diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 31179fd867..92069d9afd 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -81,7 +81,7 @@ jobs:
       - name: Gradle Build
         run: |
           chmod +x gradlew
-          ./gradlew photon-server:build photon-lib:build -x check --max-workers 2
+          ./gradlew build -x check --max-workers 2
       - name: Gradle Tests
         run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
       - name: Gradle Coverage
diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
new file mode 100644
index 0000000000..d8d11b60ed
--- /dev/null
+++ b/.github/workflows/documentation.yml
@@ -0,0 +1,92 @@
+name: Documentation
+
+on:
+  push:
+    # For now, run on all commits to master
+    branches: [ master ]
+    # and also all tags starting with v
+    tags:
+      - 'v*'
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-client:
+    name: "PhotonClient Build"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 18
+      - name: Install Dependencies
+        run: npm ci
+      - name: Build Production Client
+        run: npm run build-demo
+      - uses: actions/upload-artifact@v4
+        with:
+          name: built-client
+          path: photon-client/dist/
+
+  run_docs:
+    runs-on: "ubuntu-22.04"
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Fetch tags
+      run: git fetch --tags --force
+    - name: Install Java 17
+      uses: actions/setup-java@v3
+      with:
+        java-version: 17
+        distribution: temurin
+
+    - name: Build javadocs/doxygen
+      run: |
+        chmod +x gradlew
+        ./gradlew docs:generateJavaDocs docs:doxygen
+
+    - uses: actions/upload-artifact@v4
+      with:
+        name: built-docs
+        path: docs/build/docs
+
+  release:
+    needs: [build-client, run_docs]
+
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+
+    runs-on: ubuntu-22.04
+    steps:
+
+      # Download literally every single artifact.
+      - uses: actions/download-artifact@v4
+
+      - run: find .
+
+      - name: Setup Pages
+        uses: actions/configure-pages@v4
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          # Upload entire repository
+          path: '.'
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4
diff --git a/README.md b/README.md
index d1cff5e77e..542ac3f2a4 100644
--- a/README.md
+++ b/README.md
@@ -92,3 +92,10 @@ Our meeting notes can be found in the wiki section of this repository.
 
 * [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
 * [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)
+
+## Documentation
+
+- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
+- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
+- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/javadoc/))
+- C++ Doxygen  [cppdocs.photonvision.org](https://cppdocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/doxygen/html/))
diff --git a/docs/build.gradle b/docs/build.gradle
new file mode 100644
index 0000000000..f6ce182199
--- /dev/null
+++ b/docs/build.gradle
@@ -0,0 +1,287 @@
+// From allwpilib/docs. Licensed under the WPILib BSD License
+
+plugins {
+    id 'java'
+    id "org.ysb33r.doxygen" version "0.7.0"
+}
+
+
+evaluationDependsOn ':photon-targeting'
+evaluationDependsOn ':photon-core'
+evaluationDependsOn ':photon-server'
+evaluationDependsOn ':photon-lib'
+
+
+def baseArtifactIdCpp = 'documentation'
+def artifactGroupIdCpp = 'org.photonvision.wpilibc'
+def zipBaseNameCpp = '_GROUP_org.photonvision_cpp_ID_documentation_CLS'
+
+def baseArtifactIdJava = 'documentation'
+def artifactGroupIdJava = 'org.photonvision.wpilibj'
+def zipBaseNameJava = '_GROUP_org.photonvision_java_ID_documentation_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+def cppProjectZips = []
+def cppIncludeRoots = []
+
+cppProjectZips.add(project(':photon-lib').cppHeadersZip)
+cppProjectZips.add(project(':photon-targeting').cppHeadersZip)
+
+doxygen {
+    // Doxygen binaries are only provided for x86_64 platforms
+    // Other platforms will need to provide doxygen via their system
+    // See below maven and https://doxygen.nl/download.html for provided binaries
+
+    String arch = System.getProperty("os.arch");
+    if (arch.equals("x86_64") || arch.equals("amd64")) {
+        executables {
+            doxygen version : '1.9.4',
+            baseURI : 'https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen'
+        }
+    }
+}
+
+doxygen {
+    generate_html true
+    html_extra_stylesheet 'theme.css'
+
+    cppProjectZips.each {
+        dependsOn it
+        source it.source
+        it.ext.includeDirs.each {
+            cppIncludeRoots.add(it.absolutePath)
+        }
+    }
+    cppIncludeRoots << '../ntcore/build/generated/main/native/include/'
+
+    if (project.hasProperty('docWarningsAsErrors')) {
+        // Eigen
+        exclude 'Eigen/**'
+        exclude 'unsupported/**'
+
+        // LLVM
+        exclude 'wpi/AlignOf.h'
+        exclude 'wpi/Casting.h'
+        exclude 'wpi/Chrono.h'
+        exclude 'wpi/Compiler.h'
+        exclude 'wpi/ConvertUTF.h'
+        exclude 'wpi/DenseMap.h'
+        exclude 'wpi/DenseMapInfo.h'
+        exclude 'wpi/Endian.h'
+        exclude 'wpi/EpochTracker.h'
+        exclude 'wpi/Errc.h'
+        exclude 'wpi/Errno.h'
+        exclude 'wpi/ErrorHandling.h'
+        exclude 'wpi/bit.h'
+        exclude 'wpi/fs.h'
+        exclude 'wpi/FunctionExtras.h'
+        exclude 'wpi/function_ref.h'
+        exclude 'wpi/Hashing.h'
+        exclude 'wpi/iterator.h'
+        exclude 'wpi/iterator_range.h'
+        exclude 'wpi/ManagedStatic.h'
+        exclude 'wpi/MapVector.h'
+        exclude 'wpi/MathExtras.h'
+        exclude 'wpi/MemAlloc.h'
+        exclude 'wpi/PointerIntPair.h'
+        exclude 'wpi/PointerLikeTypeTraits.h'
+        exclude 'wpi/PointerUnion.h'
+        exclude 'wpi/raw_os_ostream.h'
+        exclude 'wpi/raw_ostream.h'
+        exclude 'wpi/SmallPtrSet.h'
+        exclude 'wpi/SmallSet.h'
+        exclude 'wpi/SmallString.h'
+        exclude 'wpi/SmallVector.h'
+        exclude 'wpi/StringExtras.h'
+        exclude 'wpi/StringMap.h'
+        exclude 'wpi/SwapByteOrder.h'
+        exclude 'wpi/type_traits.h'
+        exclude 'wpi/VersionTuple.h'
+        exclude 'wpi/WindowsError.h'
+
+        // fmtlib
+        exclude 'fmt/**'
+
+        // libuv
+        exclude 'uv.h'
+        exclude 'uv/**'
+        exclude 'wpinet/uv/**'
+
+        // json
+        exclude 'wpi/adl_serializer.h'
+        exclude 'wpi/byte_container_with_subtype.h'
+        exclude 'wpi/detail/**'
+        exclude 'wpi/json.h'
+        exclude 'wpi/json_fwd.h'
+        exclude 'wpi/ordered_map.h'
+        exclude 'wpi/thirdparty/**'
+
+        // memory
+        exclude 'wpi/memory/**'
+
+        // mpack
+        exclude 'wpi/mpack.h'
+
+        // units
+        exclude 'units/**'
+    }
+
+    //TODO: building memory docs causes search to break
+    exclude 'wpi/memory/**'
+
+    exclude '*.pb.h'
+
+    // Save space by excluding protobuf and eigen
+    exclude 'Eigen/**'
+    exclude 'google/protobuf/**'
+
+    aliases 'effects=\\par <i>Effects:</i>^^',
+            'notes=\\par <i>Notes:</i>^^',
+            'requires=\\par <i>Requires:</i>^^',
+            'requiredbe=\\par <i>Required Behavior:</i>^^',
+            'concept{2}=<a href=\"md_doc_concepts.html#\1\">\2</a>',
+            'defaultbe=\\par <i>Default Behavior:</i>^^'
+    case_sense_names false
+    extension_mapping 'inc=C++', 'no_extension=C++'
+    extract_all true
+    extract_static true
+    file_patterns '*'
+    full_path_names true
+    generate_html true
+    generate_latex false
