DEV Community: Aditya Kumar

Bevy Discord 0.17 Migration Guide

Aditya Kumar — Mon, 27 Oct 2025 18:22:40 +0000

Hello Bevy developers!

The latest version of bevy-discord, version 0.7 is now live! This is a significant update that brings support for the much-anticipated Bevy 0.17. This release also introduces several breaking changes designed to align the crate with Bevy's new APIs and improve overall consistency.

This blog will walk you through all the necessary steps to get your project updated. Let's dive in!

Breaking Changes

This release focuses on renaming and restructuring to match the upstream changes in Bevy 0.17.

1. Update Bevy and `bevy-discord` Dependencies

First, you'll need to update the versions in your Cargo.toml file to use Bevy 0.17 and bevy-discord 0.7.

# Before (in your Cargo.toml)
[dependencies]
bevy = "0.16"
bevy-discord = "0.6"

# After
[dependencies]
bevy = "0.17"
bevy-discord = "0.7"

2. Aligning with Bevy 0.17: `Events` are now `Messages`

This is a key change, and it's driven directly by an important update in Bevy 0.17.

In an effort to improve conceptual clarity, Bevy has renamed "buffered events" (the kind sent with EventWriter and read with EventReader) to Messages. The term Event is now used for a different purpose within the engine.

To stay consistent with this new terminology, bevy-discord has followed suit. The entire bevy_discord::events module has been renamed to bevy_discord::messages.

You'll need to update your use statements accordingly:

// Before
use bevy_discord::events::*;

// After
use bevy_discord::messages::*;

3. Structs Renamed to `...Message`

Following the move from Events to Messages, all the relevant structs have been renamed to reflect their new purpose and now carry a Message suffix.

Bot Messages (Formerly Bot Events)

The old B<EVENT_NAME> pattern has been replaced with a more descriptive name.

Old Pattern: bevy_discord::events::bot::B<EVENT_NAME>
New Pattern: bevy_discord::messages::bot::<EVENT_NAME>Message

There are some exceptions exists like BReadyEvent is now BotReadyMessage and BMessage is now DiscordMessage.

Here's a practical example of a system handling the Reaction message:

// Before
use bevy_discord::events::bot::BReactionAdd;

fn handle_reaction(mut events: EventReader<BReactionAdd>) {
    for reaction in events.read() {
        // Logic here ...
    }
}

// After
use bevy_discord::messages::bot::ReactionAddMessage;

fn handle_reaction(mut messages: MessageReader<ReactionAddMessage>) {
    for reaction in messages.read() {
        // Logic here ...
    }
}

Rich Presence Messages (Formerly Rich Presence Events)

Similarly, the Rich Presence event types have also been streamlined.

Old Pattern: bevy_discord::events::rich_presence::RichPresence<EVENT_NAME>
New Pattern: bevy_discord::messages::rich_presence::<EVENT_NAME>Message

4. System Set Renamed: `DiscordSet` to `DiscordSystems`

To better align with Bevy's current naming conventions for system sets, DiscordSet has been renamed to DiscordSystems.

New Features & Improvements

This release isn't just about breaking changes! It also includes some nice quality-of-life improvements.

Debug and Clone Derivations: Many core types, including plugins, configs, messages, and resources, now derive Debug and Clone. This makes debugging your application and managing state much easier.
Rust 2024 Edition: The crate has been upgraded to the Rust 2024 edition, keeping it modern and performant.
Improved Docs: The documentation on docs.rs is now clearer.

That's it! The migration to bevy-discord 0.7 primarily involves updating names and paths to align with the excellent changes in Bevy 0.17.

Happy Coding!

GSOC 2025 Report: AprilTag, FAST, and ORB Detectors

Aditya Kumar — Mon, 01 Sep 2025 09:50:04 +0000

This project adds three detection/feature modules to kornia-rs ecosystem: a full AprilTag Detector, FAST Corner Detector, and an ORB Detector. The implementations are CPU-focused, modular, well-documented, and include examples, tests, and benchmarks.

