PDLib

https://raw.githubusercontent.com/Prometheus-Dynamics/PDLib/refs/heads/main/vendordeps/PDLib-2026.json

Vendordeps

Vendordeps live in vendordeps/:

• vendordeps/PDLib-2026.json

Modules

• pdlib-core: shared utilities (currently just Jackson helpers).
• pdlib-helios: HeliOS integration: streams/pipelines/localization + NT4 + WebSockets + WPILib helpers.
• pdlib-examples: runnable examples for HeliOS usage.
• pdlib-test: live integration tests for read-only HeliOS API flow.

HeliOS

• Entry point: ca.pd.lib.helios.HeliOS
• This repo now exposes a read-only API surface only (no write/set/mutate endpoints).
• Device read section: cam.device() (HeliosDeviceReadApi)
• Peripheral read section: cam.peripherals() (cam.peripherials() alias kept)
• Stream flow: cam.streams(), cam.stream(uuid|alias|hardwareId)
• Localization flow: cam.localizations(), cam.localization(profileId|name), cam.localization()
• Pipeline flow: cam.pipelines(), cam.pipeline(uuid|name|alias)
• NT4 discovery: ca.pd.lib.helios.nt4.HeliosNt4Device
• WebSocket outputs: ca.pd.lib.helios.ws.HeliosStreamOutputsSocket (connect to /v1/ws/streams/{id}/outputs)
• WebSocket metrics: ca.pd.lib.helios.ws.HeliosStreamMetricsSocket (connect to /v1/ws/streams/{id}/metrics)

Examples

Runnable example classes (with main) live under:

• pdlib-examples/src/main/java/ca/pd/lib/helios/examples/

Category folders:

• .../examples/device/: HeliosDeviceTelemetryExample, HeliosFanExample, HeliosLightingExample
• .../examples/streams/: HeliosStreamLookupExample
• .../examples/pipelines/: HeliosPipelineOutputsExample, HeliosPipelinesLookupExample, HeliosStreamPipelineExample
• .../examples/localization/: HeliosLocalizationProfilesExample, HeliosLocalizationSolveExample
• .../examples/vision/: HeliosAprilTagDetectionsExample
• .../examples/pose/: HeliosSwervePoseEstimatorExample, HeliosDifferentialPoseEstimatorExample

Publishing (Local)

./gradlew publishToMavenLocal

Publishing (Online)

Create a root .env file:

MAVEN_ONLINE_URL=https://maven.pdlib.local/PDLib
MAVEN_ONLINE_USER=<username>
MAVEN_ONLINE_PASSWORD=<password>

Then run:

./gradlew publishToMavenOnline

Optional overrides:

• -PmavenOnlineUrl=...
• -PmavenOnlineUser=...
• -PmavenOnlinePassword=...

Live Tests (pdlib-test)

Run read-only integration tests against a specific target:

./gradlew :pdlib-test:test -Dhelios.it=true -Dhelios.target=172.31.250.1

Category folders:

• pdlib-test/src/test/java/ca/pd/lib/test/integration/helios/
• pdlib-helios/src/test/java/ca/pd/lib/helios/integration/

Target and timeout can also be set with Gradle properties:

• -PheliosTarget=172.31.250.1
• -PheliosTimeoutSec=20

Override versions with:

• -PpdlibVersion=2026.0.0
• -PwpilibVersion=2026.+