+    generate_treeview true
+    html_extra_stylesheet 'theme.css'
+    html_timestamp true
+    javadoc_autobrief true
+    project_name 'PhotonVision C++'
+    project_logo '../wpiutil/src/main/native/resources/wpilib-128.png'
+    project_number pubVersion
+    quiet true
+    recursive true
+    strip_code_comments false
+    strip_from_inc_path cppIncludeRoots as String[]
+    strip_from_path cppIncludeRoots as String[]
+    use_mathjax true
+    warnings false
+    warn_if_incomplete_doc true
+    warn_if_undocumented false
+    warn_no_paramdoc true
+
+    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix MotorController docs
+    enable_preprocessing true
+    macro_expansion true
+    expand_only_predef true
+    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]\"\\\n" +
+            "\"__cplusplus\"\\\n" +
+            "\"HAL_ENUM(name)=enum name : int32_t"
+
+    if (project.hasProperty('docWarningsAsErrors')) {
+        warn_as_error 'FAIL_ON_WARNINGS'
+    }
+}
+
+tasks.register("zipCppDocs", Zip) {
+    archiveBaseName = zipBaseNameCpp
+    destinationDirectory = outputsFolder
+    dependsOn doxygen
+    from ("$buildDir/docs/doxygen/html")
+    into '/'
+}
+
+// Java
+configurations {
+    javaSource {
+        transitive false
+    }
+}
+
+ext {
+    sharedCvConfigs = [:]
+    staticCvConfigs = [:]
+    useJava = true
+    useCpp = false
+    skipDev = true
+    useDocumentation = true
+}
+
+task generateJavaDocs(type: Javadoc) {
+    def exportedProjects = [
+        ':photon-core',
+        ':photon-server',
+        ':photon-targeting',
+        ':photon-lib'
+    ]
+
+    source exportedProjects.collect { project(it).sourceSets.main.allJava }
+    classpath = files(exportedProjects.collect { project(it).sourceSets.main.compileClasspath })
+    dependsOn project(':photon-core').writeCurrentVersion
+
+    options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
+    options.addStringOption("tag", "pre:a:Pre-Condition")
+    options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
+    options.addBooleanOption('html5', true)
+    failOnError = true
+
+    title = "PhotonVision $pubVersion"
+    ext.entryPoint = "$destinationDir/index.html"
+
+    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
+        // Treat javadoc warnings as errors.
+        //
+        // The second argument '-quiet' is a hack. The one parameter
+        // addStringOption() doesn't work, so we add '-quiet', which is added
+        // anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
+        //
+        // See JDK-8200363 (https://bugs.openjdk.java.net/browse/JDK-8200363)
+        // for information about the nonstandard -Xwerror option. JDK 15+ has
+        // -Werror.
+        options.addStringOption('Xwerror', '-quiet')
+    }
+
+    if (JavaVersion.current().isJava11Compatible()) {
+        if (!JavaVersion.current().isJava12Compatible()) {
+            options.addBooleanOption('-no-module-directories', true)
+        }
+        doLast {
+            // This is a work-around for https://bugs.openjdk.java.net/browse/JDK-8211194. Can be removed once that issue is fixed on JDK's side
+            // Since JDK 11, package-list is missing from javadoc output files and superseded by element-list file, but a lot of external tools still need it
+            // Here we generate this file manually
+            new File(destinationDir, 'package-list').text = new File(destinationDir, 'element-list').text
+        }
+    }
+}
+
+tasks.register("zipJavaDocs", Zip) {
+    archiveBaseName = zipBaseNameJava
+    destinationDirectory = outputsFolder
+    dependsOn generateJavaDocs
+    from ("$buildDir/docs/javadoc")
+    into '/'
+}
+
+tasks.register("zipDocs") {
+    dependsOn zipCppDocs
+    dependsOn zipJavaDocs
+}
+
+apply plugin: 'maven-publish'
+
+publishing {
+    publications {
+        java(MavenPublication) {
+            artifact zipJavaDocs
+
+            artifactId = "${baseArtifactIdJava}"
+            groupId artifactGroupIdJava
+            version pubVersion
+        }
+        cpp(MavenPublication) {
+            artifact zipCppDocs
+
+            artifactId = "${baseArtifactIdCpp}"
+            groupId artifactGroupIdCpp
+            version pubVersion
+        }
+    }
+}
diff --git a/docs/theme.css b/docs/theme.css
new file mode 100644
index 0000000000..2bca53a108
--- /dev/null
+++ b/docs/theme.css
@@ -0,0 +1,1697 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+html {
+    /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */
+    --primary-color: #1779c4;
+    --primary-dark-color: #00559f;
+    --primary-light-color: #7aabd6;
+    --primary-lighter-color: #cae1f1;
+    --primary-lightest-color: #e9f1f8;
+
+    /* page base colors */
+    --page-background-color: white;
+    --page-foreground-color: #2c3e50;
+    --page-secondary-foreground-color: #67727e;
+
+    /* color for all separators on the website: hr, borders, ... */
+    --separator-color: #dedede;
+
+    /* border radius for all rounded components. Will affect many components, like dropdowns, memitems, codeblocks, ... */
+    --border-radius-large: 8px;
+    --border-radius-small: 4px;
+    --border-radius-medium: 6px;
+
+    /* default spacings. Most compontest reference these values for spacing, to provide uniform spacing on the page. */
+    --spacing-small: 5px;
+    --spacing-medium: 10px;
+    --spacing-large: 16px;
+
+    /* default box shadow used for raising an element above the normal content. Used in dropdowns, Searchresult, ... */
+    --box-shadow: 0 2px 10px 0 rgba(0, 0, 0, 0.1);
+
+    --odd-color: rgba(0, 0, 0, 0.03);
+
+    /* font-families. will affect all text on the website
+     * font-family: the normal font for text, headlines, menus
+     * font-family-monospace: used for preformatted text in memtitle, code, fragments
+     */
+    --font-family: -apple-system, BlinkMacSystemFont, Segoe UI, Roboto, Oxygen,
+        Ubuntu, Cantarell, Fira Sans, Droid Sans, Helvetica Neue, sans-serif;
+    --font-family-monospace: source-code-pro, Menlo, Monaco, Consolas,
+        Courier New, monospace;
+
+    /* font sizes */
+    --page-font-size: 15.6px;
+    --navigation-font-size: 14.4px;
+    --code-font-size: 14.4px; /* affects code, fragment */
+    --title-font-size: 22px;
+
+    /* content text properties. These only affect the page content, not the navigation or any other ui elements */
+    --content-line-height: 27px;
+    /* The content is centered and constraint in it's width. To make the content fill the whole page, set the variable to auto.*/
+    --content-maxwidth: 1000px;
+
+    /* colors for various content boxes: @warning, @note, @deprecated @bug */
+    --warning-color: #fca49b;
+    --warning-color-dark: #b61825;
+    --warning-color-darker: #75070f;
+    --note-color: rgba(255, 229, 100, 0.3);
+    --note-color-dark: #c39900;
+    --note-color-darker: #8d7400;
+    --deprecated-color: rgb(214, 216, 224);
+    --deprecated-color-dark: #5b6269;
+    --deprecated-color-darker: #43454a;
+    --bug-color: rgb(246, 208, 178);
+    --bug-color-dark: #a53a00;
+    --bug-color-darker: #5b1d00;
+    --invariant-color: #b7f8d0;
+    --invariant-color-dark: #00ba44;
+    --invariant-color-darker: #008622;
+
+    /* blockquote colors */
+    --blockquote-background: #f5f5f5;
+    --blockquote-foreground: #727272;
+
+    /* table colors */
+    --tablehead-background: #f1f1f1;
+    --tablehead-foreground: var(--page-foreground-color);
+
+    /* menu-display: block | none
+     * Visibility of the top navigation on screens >= 768px. On smaller screen the menu is always visible.
