++++++++++++++++++ .../common/hardware/Platform.java | 4 ++ 2 files changed, 57 insertions(+) diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 7e527e3f83..93e676e363 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -18,8 +18,14 @@ package org.photonvision; import edu.wpi.first.hal.HAL; +import java.io.File; +import java.io.FileWriter; import java.io.IOException; +import java.net.URISyntaxException; +import java.net.URL; import java.nio.file.Path; +import java.security.CodeSource; +import java.security.ProtectionDomain; import java.util.ArrayList; import java.util.List; import org.apache.commons.cli.*; @@ -172,6 +178,36 @@ public static void main(String[] args) { + Platform.getPlatformName() + (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : "")); + if (Platform.isSystemCore()) { + File jarLocation = getJarLocation(); + if (jarLocation == null) { + logger.error("SystemCore is not a supported platform for PhotonVision!"); + System.exit(1); + } + // Make a file where the PV JAR is located indicating systemcore is not supported + try { + File notSupportedFile = + new File(jarLocation.getParent(), "SYSTEMCORE_NOT_SUPPORTED_BY_PHOTONVISION.txt"); + try (FileWriter writer = new FileWriter(notSupportedFile)) { + writer.write("SystemCore is not a supported platform for PhotonVision.\n"); + writer.write("PhotonVision has been uninstalled from this device.\n"); + writer.write("Please visit https://docs.photonvision.org for supported platforms."); + } + } catch (IOException e) { + logger.error("Failed to create SystemCore not supported file", e); + System.exit(1); + } + + // Delete the PV JAR + if (!jarLocation.delete()) { + logger.error("Failed to delete PhotonVision JAR file on SystemCore!"); + System.exit(1); + } + + // Exit + System.exit(1); + } + if (OsImageVersion.IMAGE_VERSION.isPresent()) { logger.info("PhotonVision image version: " + OsImageVersion.IMAGE_VERSION.get()); } @@ -308,4 +344,21 @@ public static void main(String[] args) { HardwareManager.getInstance().setRunning(true); Server.initialize(DEFAULT_WEBPORT); } + + public static File getJarLocation() { + try { + ProtectionDomain protectionDomain = Main.class.getProtectionDomain(); + CodeSource codeSource = protectionDomain.getCodeSource(); + if (codeSource != null) { + URL location = codeSource.getLocation(); + return new File(location.toURI()); + } else { + logger.error("Could not determine JAR location: code source is null"); + return null; + } + } catch (URISyntaxException e) { + logger.error("Error determining JAR location", e); + return null; + } + } } diff --git a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java index 5603989a41..fe9913cd7f 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java +++ b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java @@ -124,6 +124,10 @@ public static boolean isRK3588() { return Platform.isOrangePi() || Platform.isCoolPi4b() || Platform.isRock5C(); } + public static boolean isSystemCore() { + return new File("/home/systemcore").exists(); + } + public static boolean isRaspberryPi() { return currentPlatform.isPi; } From 566a9a0760cef5f6424747abcc7108f096af0772 Mon Sep 17 00:00:00 2001 From: samfreund Date: Wed, 2 Jul 2025 13:00:45 -0500 Subject: [PATCH 2/6] update docs to reflect systemcore not being supported --- docs/source/docs/quick-start/common-setups.md | 5 +++++ photon-server/src/main/java/org/photonvision/Main.java | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/docs/source/docs/quick-start/common-setups.md b/docs/source/docs/quick-start/common-setups.md index 7d6ffaf602..767c4f535e 100644 --- a/docs/source/docs/quick-start/common-setups.md +++ b/docs/source/docs/quick-start/common-setups.md @@ -13,6 +13,11 @@ PhotonVision requires dedicated hardware, above and beyond a roboRIO. This page The Orange Pi 5 is the only currently supported device for object detection. ::: +## SystemCore Support + +The SystemCore is not supported by PhotonVision. PhotonVision is designed to utilize the entirety of the coprocessor's resources, and this could prove to be dangerous if attempted on the main robot controller. +There are no current plans to support running on SystemCore alongside robot code, and any attempts to do so are entirely at your own risk and will require a separate fork of PhotonVision. + ## SD Cards - 8GB or larger micro SD card diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 93e676e363..6c224c1e8c 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -191,7 +191,7 @@ public static void main(String[] args) { try (FileWriter writer = new FileWriter(notSupportedFile)) { writer.write("SystemCore is not a supported platform for PhotonVision.