Goals

Implement AprilTag detection and decoding pipeline (configurable, mult-family)
Implement newer complete FAST corner detection
Implement ORB Detector
Provide examples, tests, and benchmarks; compare to common libraries when possible

AprilTag Detectors

An AprilTag is a fiducial marker: a flat, square pattern that encodes a small binary code inside a black/white border. Once detected and decoded in an image, a tag lets you compute camera pose relative to the tag if you know the tag's physical size and the camera intrinsics. They are widely used for camera calibration, robot localization, AR markers and many tasks where 2D to 3D reference is useful.

Why AprilTags are useful:

Robust detection under many viewing angles and lighting conditions.
Provide direct geometric constraints for pose estimation
Small payload, easy to print and deploy

During the first half of the coding period, I primarily worked on creating the kornia-apriltag crate that focuses on AprilTag Detection. It breaks down the entire decoding pipeline in the following steps:

Adaptive Threshold
Connected Components (aka Union Find)
Gradient Clusters
Quad Fitting
Tag Decoding

The API of kornia-apriltag is a well documented crate which is easy to use while being super customizable. The following code snippet is the easiest way to use the crate:

use kornia_apriltag::*;

let config = DecodeTagsConfig::all();
let mut decoder = AprilTagDecoder::new(config, image_size)?;

let detections = decoder.decode(&img)?;
// Do whatever you want with the detections, or just plot them

But you can go much further by choosing which Tag Families to consider detection and their individual configs and even replace/customize any step of the pipeline as all of the functions are well-documented and exposed publicly.

You can find a complete example in examples/apriltag

PRs associated: #380, #384, #406, #410, #419, #420, #429, #433, #435, #436, #438, #440, #444, #458

Issues associated: #408, #450

Resources

ORB Detectors

ORB (Oriented FAST and Rotated BRIEF) is a feature detection and description algorithm optimized for speed and robustness. It combines FAST for keypoint detection, orientation assignment for each keypoint, and BRIEF-like binary descriptors that are rotation-aware. ORB is widely used for feature matching, visual odometry, and as input to SLAM pipelines.

The second half of the coding period, I implemented an ORB Detector in the kornia-imgproc crate.

use kornia_imgproc::features::*;

let mut orb_detector = OrbDetector::new(OrbDetectorConfig::default(), image.size())?;

orb_detector.detect(&image)?;
let (descriptors, _) = orb_detector.extract(&image)?;
let Detection { keypoints, .. } = orb_detector.get_detection();

The matching of the descriptors is also as simple as the detection:

// Your detection logic

let matches = match_descriptors(&first_descriptors, &second_descriptors, None, true, None);

// let's plot them
let mut coords = Vec::new();
for &(i1, i2) in matches.iter() {
    let kp1 = &keypoints1[i1];
    let kp2 = &keypoints2[i2];

    coords.push([kp1, kp2]);
}

// Your plotting logic

PRs associated: #457 (UNDER REVIEW)

Resources

FAST Corner Detector

FAST (Features from Accelerated Segment Test) is a high-speed corner detector. For each candidate pixel, FAST compares the intensities of a circle of surrounding pixels to the center pixel. If a contiguous arc of pixels is all brighter (or all darker) than the center by a threshold, then the pixel is classified as a corner.

During the second half of the coding period while implementing ORB Detector I needed complete implementation of FAST corner detector. So, I implemented a newer complete version of FAST Corner detector in kornia-imgproc crate.

use kornia_imgproc::features::FastDetector;

let mut fast_detector = FastDetector::new(image_size, threshold, arc_length, min_distance)?;
fast_detector.compute_corner_response(&image)?;

let keypoints = fast_detector.extract_keypoints()?;
// Go ahead plot the keypoints

You can find a complete example using FAST Corner Detector in examples/fast_detector.

PRs associated: #460 (UNDER REVIEW)

Resources

Timeline

The following is the list of all the PR/Issue(s) created by me during the GSoC Coding Period.