+     * `GENERATE_TREEVIEW` MUST be enabled!
+     */
+    --menu-display: block;
+
+    --menu-focus-foreground: var(--page-background-color);
+    --menu-focus-background: var(--primary-color);
+    --menu-selected-background: rgba(0, 0, 0, 0.05);
+
+    --header-background: var(--page-background-color);
+    --header-foreground: var(--page-foreground-color);
+
+    /* searchbar colors */
+    --searchbar-background: var(--side-nav-background);
+    --searchbar-foreground: var(--page-foreground-color);
+
+    /* searchbar size
+     * (`searchbar-width` is only applied on screens >= 768px.
+     * on smaller screens the searchbar will always fill the entire screen width) */
+    --searchbar-height: 33px;
+    --searchbar-width: 210px;
+
+    /* code block colors */
+    --code-background: #f5f5f5;
+    --code-foreground: var(--page-foreground-color);
+
+    /* fragment colors */
+    --fragment-background: #282c34;
+    --fragment-foreground: #ffffff;
+    --fragment-keyword: #cc99cd;
+    --fragment-keywordtype: #ab99cd;
+    --fragment-keywordflow: #e08000;
+    --fragment-token: #7ec699;
+    --fragment-comment: #999999;
+    --fragment-link: #98c0e3;
+    --fragment-preprocessor: #65cabe;
+    --fragment-linenumber-color: #cccccc;
+    --fragment-linenumber-background: #35393c;
+    --fragment-linenumber-border: #1f1f1f;
+    --fragment-lineheight: 20px;
+
+    /* sidebar navigation (treeview) colors */
+    --side-nav-background: #fbfbfb;
+    --side-nav-foreground: var(--page-foreground-color);
+    --side-nav-arrow-opacity: 0;
+    --side-nav-arrow-hover-opacity: 0.9;
+
+    /* height of an item in any tree / collapsible table */
+    --tree-item-height: 30px;
+
+    --darkmode-toggle-button-icon: "☀️";
+}
+
+@media screen and (max-width: 767px) {
+    html {
+        --page-font-size: 16px;
+        --navigation-font-size: 16px;
+        --code-font-size: 15px; /* affects code, fragment */
+        --title-font-size: 22px;
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) {
+        color-scheme: dark;
+
+        --primary-color: #1982d2;
+        --primary-dark-color: #5ca8e2;
+        --primary-light-color: #4779ac;
+        --primary-lighter-color: #191e21;
+        --primary-lightest-color: #191a1c;
+
+        --box-shadow: 0 2px 10px 0 rgba(0, 0, 0, 0.35);
+
+        --odd-color: rgba(0, 0, 0, 0.1);
+
+        --menu-selected-background: rgba(0, 0, 0, 0.4);
+
+        --page-background-color: #1c1d1f;
+        --page-foreground-color: #d2dbde;
+        --page-secondary-foreground-color: #859399;
+        --separator-color: #000000;
+        --side-nav-background: #252628;
+
+        --code-background: #2a2c2f;
+
+        --tablehead-background: #2a2c2f;
+
+        --blockquote-background: #1f2022;
+        --blockquote-foreground: #77848a;
+
+        --warning-color: #b61825;
+        --warning-color-dark: #510a02;
+        --warning-color-darker: #f5b1aa;
+        --note-color: rgb(255, 183, 0);
+        --note-color-dark: #9f7300;
+        --note-color-darker: #fff6df;
+        --deprecated-color: rgb(88, 90, 96);
+        --deprecated-color-dark: #262e37;
+        --deprecated-color-darker: #a0a5b0;
+        --bug-color: rgb(248, 113, 0);
+        --bug-color-dark: #812a00;
+        --bug-color-darker: #ffd3be;
+
+        --darkmode-toggle-button-icon: "🌛";
+    }
+}
+
+/* dark mode variables are defined twice, to support both the dark-mode without and with doxygen-awesome-darkmode-toggle.js */
+html.dark-mode {
+    color-scheme: dark;
+
+    --primary-color: #1982d2;
+    --primary-dark-color: #5ca8e2;
+    --primary-light-color: #4779ac;
+    --primary-lighter-color: #191e21;
+    --primary-lightest-color: #191a1c;
+
+    --box-shadow: 0 2px 10px 0 rgba(0, 0, 0, 0.35);
+
+    --odd-color: rgba(0, 0, 0, 0.1);
+
+    --menu-selected-background: rgba(0, 0, 0, 0.4);
+
+    --page-background-color: #1c1d1f;
+    --page-foreground-color: #d2dbde;
+    --page-secondary-foreground-color: #859399;
+    --separator-color: #000000;
+    --side-nav-background: #252628;
+
+    --code-background: #2a2c2f;
+
+    --tablehead-background: #2a2c2f;
+
+    --blockquote-background: #1f2022;
+    --blockquote-foreground: #77848a;
+
+    --warning-color: #b61825;
+    --warning-color-dark: #510a02;
+    --warning-color-darker: #f5b1aa;
+    --note-color: rgb(255, 183, 0);
+    --note-color-dark: #9f7300;
+    --note-color-darker: #fff6df;
+    --deprecated-color: rgb(88, 90, 96);
+    --deprecated-color-dark: #262e37;
+    --deprecated-color-darker: #a0a5b0;
+    --bug-color: rgb(248, 113, 0);
+    --bug-color-dark: #812a00;
+    --bug-color-darker: #ffd3be;
+
+    --darkmode-toggle-button-icon: "🌛";
+}
+
+body {
+    color: var(--page-foreground-color);
+    background-color: var(--page-background-color);
+    font-size: var(--page-font-size);
+}
+
+body,
+table,
+div,
+p,
+dl,
+#nav-tree .label,
+.title,
+.sm-dox a,
+.sm-dox a:hover,
+.sm-dox a:focus,
+#projectname,
+.SelectItem,
+#MSearchField,
+.navpath li.navelem a,
+.navpath li.navelem a:hover {
+    font-family: var(--font-family);
+}
+
+h1,
+h2,
+h3,
+h4,
+h5 {
+    margin-top: 0.9em;
+    font-weight: 600;
+    line-height: initial;
+}
+
+p,
+div,
+table,
+dl {
+    font-size: var(--page-font-size);
+}
+
+a:link,
+a:visited,
+a:hover,
+a:focus,
+a:active {
+    color: var(--primary-color) !important;
+    font-weight: 500;
+}
+
+/*
+ Title and top navigation
+ */
+
+#top {
+    background: var(--header-background);
+    border-bottom: 1px solid var(--separator-color);
+}
+
+@media screen and (min-width: 768px) {
+    #top {
+        display: flex;
+        flex-wrap: wrap;
+        justify-content: space-between;
+        align-items: center;
+    }
+}
+
+#main-nav {
+    flex-grow: 5;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#titlearea {
+    width: auto;
+    padding: var(--spacing-medium) var(--spacing-large);
+    background: none;
+    color: var(--header-foreground);
+    border-bottom: none;
+}
+
+@media screen and (max-width: 767px) {
+    #titlearea {
+        padding-bottom: var(--spacing-small);
+    }
+}
+
+#titlearea table tbody tr {
+    height: auto !important;
+}
+
+#projectname {
+    font-size: var(--title-font-size);
+    font-weight: 600;
+}
+
+#projectnumber {