\n"); writer.write("PhotonVision has been uninstalled from this device.\n"); - writer.write("Please visit https://docs.photonvision.org for supported platforms."); + writer.write("Please visit https://docs.photonvision.org/en/stable/docs/quick-start/common-setups.html#Unsupported-devices for more information."); } } catch (IOException e) { logger.error("Failed to create SystemCore not supported file", e); From 9ca00cbba0a4e8a262fa0d1ed62e95613281af37 Mon Sep 17 00:00:00 2001 From: samfreund Date: Wed, 2 Jul 2025 14:05:40 -0500 Subject: [PATCH 3/6] some debugging update stuff I missed --- .../src/main/java/org/photonvision/Main.java | 9 +++++++-- .../org/photonvision/common/hardware/Platform.java | 14 ++++++++++++-- 2 files changed, 19 insertions(+), 4 deletions(-) diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 6c224c1e8c..ace601f138 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -179,9 +179,13 @@ public static void main(String[] args) { + (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : "")); if (Platform.isSystemCore()) { + logger.error( + "SystemCore is not a supported platform for PhotonVision!\n " + + "PhotonVision will now proceed to uninstall itself from this device.\n" + + "Please visit https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#unsupported-devices for more information."); + File jarLocation = getJarLocation(); if (jarLocation == null) { - logger.error("SystemCore is not a supported platform for PhotonVision!"); System.exit(1); } // Make a file where the PV JAR is located indicating systemcore is not supported @@ -191,7 +195,8 @@ public static void main(String[] args) { try (FileWriter writer = new FileWriter(notSupportedFile)) { writer.write("SystemCore is not a supported platform for PhotonVision.\n"); writer.write("PhotonVision has been uninstalled from this device.\n"); - writer.write("Please visit https://docs.photonvision.org/en/stable/docs/quick-start/common-setups.html#Unsupported-devices for more information."); + writer.write( + "Please visit https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#unsupported-devices for more information."); } } catch (IOException e) { logger.error("Failed to create SystemCore not supported file", e); diff --git a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java index fe9913cd7f..7bbd2d99c1 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java +++ b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java @@ -44,6 +44,13 @@ public enum Platform { true, OSType.LINUX, true), // Raspberry Pi 3/4 with a 64-bit image + LINUX_SYSTEMCORE( + "Linux Systemcore 64-bit NOT SUPPORTED", + Platform::getUnknownModel, + "linuxarm64", + false, + OSType.LINUX, + false), // SystemCore 64-bit LINUX_RK3588_64( "Linux AARCH 64-bit with RK3588", Platform::getLinuxDeviceTreeModel, @@ -125,7 +132,8 @@ public static boolean isRK3588() { } public static boolean isSystemCore() { - return new File("/home/systemcore").exists(); + File sysCore = new File("/home/systemcore"); + return sysCore.exists(); } public static boolean isRaspberryPi() { @@ -198,7 +206,9 @@ public static Platform getCurrentPlatform() { } if (OS_NAME.startsWith("Linux")) { - if (isPiSBC()) { + if (isSystemCore()) { + return LINUX_SYSTEMCORE; + } else if (isPiSBC()) { if (OS_ARCH.equals("arm") || OS_ARCH.equals("arm32")) { return LINUX_RASPBIAN32; } else if (OS_ARCH.equals("aarch64") || OS_ARCH.equals("arm64")) { From 089d357bb23aed81e90ca51b5f0328f0f8e82f13 Mon Sep 17 00:00:00 2001 From: Sam Freund Date: Thu, 3 Jul 2025 12:37:31 -0500 Subject: [PATCH 4/6] Update docs link --- photon-server/src/main/java/org/photonvision/Main.