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Exit and serve static html message on SystemCore #2170

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bd1e672
exit and delete-self on systemcore
samfreund Jul 2, 2025
566a9a0
update docs to reflect systemcore not being supported
samfreund Jul 2, 2025
9ca00cb
some debugging
samfreund Jul 2, 2025
089d357
Update docs link
samfreund Jul 3, 2025
6106d49
add fallback method of determining systemcore
samfreund Jul 4, 2025
fce016c
Discard changes to photon-server/src/main/resources/web/index.html
samfreund Jul 4, 2025
f871ade
Merge branch 'main' into no-systemcore
samfreund Aug 4, 2025
00d1d04
exit and serve static webserver
samfreund Oct 31, 2025
9519bba
switch to serving via javalin
samfreund Oct 31, 2025
a991680
Merge branch 'main' into no-systemcore
samfreund Nov 1, 2025
47149ce
link to uninstall script
samfreund Nov 1, 2025
c2c8b13
Merge branch 'main' into no-systemcore
samfreund Nov 2, 2025
1ddf473
Merge branch 'main' into no-systemcore
samfreund Nov 11, 2025
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5 changes: 5 additions & 0 deletions docs/source/docs/quick-start/common-setups.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
86 changes: 86 additions & 0 deletions photon-server/src/main/java/org/photonvision/Main.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,13 @@
package org.photonvision;

import edu.wpi.first.hal.HAL;
import java.io.File;
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.*;
Expand Down Expand Up @@ -173,6 +178,70 @@ public static void main(String[] args) {
+ Platform.getPlatformName()
+ (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : ""));

if (Platform.isSystemCore()) {
String docsLink =
"https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#systemcore-support";

logger.error(
"SystemCore is not a supported platform for PhotonVision!\n "
+ "Please visit "
+ docsLink
+ " for more information.");

try {
int port = 5800;
io.javalin.Javalin app = null;
try {
app = io.javalin.Javalin.create(cfg -> cfg.showJavalinBanner = false).start(port);
} catch (Exception e) {
logger.warn("Failed to bind to port 5800, exiting: " + e.getMessage());
port = DEFAULT_WEBPORT;
app = io.javalin.Javalin.create(cfg -> cfg.showJavalinBanner = false).start(port);
}

final int boundPort = port;
final String html =
"<!doctype html>"
+ "<html><head><meta charset=\"utf-8\"><title>Unsupported platform</title></head><body>"
+ "<p>Main Robot Controllers shouldn't run PhotonVision, but yours does! "
+ "Please <a href=\"https://github.com/PhotonVision/photonvision/blob/main/scripts/uninstall.sh\" "
+ "target=\"_blank\" rel=\"noopener noreferrer\">uninstall</a> PhotonVision. "
+ "If you choose to modify PhotonVision so that it functions on SystemCore, "
+ "you do so entirely at your own risk and without any support. "
+ "For more information, see <a href=\""
+ docsLink
+ "\" target=\"_blank\" rel=\"noopener noreferrer\">"
+ docsLink
+ "</a>.</p></body></html>";

app.get(
"/",
ctx -> {
ctx.contentType("text/html; charset=utf-8");
ctx.result(html);
});

logger.info(
"Served SystemCore warning page on port "
+ boundPort
+ " - process will remain running to serve the page.");

// Prevent main from exiting so the page remains available.
final Object lock = new Object();
synchronized (lock) {
try {
lock.wait();
} catch (InterruptedException ignored) {
}
}
} catch (Exception e) {
logger.error("Failed to start static warning page server", e);
}

// Exit
System.exit(1);
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@mcm001 mcm001 Oct 31, 2025

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  • you never call javelin.serve
  • you must let javalin live to be a web server. You can't exit...

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@samfreund samfreund Nov 1, 2025

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you never call javelin.serve

app = io.javalin.Javalin.create(cfg -> cfg.showJavalinBanner = false).start(port);

This is functionally equivalent, it does the same thing and serves it.

you must let javalin live to be a web server. You can't exit...

We suspend the process, the exit is only there if something in the webserver fails.

}

if (OsImageVersion.IMAGE_VERSION.isPresent()) {
logger.info("PhotonVision image version: " + OsImageVersion.IMAGE_VERSION.get());
}
Expand Down Expand Up @@ -328,4 +397,21 @@ 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;
}
}
}
16 changes: 15 additions & 1 deletion photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down Expand Up @@ -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();
}
Expand Down Expand Up @@ -205,7 +217,9 @@ 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")) {
Expand Down
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