+    font-family: inherit;
+    font-size: 60%;
+}
+
+#projectbrief {
+    font-family: inherit;
+    font-size: 80%;
+}
+
+#projectlogo {
+    vertical-align: middle;
+}
+
+#projectlogo img {
+    max-height: calc(var(--title-font-size) * 2);
+    margin-right: var(--spacing-small);
+}
+
+.sm-dox,
+.tabs,
+.tabs2,
+.tabs3 {
+    background: none;
+    padding: 0;
+}
+
+.tabs,
+.tabs2,
+.tabs3 {
+    border-bottom: 1px solid var(--separator-color);
+    margin-bottom: -1px;
+}
+
+@media screen and (max-width: 767px) {
+    .sm-dox a span.sub-arrow {
+        background: var(--code-background);
+    }
+}
+
+@media screen and (min-width: 768px) {
+    .sm-dox li,
+    .tablist li {
+        display: var(--menu-display);
+    }
+
+    .sm-dox a span.sub-arrow {
+        border-color: var(--header-foreground) transparent transparent
+            transparent;
+    }
+
+    .sm-dox a:hover span.sub-arrow {
+        border-color: var(--menu-focus-foreground) transparent transparent
+            transparent;
+    }
+
+    .sm-dox ul a span.sub-arrow {
+        border-color: transparent transparent transparent
+            var(--page-foreground-color);
+    }
+
+    .sm-dox ul a:hover span.sub-arrow {
+        border-color: transparent transparent transparent
+            var(--menu-focus-foreground);
+    }
+}
+
+.sm-dox ul {
+    background: var(--page-background-color);
+    box-shadow: var(--box-shadow);
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium) !important;
+    padding: var(--spacing-small);
+    animation: ease-out 150ms slideInMenu;
+}
+
+@keyframes slideInMenu {
+    from {
+        opacity: 0;
+        transform: translate(0px, -2px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0px, 0px);
+    }
+}
+
+.sm-dox ul a {
+    color: var(--page-foreground-color) !important;
+    background: var(--page-background-color);
+    font-size: var(--navigation-font-size);
+}
+
+.sm-dox > li > ul:after {
+    border-bottom-color: var(--page-background-color) !important;
+}
+
+.sm-dox > li > ul:before {
+    border-bottom-color: var(--separator-color) !important;
+}
+
+.sm-dox ul a:hover,
+.sm-dox ul a:active,
+.sm-dox ul a:focus {
+    font-size: var(--navigation-font-size) !important;
+    color: var(--menu-focus-foreground) !important;
+    text-shadow: none;
+    background-color: var(--menu-focus-background);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a,
+.sm-dox a:focus,
+.tablist li,
+.tablist li a,
+.tablist li.current a {
+    text-shadow: none;
+    background: transparent;
+    background-image: none !important;
+    color: var(--header-foreground) !important;
+    font-weight: normal;
+    font-size: var(--navigation-font-size);
+}
+
+.sm-dox a:focus {
+    outline: auto;
+}
+
+.sm-dox a:hover,
+.sm-dox a:active,
+.tablist li a:hover {
+    text-shadow: none;
+    font-weight: normal;
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+    border-radius: var(--border-radius-small) !important;
+    font-size: var(--navigation-font-size);
+}
+
+.tablist li.current {
+    border-radius: var(--border-radius-small);
+    background: var(--menu-selected-background);
+}
+
+.tablist li {
+    margin: var(--spacing-small) 0 var(--spacing-small) var(--spacing-small);
+}
+
+.tablist a {
+    padding: 0 var(--spacing-large);
+}
+
+/*
+ Search box
+ */
+
+#MSearchBox {
+    height: var(--searchbar-height);
+    background: var(--searchbar-background);
+    border-radius: var(--searchbar-height);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    width: var(--searchbar-width);
+    position: relative;
+    box-shadow: none;
+    display: block;
+    margin-top: 0;
+}
+
+.left #MSearchSelect {
+    left: 0;
+}
+
+.tabs .left #MSearchSelect {
+    padding-left: 0;
+}
+
+.tabs #MSearchBox {
+    position: absolute;
+    right: var(--spacing-medium);
+}
+
+@media screen and (max-width: 767px) {
+    .tabs #MSearchBox {
+        position: relative;
+        right: 0;
+        margin-left: var(--spacing-medium);
+        margin-top: 0;
+    }
+}
+
+#MSearchSelectWindow,
+#MSearchResultsWindow {
+    z-index: 9999;
+}
+
+#MSearchBox.MSearchBoxActive {
+    border-color: var(--primary-color);
+    box-shadow: inset 0 0 0 1px var(--primary-color);
+}
+
+#main-menu > li:last-child {
+    margin-right: 0;
+}
+
+@media screen and (max-width: 767px) {
+    #main-menu > li:last-child {
+        height: 50px;
+    }
+}
+
+#MSearchField {
+    font-size: var(--navigation-font-size);
+    height: calc(var(--searchbar-height) - 2px);
+    background: transparent;
+    width: calc(var(--searchbar-width) - 64px);
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--searchbar-foreground);
+}
+
+#MSearchSelect {
+    top: calc(calc(var(--searchbar-height) / 2) - 11px);
+}
+
+.left #MSearchSelect {
+    padding-left: 8px;
+}
+
+#MSearchBox span.left,
+#MSearchBox span.right {
+    background: none;
+}
+
+#MSearchBox span.right {
+    padding-top: calc(calc(var(--searchbar-height) / 2) - 12px);
+    position: absolute;
+    right: var(--spacing-small);
+}
+
+.tabs #MSearchBox span.right {
+    top: calc(calc(var(--searchbar-height) / 2) - 12px);
+}
+
+@keyframes slideInSearchResults {
+    from {
+        opacity: 0;
+        transform: translate(0, 15px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0, 20px);
+    }
+}
+
+#MSearchResultsWindow {
+    left: auto !important;
+    right: var(--spacing-medium);
+    border-radius: var(--border-radius-large);
+    border: 1px solid var(--separator-color);
+    transform: translate(0, 20px);
+    box-shadow: var(--box-shadow);
+    animation: ease-out 280ms slideInSearchResults;
+    background: var(--page-background-color);
+}
+
+iframe#MSearchResults {
+    margin: 4px;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) iframe#MSearchResults {
+        filter: invert() hue-rotate(180deg);
+    }
+}
+
+html.dark-mode iframe#MSearchResults {
+    filter: invert() hue-rotate(180deg);
+}
+
+#MSearchSelectWindow {
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    box-shadow: var(--box-shadow);
+    background: var(--page-background-color);
+}
+
+#MSearchSelectWindow a.SelectItem {
+    font-size: var(--navigation-font-size);
+    line-height: var(--content-line-height);
+    margin: 0 var(--spacing-small);