Goal Classification

AprilTag
ORB Detector
FAST Detector
Other

	Date	Title	Type	Goal	Link
1.	Jun 2	Add kornia-apriltag crate	PR	AprilTag	#380
2.	Jun 2	Use `std::hint::black_box` instead of `criterion::black_box` because it’s deprecated	PR	Other	#381
3.	Jun 2	Update ONNX example to use ort 2.0.0-rc.10	PR	Other	#382
4.	Jun 4	Add Adaptive Threshold Binary functions	PR	AprilTag	#384
5.	Jun 8	Fix kornia-io docs.rs not building	PR	Other	#388
6.	Jun 20	Add Connected Components for AprilTag detection	PR	AprilTag	#406
7.	Jun 21	Safe Implementation of Image TileIterator yielding borrowed slices	Issue	AprilTag	#408
8.	Jun 21	Implement Zero-copy Image conversion in kornia-py	Issue	Other	#409
9.	Jun 23	Add gradient cluster detection	PR	AprilTag	#410
10.	Jun 26	Replace clippy-action with direct cargo clippy command	PR	Other	#412
11.	Jun 29	Add Quad Fitting	PR	AprilTag	#419
12.	Jul 1	Add AprilTag Decoding	PR	AprilTag	#420
13.	Jul 5	Remove `license-file` from `smol_vlm` example	PR	Other	#424
14.	Jul 10	Add support for multiple AprilTag Families	PR	AprilTag	#429
15.	Jul 16	Add `TagFamilyKind::all` method and use it in DecodeTagsConfig	PR	AprilTag	#433
16.	Jul 18	Reset sharpening buffer for every Quad	PR	AprilTag	#435
17.	Jul 18	Add AprilTag detection example	PR	AprilTag	#436
18.	Jul 19	Add AprilTag Benchmark	PR	AprilTag	#438
19.	Jul 22	Update `apriltag-imgs` submodule URL	PR	AprilTag	#440
20.	Aug 2	Add Image downscaling support in AprilTag Detection	PR	AprilTag	#444
21.	Aug 27	Implement ORB Detector	PR	ORB Detector	#457
22.	Aug 28	Add benchmark aprilgrid-rs	PR	AprilTag	#458
23.	Aug 29	Implement newer FAST Corner Detector	PR	FAST Detector	#460
24.	Aug 30	Add Gaussian Blur support for u8 images	Issue	Other	#461
25.	Aug 30	Add HarrisResponse support for u8 images	Issue	Other	#462

Challenges faced

My university end-term exams overlapped with the first half of the coding period, and I initially expected this to limit my time. In practice, I became more interested in AprilTags and allocated increasing effort to the project.
Since kornia-rs is a low-level Computer Vision library, I need to understand the algorithms/detectors that I implemented well. But the issue was that I was in my 2nd semester and core computer science stuff starts from 3rd semester in my university. Luckily I understood the papers well and understood the code of existing implementations which made it slightly easier.

Learning Outcomes

I learned a lot during these 3 months and had a lot of new experiences. Prior to this, I had not worked in a team; my experience was primarily solo projects and occasional open-source contributions. But during this time, we had weekly sync and regular conversation of what and how to do the next thing. It was truly a wonderful experience.

Year in Review: What 2024 Taught Me as a Developer

Aditya Kumar — Wed, 27 Aug 2025 06:41:10 +0000

As 2024 comes to a close, I find myself reflecting on a year that has been truly transformative. This year was filled with milestones, new opportunities, and countless lessons that have shaped my journey as a developer and a learner. Here’s a glimpse into what I accomplished, learned, and aspired to achieve in 2024.

A Major Milestone: Ambala College of Engineering

This year began with a significant step in my academic journey—getting into Ambala College of Engineering. It marked the culmination of my high school years and the beginning of a new chapter filled with opportunities to grow as an engineer and innovator.

Diving Into Open Source Contributions

One of my biggest focuses this year was contributing to open source projects. Here are some highlights:

1. Wikimedia

While I wasn’t actively involved in the MediaWiki organization this year, I am planning to be more engaged in 2025 as I deeply admire what Wikimedia does for society—free education for everyone! Along the way, I also learned how to use Gerrit and managed to get 4 PRs closed across multiple VCS platforms, including Gerrit and the Wikisource project on GitHub.