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index ace601f138..9d78beb8e4 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -182,7 +182,7 @@ public static void main(String[] args) { logger.error( "SystemCore is not a supported platform for PhotonVision!\n " + "PhotonVision will now proceed to uninstall itself from this device.\n" - + "Please visit https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#unsupported-devices for more information."); + + "Please visit https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#systemcore-support for more information."); File jarLocation = getJarLocation(); if (jarLocation == null) { @@ -196,7 +196,7 @@ public static void main(String[] args) { writer.write("SystemCore is not a supported platform for PhotonVision.\n"); writer.write("PhotonVision has been uninstalled from this device.\n"); writer.write( - "Please visit https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#unsupported-devices for more information."); + "Please visit https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#systemcore-support for more information."); } } catch (IOException e) { logger.error("Failed to create SystemCore not supported file", e); From 6106d4970fbd5f797dd219e4e5db93f83847a185 Mon Sep 17 00:00:00 2001 From: samfreund Date: Fri, 4 Jul 2025 08:15:25 -0500 Subject: [PATCH 5/6] add fallback method of determining systemcore --- docs/source/docs/quick-start/common-setups.md | 2 +- photon-server/src/main/resources/web/index.html | 15 ++++++++++++++- .../photonvision/common/hardware/Platform.java | 2 +- 3 files changed, 16 insertions(+), 3 deletions(-) diff --git a/docs/source/docs/quick-start/common-setups.md b/docs/source/docs/quick-start/common-setups.md index 767c4f535e..dfd37e9f50 100644 --- a/docs/source/docs/quick-start/common-setups.md +++ b/docs/source/docs/quick-start/common-setups.md @@ -16,7 +16,7 @@ The Orange Pi 5 is the only currently supported device for object detection. ## SystemCore Support The SystemCore is not supported by PhotonVision. PhotonVision is designed to utilize the entirety of the coprocessor's resources, and this could prove to be dangerous if attempted on the main robot controller. -There are no current plans to support running on SystemCore alongside robot code, and any attempts to do so are entirely at your own risk and will require a separate fork of PhotonVision. +There are no current plans to support running on SystemCore alongside robot code, and any attempts to do so are entirely at your own risk and will require a separate fork of PhotonVision. ## SD Cards diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html index 641b6da394..f5511e2b3b 100644 --- a/photon-server/src/main/resources/web/index.html +++ b/photon-server/src/main/resources/web/index.html @@ -1 +1,14 @@ -

UIs should be copied, but yours wasn't!

+ + + + + + + Photon Client + + + + +
+ + diff --git a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java index 7bbd2d99c1..f4ef936179 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java +++ b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java @@ -133,7 +133,7 @@ public static boolean isRK3588() { public static boolean isSystemCore() { File sysCore = new File("/home/systemcore"); - return sysCore.exists(); + return sysCore.exists() | fileHasText("/etc/os-release", "systemcore"); } public static boolean isRaspberryPi() { From fce016cdd44bec7354bc3508616060835d41e432 Mon Sep 17 00:00:00 2001 From: Sam Freund Date: Fri, 4 Jul 2025 12:52:30 -0500 Subject: [PATCH 6/6] Discard changes to photon-server/src/main/resources/web/index.html --- photon-server/src/main/resources/web/index.html | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html index f5511e2b3b..641b6da394 100644 --- a/photon-server/src/main/resources/web/index.html +++ b/photon-server/src/main/resources/web/index.html @@ -1,14 +1 @@ - - - - - - - Photon Client - - - - -
- - +

UIs should be copied, but yours wasn't!