+    border-radius: var(--border-radius-small);
+    color: var(--page-foreground-color) !important;
+    font-weight: normal;
+}
+
+#MSearchSelectWindow a.SelectItem:hover {
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+}
+
+@media screen and (max-width: 767px) {
+    #MSearchBox {
+        margin-top: var(--spacing-medium);
+        margin-bottom: var(--spacing-medium);
+        width: calc(100vw - 30px);
+    }
+
+    #main-menu > li:last-child {
+        float: none !important;
+    }
+
+    #MSearchField {
+        width: calc(100vw - 110px);
+    }
+
+    @keyframes slideInSearchResultsMobile {
+        from {
+            opacity: 0;
+            transform: translate(0, 15px);
+        }
+
+        to {
+            opacity: 1;
+            transform: translate(0, 20px);
+        }
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: var(--spacing-medium);
+        overflow: auto;
+        transform: translate(0, 20px);
+        animation: ease-out 280ms slideInSearchResultsMobile;
+    }
+}
+
+/*
+ Tree view
+ */
+
+#side-nav {
+    padding: 0 !important;
+    background: var(--side-nav-background);
+}
+
+@media screen and (max-width: 767px) {
+    #side-nav {
+        display: none;
+    }
+
+    #doc-content {
+        margin-left: 0 !important;
+        height: auto !important;
+        padding-bottom: calc(2 * var(--spacing-large));
+    }
+}
+
+#nav-tree {
+    background: transparent;
+}
+
+#nav-tree .label {
+    font-size: var(--navigation-font-size);
+}
+
+#nav-tree .item {
+    height: var(--tree-item-height);
+    line-height: var(--tree-item-height);
+}
+
+#nav-sync {
+    top: 12px !important;
+    right: 12px;
+}
+
+#nav-tree .selected {
+    text-shadow: none;
+    background-image: none;
+    background-color: transparent;
+    box-shadow: inset 4px 0 0 0 var(--primary-color);
+}
+
+#nav-tree a {
+    color: var(--side-nav-foreground) !important;
+    font-weight: normal;
+}
+
+#nav-tree a:focus {
+    outline-style: auto;
+}
+
+#nav-tree .arrow {
+    opacity: var(--side-nav-arrow-opacity);
+}
+
+.arrow {
+    color: inherit;
+    cursor: pointer;
+    font-size: 45%;
+    vertical-align: middle;
+    margin-right: 2px;
+    font-family: serif;
+    height: auto;
+    text-align: right;
+}
+
+#nav-tree div.item:hover .arrow,
+#nav-tree a:focus .arrow {
+    opacity: var(--side-nav-arrow-hover-opacity);
+}
+
+#nav-tree .selected a {
+    color: var(--primary-color) !important;
+    font-weight: bolder;
+    font-weight: 600;
+}
+
+.ui-resizable-e {
+    background: var(--separator-color);
+    width: 1px;
+}
+
+/*
+ Contents
+ */
+
+div.header {
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--page-background-color);
+    background-image: none;
+}
+
+div.contents,
+div.header .title,
+div.header .summary {
+    max-width: var(--content-maxwidth);
+}
+
+div.contents,
+div.header .title {
+    line-height: initial;
+    margin: calc(var(--spacing-medium) + 0.2em) auto var(--spacing-medium) auto;
+}
+
+div.header .summary {
+    margin: var(--spacing-medium) auto 0 auto;
+}
+
+div.headertitle {
+    padding: 0;
+}
+
+div.header .title {
+    font-weight: 600;
+    font-size: 210%;
+    padding: var(--spacing-medium) var(--spacing-large);
+    word-break: break-word;
+}
+
+div.header .summary {
+    width: auto;
+    display: block;
+    float: none;
+    padding: 0 var(--spacing-large);
+}
+
+td.memSeparator {
+    border-color: var(--separator-color);
+}
+
+.mdescLeft,
+.mdescRight,
+.memItemLeft,
+.memItemRight,
+.memTemplItemLeft,
+.memTemplItemRight,
+.memTemplParams {
+    background: var(--code-background);
+}
+
+.mdescRight {
+    color: var(--page-secondary-foreground-color);
+}
+
+span.mlabel {
+    background: var(--primary-color);
+    border: none;
+    padding: 4px 9px;
+    border-radius: 12px;
+    margin-right: var(--spacing-medium);
+}
+
+span.mlabel:last-of-type {
+    margin-right: 2px;
+}
+
+div.contents {
+    padding: 0 var(--spacing-large);
+}
+
+div.contents p,
+div.contents li {
+    line-height: var(--content-line-height);
+}
+
+div.contents div.dyncontent {
+    margin: var(--spacing-medium) 0;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) div.contents div.dyncontent img,
+    html:not(.light-mode) div.contents center img,
+    html:not(.light-mode) div.contents table img,
+    html:not(.light-mode) div.contents div.dyncontent iframe,
+    html:not(.light-mode) div.contents center iframe,
+    html:not(.light-mode) div.contents table iframe {
+        filter: hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode div.contents div.dyncontent img,
+html.dark-mode div.contents center img,
+html.dark-mode div.contents table img,
+html.dark-mode div.contents div.dyncontent iframe,
+html.dark-mode div.contents center iframe,
+html.dark-mode div.contents table iframe {
+    filter: hue-rotate(180deg) invert();
+}
+
+h2.groupheader {
+    border-bottom: 1px solid var(--separator-color);
+    color: var(--page-foreground-color);
+}
+
+blockquote {
+    padding: var(--spacing-small) var(--spacing-medium);
+    background: var(--blockquote-background);
+    color: var(--blockquote-foreground);
+    border-left: 2px solid var(--blockquote-foreground);
+    margin: 0;
+}
+
+blockquote p {
+    margin: var(--spacing-small) 0 var(--spacing-medium) 0;
+}
+.paramname {
+    font-weight: 600;
+    color: var(--primary-dark-color);
+}
+
+.glow {
+    text-shadow: 0 0 15px var(--primary-light-color) !important;
+}
+
+.alphachar a {
+    color: var(--page-foreground-color);
+}
+
+/*
+ Table of Contents
+ */
+
+div.toc {
+    background-color: var(--side-nav-background);
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    box-shadow: var(--box-shadow);
+    padding: 0 var(--spacing-large);
+    margin: 0 0 var(--spacing-medium) var(--spacing-medium);
+}
+
+div.toc h3 {
+    color: var(--side-nav-foreground);
+    font-size: var(--navigation-font-size);
+    margin: var(--spacing-large) 0;
+}
+
+div.toc li {
+    font-size: var(--navigation-font-size);
+    padding: 0;
+    background: none;
+}
+
+div.toc li:before {
+    content: "↓";
+    font-weight: 800;
+    font-family: var(--font-family);
+    margin-right: var(--spacing-small);
+    color: var(--side-nav-foreground);
+    opacity: 0.4;
+}
+