2. Azalea-rs

With six pull requests merged, I made significant contributions to azalea-rs, a Rust library for creating Minecraft Bots, improving its functionality and learning a lot in the process.

3. Rust

This year also marked my first contribution to the Rust programming language. While the PR is still awaiting merging due to holiday delays, it was a milestone in my journey with Rust. The experience taught me about the rigor and community involvement required in contributing to such a widely used language.

The PR has been merged 🎉

Bevy-Discord: Bridging Discord with Bevy

I created and open-sourced a Rust crate called bevy-discord, which connects the Discord API with the game engine Bevy. Solving the challenges of integrating these two platforms was a fulfilling experience. While the crate is already functional, I’m planning to add a rich presence feature to make it even more versatile and useful for game developers.

Initiating rs-workspace: A Successor to actions-rs

Inspired by GitHub’s actions-rs project, I initiated rs-workspace, aiming to provide enhanced Rust workflow automation tools. So far, I’ve built one action, rust-toolchain, and I’m excited to expand this project further in the coming months.

Cargo-Wiki: A WIP Rust Documentation Generator

I began working on cargo-wiki, a WIP tool designed to generate Rust documentation in markdown format. My goal is to make the output exceptionally human-readable, avoiding HTML tags wherever possible. This project led to my first Rust contribution when I identified a documentation error in rustdoc-types, but it was a error in librustdoc which my PR attempts to fix. The process of resolving this issue was immensely rewarding and deepened my understanding of Rust’s internals.

Building a Portfolio and Blog

I created my personal portfolio and blog using Astro, employing some unconventional methods to keep the project scalable and organized:

Git Submodules for Content Management: Instead of storing blog content directly in the repo, I used a separate content repository linked as a git submodule. Symbolic links for directories made the setup seamless, ensuring my website repo remains fork-friendly.

Commit 0a1bd1 to 76ab37
Hosting Journey: Initially, I hosted the website on Netlify, leveraging their dynamic functions for up-to-date GitHub repo cards. Later, I migrated to Cloudflare Pages for better infrastructure, and finally settled on GitHub Pages. By automating builds and submodule updates with GitHub Actions, I created an efficient, maintenance-free deployment process.

GitHub Pages Migration Commit, Cloudflare Pages Migration PR #1, Original Netlify Commit

Challenges, Lessons, and the Road Ahead

This year wasn’t without its challenges. Balancing multiple projects, managing time, and diving into new technologies pushed me out of my comfort zone. However, these challenges also provided invaluable lessons and skills that I’ll carry forward into the new year.

As I look to 2025, I’m excited to continue working on my existing projects, contributing to open source, and exploring new opportunities for growth. Here’s to another year of innovation and learning!

DEV Community: Aditya Kumar

Bevy Discord 0.17 Migration Guide

Breaking Changes

1. Update Bevy and bevy-discord Dependencies

2. Aligning with Bevy 0.17: Events are now Messages

3. Structs Renamed to ...Message

Bot Messages (Formerly Bot Events)

Rich Presence Messages (Formerly Rich Presence Events)

4. System Set Renamed: DiscordSet to DiscordSystems

New Features & Improvements

GSOC 2025 Report: AprilTag, FAST, and ORB Detectors

Goals

AprilTag Detectors

Resources

ORB Detectors

Resources

FAST Corner Detector

Resources

Timeline

Challenges faced

Learning Outcomes

Year in Review: What 2024 Taught Me as a Developer

A Major Milestone: Ambala College of Engineering

Diving Into Open Source Contributions

1. Wikimedia

2. Azalea-rs

3. Rust

Bevy-Discord: Bridging Discord with Bevy

Initiating rs-workspace: A Successor to actions-rs

Cargo-Wiki: A WIP Rust Documentation Generator

Building a Portfolio and Blog

Challenges, Lessons, and the Road Ahead

1. Update Bevy and `bevy-discord` Dependencies

2. Aligning with Bevy 0.17: `Events` are now `Messages`

3. Structs Renamed to `...Message`

4. System Set Renamed: `DiscordSet` to `DiscordSystems`