Exit and delete-self on systemcore

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

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 +178,41 @@ public static void main(String[] args) {
                         + Platform.getPlatformName()
                         + (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#systemcore-support for more information.");
+
+            File jarLocation = getJarLocation();
+            if (jarLocation == null) {
+                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/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);
+                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 +349,21 @@ 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;
+        }
+    }
 }

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,
@@ -131,6 +138,11 @@ public static boolean isRK3588() {
         return Platform.isOrangePi() || Platform.isCoolPi4b() || Platform.isRock5C();
     }
 
+    public static boolean isSystemCore() {
+        File sysCore = new File("/home/systemcore");
+        return sysCore.exists() | fileHasText("/etc/os-release", "systemcore");
+    }
+
     public static boolean isQCS6490() {
         return isRubik();
     }
@@ -206,7 +218,9 @@ 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")) {