+div.toc ul li.level1 {
+    margin: 0;
+}
+
+div.toc ul li.level2,
+div.toc ul li.level3 {
+    margin-top: 0;
+}
+
+@media screen and (max-width: 767px) {
+    div.toc {
+        float: none;
+        width: auto;
+        margin: 0 0 var(--spacing-medium) 0;
+    }
+}
+
+/*
+ Code & Fragments
+ */
+
+code,
+div.fragment,
+pre.fragment {
+    border-radius: var(--border-radius-small);
+    border: none;
+    overflow: hidden;
+}
+
+code {
+    display: inline;
+    background: var(--code-background);
+    color: var(--code-foreground);
+    padding: 2px 6px;
+    word-break: break-word;
+}
+
+div.fragment,
+pre.fragment {
+    margin: var(--spacing-medium) 0;
+    padding: 14px 16px;
+    background: var(--fragment-background);
+    color: var(--fragment-foreground);
+    overflow-x: auto;
+}
+
+@media screen and (max-width: 767px) {
+    div.fragment,
+    pre.fragment {
+        border-top-right-radius: 0;
+        border-bottom-right-radius: 0;
+    }
+
+    .contents > div.fragment,
+    .textblock > div.fragment,
+    .textblock > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+        border-radius: 0;
+    }
+
+    .textblock li > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+    }
+
+    .memdoc li > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+    }
+
+    .memdoc > div.fragment,
+    .memdoc > pre.fragment,
+    dl dd > div.fragment,
+    dl dd pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+        border-radius: 0;
+    }
+}
+
+code,
+code a,
+pre.fragment,
+div.fragment,
+div.fragment .line,
+div.fragment span,
+div.fragment .line a,
+div.fragment .line span {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size) !important;
+}
+
+div.line:after {
+    margin-right: var(--spacing-medium);
+}
+
+div.fragment .line,
+pre.fragment {
+    white-space: pre;
+    word-wrap: initial;
+    line-height: var(--fragment-lineheight);
+}
+
+div.fragment span.keyword {
+    color: var(--fragment-keyword);
+}
+
+div.fragment span.keywordtype {
+    color: var(--fragment-keywordtype);
+}
+
+div.fragment span.keywordflow {
+    color: var(--fragment-keywordflow);
+}
+
+div.fragment span.stringliteral {
+    color: var(--fragment-token);
+}
+
+div.fragment span.comment {
+    color: var(--fragment-comment);
+}
+
+div.fragment a.code {
+    color: var(--fragment-link) !important;
+}
+
+div.fragment span.preprocessor {
+    color: var(--fragment-preprocessor);
+}
+
+div.fragment span.lineno {
+    display: inline-block;
+    width: 27px;
+    border-right: none;
+    background: var(--fragment-linenumber-background);
+    color: var(--fragment-linenumber-color);
+}
+
+div.fragment span.lineno a {
+    background: none;
+    color: var(--fragment-link) !important;
+}
+
+div.fragment .line:first-child .lineno {
+    box-shadow: -999999px 0px 0 999999px var(--fragment-linenumber-background),
+        -999998px 0px 0 999999px var(--fragment-linenumber-border);
+}
+
+/*
+ dl warning, attention, note, deprecated, bug, ...
+ */
+
+dl.warning,
+dl.attention,
+dl.note,
+dl.deprecated,
+dl.bug,
+dl.invariant,
+dl.pre {
+    padding: var(--spacing-medium);
+    margin: var(--spacing-medium) 0;
+    color: var(--page-background-color);
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: var(--border-radius-small);
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning,
+dl.attention {
+    background: var(--warning-color);
+    border-left: 8px solid var(--warning-color-dark);
+    color: var(--warning-color-darker);
+}
+
+dl.warning dt,
+dl.attention dt {
+    color: var(--warning-color-dark);
+}
+
+dl.note {
+    background: var(--note-color);
+    border-left: 8px solid var(--note-color-dark);
+    color: var(--note-color-darker);
+}
+
+dl.note dt {
+    color: var(--note-color-dark);
+}
+
+dl.bug {
+    background: var(--bug-color);
+    border-left: 8px solid var(--bug-color-dark);
+    color: var(--bug-color-darker);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-dark) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color);
+    border-left: 8px solid var(--deprecated-color-dark);
+    color: var(--deprecated-color-darker);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-dark) !important;
+}
+
+dl.section dd,
+dl.bug dd,
+dl.deprecated dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant,
+dl.pre {
+    background: var(--invariant-color);
+    border-left: 8px solid var(--invariant-color-dark);
+    color: var(--invariant-color-darker);
+}
+
+/*
+ memitem
+ */
+
+div.memdoc,
+div.memproto,
+h2.memtitle {
+    box-shadow: none;
+    background-image: none;
+    border: none;
+}
+
+div.memdoc {
+    padding: 0 var(--spacing-medium);
+    background: var(--page-background-color);
+}
+
+h2.memtitle,
+div.memitem {
+    border: 1px solid var(--separator-color);
+}
+
+div.memproto,
+h2.memtitle {
+    background: var(--code-background);
+    text-shadow: none;
+}
+
+h2.memtitle {
+    font-weight: 500;
+    font-family: monospace, fixed;
+    border-bottom: none;
+    border-top-left-radius: var(--border-radius-medium);
+    border-top-right-radius: var(--border-radius-medium);
+    word-break: break-all;
+}
+
+a:target + h2.memtitle,
+a:target + h2.memtitle + div.memitem {
+    border-color: var(--primary-light-color);
+}
+
+a:target + h2.memtitle {
+    box-shadow: -3px -3px 3px 0 var(--primary-lightest-color),
+        3px -3px 3px 0 var(--primary-lightest-color);
+}
+
+a:target + h2.memtitle + div.memitem {
+    box-shadow: 0 0 10px 0 var(--primary-lighter-color);
+}
+
+div.memitem {
+    border-top-right-radius: var(--border-radius-medium);
+    border-bottom-right-radius: var(--border-radius-medium);
+    border-bottom-left-radius: var(--border-radius-medium);
+    overflow: hidden;
+    display: block !important;
+}
+
+div.memdoc {
+    border-radius: 0;
+}
+
+div.memproto {
+    border-radius: 0 var(--border-radius-small) 0 0;
+    overflow: auto;
+    border-bottom: 1px solid var(--separator-color);
+    padding: var(--spacing-medium);
+    margin-bottom: -1px;
+}
+
+div.memtitle {
+    border-top-right-radius: var(--border-radius-medium);
+    border-top-left-radius: var(--border-radius-medium);
+}
+
+div.memproto table.memname {
+    font-family: monospace, fixed;
+    color: var(--page-foreground-color);
+}
+
+table.mlabels,
+table.mlabels > tbody {
+    display: block;
+}
+
+td.mlabels-left {
+    width: auto;
+}
+
+table.mlabels > tbody > tr:first-child {
+    display: flex;
+    justify-content: space-between;
+    flex-wrap: wrap;
+}
+
+.memname,
+.memitem span.mlabels {
+    margin: 0;
+}
+
+/*
+ reflist
+ */
+
+dl.reflist {
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-medium);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    padding: 0;
+}
+
+dl.reflist dt,
+dl.reflist dd {
+    box-shadow: none;
+    text-shadow: none;
+    background-image: none;
+    border: none;
+    padding: 12px;
+}
+
+dl.reflist dt {
+    font-weight: 500;
+    border-radius: 0;
+    background: var(--code-background);
+    border-bottom: 1px solid var(--separator-color);
+    color: var(--page-foreground-color);
+}
+
+dl.reflist dd {
+    background: none;
+}
+
+/*
+ Table
+ */
+
+table.markdownTable,
+table.fieldtable {
+    width: 100%;
+    border: 1px solid var(--separator-color);
+    margin: var(--spacing-medium) 0;
+}
+
+table.fieldtable {
+    box-shadow: none;
+    border-radius: var(--border-radius-small);
+}
+
+th.markdownTableHeadLeft,
+th.markdownTableHeadRight,
+th.markdownTableHeadCenter,
+th.markdownTableHeadNone {
+    background: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+    font-weight: 600;
+    font-size: var(--page-font-size);
+}
+
+table.markdownTable td,
+table.markdownTable th,
+table.fieldtable dt {
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+table.fieldtable th {
+    font-size: var(--page-font-size);
+    font-weight: 600;
+    background-image: none;
+    background-color: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+    border-bottom: 1px solid var(--separator-color);
+}
+
+.fieldtable td.fieldtype,
+.fieldtable td.fieldname {
+    border-bottom: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+}
+
+.fieldtable td.fielddoc {
+    border-bottom: 1px solid var(--separator-color);
+}
+
+.memberdecls td.glow,
+.fieldtable tr.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: 0 0 15px var(--primary-lighter-color);
+}
+
+table.memberdecls {
+    display: block;
+    overflow-x: auto;
+    overflow-y: hidden;
+}
+
+/*
+ Horizontal Rule
+ */
+
+hr {
+    margin-top: var(--spacing-large);
+    margin-bottom: var(--spacing-large);
+    border-top: 1px solid var(--separator-color);
+}
+
+.contents hr {
+    box-shadow: var(--content-maxwidth) 0 0 0 var(--separator-color),
+        calc(0px - var(--content-maxwidth)) 0 0 0 var(--separator-color);
+}
+
+.contents img {
+    max-width: 100%;
+}
+
+/*
+ Directories
+ */
+div.directory {
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    width: auto;
+}
+
+table.directory {
+    font-family: var(--font-family);
+    font-size: var(--page-font-size);
+    font-weight: normal;
+}
+
+.directory td.entry {
+    padding: var(--spacing-small);
+    display: flex;
+    align-items: center;
+}
+
+.directory tr.even {
+    background-color: var(--odd-color);
+}
+
+.icona {
+    width: auto;
+    height: auto;
+    margin: 0 var(--spacing-small);
+}
+
+.icon {
+    background: var(--primary-color);
+    width: 18px;
+    height: 18px;
+    line-height: 18px;
+}
+
+.iconfopen,
+.icondoc,
+.iconfclosed {
+    background-position: center;
+    margin-bottom: 0;
+}
+
+.icondoc {
+    filter: saturate(0.2);
+}
+
+@media screen and (max-width: 767px) {
+    div.directory {
+        margin-left: calc(0px - var(--spacing-medium));
+        margin-right: calc(0px - var(--spacing-medium));
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) .iconfopen,
+    html:not(.light-mode) .iconfclosed {
+        filter: hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode .iconfopen,
+html.dark-mode .iconfclosed {
+    filter: hue-rotate(180deg) invert();
+}
+
+/*
+ Class list
+ */
+
+.classindex dl.odd {
+    background: var(--odd-color);
+    border-radius: var(--border-radius-small);
+}
+
+@media screen and (max-width: 767px) {
+    .classindex {
+        margin: 0 calc(0px - var(--spacing-small));
+    }
+}
+
+/*
+  Footer and nav-path
+ */
+
+#nav-path {
+    margin-bottom: -1px;
+    width: 100%;
+}
+
+#nav-path ul {
+    background-image: none;
+    background: var(--page-background-color);
+    border: none;
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    font-size: var(--navigation-font-size);
+}
+
+img.footer {
+    width: 60px;
+}
+
+.navpath li.footer {
+    color: var(--page-secondary-foreground-color);
+}
+
+address.footer {
+    margin-bottom: var(--spacing-large);
+}
+
+#nav-path li.navelem {
+    background-image: none;
+    display: flex;
+    align-items: center;
+}
+
+.navpath li.navelem a {
+    text-shadow: none;
+    display: inline-block;
+    color: var(--primary-color) !important;
+}
+
+.navpath li.navelem b {
+    color: var(--primary-dark-color);
+    font-weight: 500;
+}
+
+li.navelem {
+    padding: 0;
+    margin-left: -8px;
+}
+
+li.navelem:first-child {
+    margin-left: var(--spacing-large);
+}
+
+li.navelem:first-child:before {
+    display: none;
+}
+
+#nav-path li.navelem:after {
+    content: "";
+    border: 5px solid var(--page-background-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: scaleY(4.2);
+    z-index: 10;
+    margin-left: 6px;
+}
+
+#nav-path li.navelem:before {
+    content: "";
+    border: 5px solid var(--separator-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: scaleY(3.2);
+    margin-right: var(--spacing-small);
+}
+
+.navpath li.navelem a:hover {
+    color: var(--primary-color);
+}
+
+/*
+  Optional Dark mode toggle button
+*/
+
+doxygen-awesome-dark-mode-toggle {
+    margin: 0 0 0 var(--spacing-small);
+    padding: 0;
+    width: var(--searchbar-height);
+    height: var(--searchbar-height);
+    background: none;
+    border: none;
+    font-size: 23px;
+    border-radius: var(--border-radius-medium);
+    vertical-align: middle;
+    text-align: center;
+    line-height: var(--searchbar-height);
+}
+
+doxygen-awesome-dark-mode-toggle:hover {
+    background: var(--separator-color);
+}
+
+doxygen-awesome-dark-mode-toggle:after {
+    content: var(--darkmode-toggle-button-icon);
+}
+
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+ */
+
+html {
+    /* side nav width. MUST be = `TREEVIEW_WIDTH`.
+     * Make sure it is wide enough to contain the page title (logo + title + version)
+     */
+    --side-nav-fixed-width: 340px;
+    --menu-display: none;
+
+    --top-height: 120px;
+}
+
+@media screen and (min-width: 768px) {
+    html {
+        --searchbar-background: var(--page-background-color);
+    }
+
+    #side-nav {
+        min-width: var(--side-nav-fixed-width);
+        max-width: var(--side-nav-fixed-width);
+        top: var(--top-height);
+    }
+
+    #nav-tree,
+    #side-nav {
+        height: calc(100vh - var(--top-height)) !important;
+    }
+
+    #nav-tree {
+        padding: 0;
+    }
+
+    #top {
+        display: block;
+        border-bottom: none;
+        height: var(--top-height);
+        margin-bottom: calc(0px - var(--top-height));
+        max-width: var(--side-nav-fixed-width);
+        background: var(--side-nav-background);
+    }
+    #main-nav {
+        float: left;
+        padding-right: 0;
+    }
+
+    .ui-resizable-handle {
+        cursor: default;
+        width: 1px !important;
+        box-shadow: 0 calc(-2 * var(--top-height)) 0 0 var(--separator-color);
+    }
+
+    #nav-path {
+        position: fixed;
+        right: 0;
+        left: var(--side-nav-fixed-width);
+        bottom: 0;
+        width: auto;
+    }
+
+    #doc-content {
+        height: calc(100vh - 31px) !important;
+        padding-bottom: calc(3 * var(--spacing-large));
+        padding-top: calc(var(--top-height) - 80px);
+        box-sizing: border-box;
+        margin-left: var(--side-nav-fixed-width) !important;
+    }
+
+    #MSearchBox {
+        width: calc(
+            var(--side-nav-fixed-width) - calc(2 * var(--spacing-medium))
+        );
+    }
+
+    #MSearchField {
+        width: calc(
+            var(--side-nav-fixed-width) - calc(2 * var(--spacing-medium)) - 65px
+        );
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: auto;
+    }
+}
diff --git a/photon-client/package.json b/photon-client/package.json
index c201232839..a69b556024 100644
--- a/photon-client/package.json
+++ b/photon-client/package.json
@@ -7,6 +7,7 @@
     "build": "run-p build-only",
     "preview": "vite preview --port 4173",
     "build-only": "vite build",
+    "build-demo": "vite build --mode demo",
     "lint": "eslint . --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore",
     "format": "prettier --write src/",
     "lint-ci": "eslint . --max-warnings 0 --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore",
diff --git a/photon-client/src/App.vue b/photon-client/src/App.vue
index 80711960f1..518ad39833 100644
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -8,43 +8,45 @@ import PhotonSidebar from "@/components/app/photon-sidebar.vue";
 import PhotonLogView from "@/components/app/photon-log-view.vue";
 import PhotonErrorSnackbar from "@/components/app/photon-error-snackbar.vue";
 
-const websocket = new AutoReconnectingWebsocket(
-  `ws://${inject("backendHost")}/websocket_data`,
-  () => {
-    useStateStore().$patch({ backendConnected: true });
-  },
-  (data) => {
-    if (data.log !== undefined) {
-      useStateStore().addLogFromWebsocket(data.log);
+const is_demo = import.meta.env.MODE === "demo";
+if (!is_demo) {
+  const websocket = new AutoReconnectingWebsocket(
+    `ws://${inject("backendHost")}/websocket_data`,
+    () => {
+      useStateStore().$patch({ backendConnected: true });
+    },
+    (data) => {
+      if (data.log !== undefined) {
+        useStateStore().addLogFromWebsocket(data.log);
+      }
+      if (data.settings !== undefined) {
+        useSettingsStore().updateGeneralSettingsFromWebsocket(data.settings);
+      }
+      if (data.cameraSettings !== undefined) {
+        useCameraSettingsStore().updateCameraSettingsFromWebsocket(data.cameraSettings);
+      }
+      if (data.ntConnectionInfo !== undefined) {
+        useStateStore().updateNTConnectionStatusFromWebsocket(data.ntConnectionInfo);
+      }
+      if (data.metrics !== undefined) {
+        useSettingsStore().updateMetricsFromWebsocket(data.metrics);
+      }
+      if (data.updatePipelineResult !== undefined) {
+        useStateStore().updateBackendResultsFromWebsocket(data.updatePipelineResult);
+      }
+      if (data.mutatePipelineSettings !== undefined && data.cameraIndex !== undefined) {
+        useCameraSettingsStore().changePipelineSettingsInStore(data.mutatePipelineSettings, data.cameraIndex);
+      }
+      if (data.calibrationData !== undefined) {
+        useStateStore().updateCalibrationStateValuesFromWebsocket(data.calibrationData);
+      }
+    },
+    () => {
+      useStateStore().$patch({ backendConnected: false });
     }
-    if (data.settings !== undefined) {
-      useSettingsStore().updateGeneralSettingsFromWebsocket(data.settings);
-    }
-    if (data.cameraSettings !== undefined) {
-      useCameraSettingsStore().updateCameraSettingsFromWebsocket(data.cameraSettings);
-    }
-    if (data.ntConnectionInfo !== undefined) {
-      useStateStore().updateNTConnectionStatusFromWebsocket(data.ntConnectionInfo);
-    }
-    if (data.metrics !== undefined) {
-      useSettingsStore().updateMetricsFromWebsocket(data.metrics);
-    }
-    if (data.updatePipelineResult !== undefined) {
-      useStateStore().updateBackendResultsFromWebsocket(data.updatePipelineResult);
-    }
-    if (data.mutatePipelineSettings !== undefined && data.cameraIndex !== undefined) {
-      useCameraSettingsStore().changePipelineSettingsInStore(data.mutatePipelineSettings, data.cameraIndex);
-    }
-    if (data.calibrationData !== undefined) {
-      useStateStore().updateCalibrationStateValuesFromWebsocket(data.calibrationData);
-    }
-  },
-  () => {
-    useStateStore().$patch({ backendConnected: false });
-  }
-);
-
-useStateStore().$patch({ websocket: websocket });
+  );
+  useStateStore().$patch({ websocket: websocket });
+}
 </script>
 
 <template>
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
index 568453bdfe..79f0fd7846 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
@@ -62,7 +62,6 @@ public String getBaseName() {
     }
 
     /**
-     * @param baseName
      * @return Returns a human readable name
      */
     public String getHumanReadableName() {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
index 34b1384e92..b28ae9a89f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
@@ -33,7 +33,7 @@ public class ArucoDetectionPipeParams {
     /**
      * Bits allowed to be corrected, expressed as a ratio of the tag families theoretical maximum.
      *
-     * <p>E.g. 36h11 -> 11 * errorCorrectionRate = Max error bits
+     * <p>E.g. 36h11 = 11 * errorCorrectionRate = Max error bits
      */
     public double errorCorrectionRate = 0;
 
diff --git a/settings.gradle b/settings.gradle
index 0555d7efab..117ee70a52 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -2,3 +2,4 @@ include 'photon-targeting'
 include 'photon-core'
 include 'photon-server'
 include 'photon-lib'
+include 'docs'
diff --git a/shared/common.gradle b/shared/common.gradle
index 7cbf858b22..33d1a4c8b2 100644
--- a/shared/common.gradle
+++ b/shared/common.gradle
@@ -74,6 +74,34 @@ tasks.register('generateJavaDocs', Javadoc) {
     source = sourceSets.main.allJava
     classpath = sourceSets.main.compileClasspath
     destinationDir = file("${projectDir}/build/docs")
+
+    options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
+    options.addBooleanOption('html5', true)
+
+    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
+        // Treat javadoc warnings as errors.
+        //
+        // The second argument '-quiet' is a hack. The one parameter
+        // addStringOption() doesn't work, so we add '-quiet', which is added
+        // anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
+        //
+        // See JDK-8200363 (https://bugs.openjdk.java.net/browse/JDK-8200363)
+        // for information about the nonstandard -Xwerror option. JDK 15+ has
+        // -Werror.
+        options.addStringOption('Xwerror', '-quiet')
+    }
+
+    if (JavaVersion.current().isJava11Compatible()) {
+        if (!JavaVersion.current().isJava12Compatible()) {
+            options.addBooleanOption('-no-module-directories', true)
+        }
+        doLast {
+            // This is a work-around for https://bugs.openjdk.java.net/browse/JDK-8211194. Can be removed once that issue is fixed on JDK's side
+            // Since JDK 11, package-list is missing from javadoc output files and superseded by element-list file, but a lot of external tools still need it
+            // Here we generate this file manually
+            new File(destinationDir, 'package-list').text = new File(destinationDir, 'element-list').text
+        }
+    }
 }
 
 jacoco {