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Create timesync JNI for testing client (#1433)

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This commit is contained in:
Matt
2024-10-31 08:27:19 -07:00
committed by GitHub
parent 937bafa8e2
commit 37aaa49b32
69 changed files with 2252 additions and 368 deletions
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86
photon-targeting/src/generated/main/java/org/photonvision/jni/WpilibLoader.java Normal file
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@@ -0,0 +1,86 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.jni;
import java.io.IOException;
import org.opencv.core.Core;
import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.jni.ArmFeedforwardJNI;
import edu.wpi.first.math.jni.DAREJNI;
import edu.wpi.first.math.jni.EigenJNI;
import edu.wpi.first.math.jni.Ellipse2dJNI;
import edu.wpi.first.math.jni.Pose3dJNI;
import edu.wpi.first.math.jni.StateSpaceUtilJNI;
import edu.wpi.first.math.jni.TrajectoryUtilJNI;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
public class WpilibLoader {
private static boolean has_loaded = false;
public static boolean loadLibraries() {
if (has_loaded) return true;
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
OpenCvLoader.Helper.setExtractOnStaticLoad(false);
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);
// wpimathjni is a bit odd, it's all in the wpimathjni shared lib, but the java side stuff has
// been split.
ArmFeedforwardJNI.Helper.setExtractOnStaticLoad(false);
DAREJNI.Helper.setExtractOnStaticLoad(false);
EigenJNI.Helper.setExtractOnStaticLoad(false);
Ellipse2dJNI.Helper.setExtractOnStaticLoad(false);
Pose3dJNI.Helper.setExtractOnStaticLoad(false);
StateSpaceUtilJNI.Helper.setExtractOnStaticLoad(false);
TrajectoryUtilJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
WpilibLoader.class,
"wpiutiljni",
"wpilibc",
"wpimathjni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
"wpi",
"cscorejni",
"apriltagjni");
CombinedRuntimeLoader.loadLibraries(WpilibLoader.class, Core.NATIVE_LIBRARY_NAME);
has_loaded = true;
} catch (IOException e) {
e.printStackTrace();
has_loaded = false;
}
return has_loaded;
}
}

10
photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineMetadataSerde.java
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@@ -35,9 +35,9 @@ import edu.wpi.first.util.struct.Struct;
*/
public class PhotonPipelineMetadataSerde implements PacketSerde<PhotonPipelineMetadata> {
@Override
public final String getInterfaceUUID() { return "626e70461cbdb274fb43ead09c255f4e"; }
public final String getInterfaceUUID() { return "ac0a45f686457856fb30af77699ea356"; }
@Override
public final String getSchema() { return "int64 sequenceID;int64 captureTimestampMicros;int64 publishTimestampMicros;"; }
public final String getSchema() { return "int64 sequenceID;int64 captureTimestampMicros;int64 publishTimestampMicros;int64 timeSinceLastPong;"; }
@Override
public final String getTypeName() { return "PhotonPipelineMetadata"; }
@@ -57,6 +57,9 @@ public class PhotonPipelineMetadataSerde implements PacketSerde<PhotonPipelineMe
// field publishTimestampMicros is of intrinsic type int64
packet.encode((long) value.publishTimestampMicros);
// field timeSinceLastPong is of intrinsic type int64
packet.encode((long) value.timeSinceLastPong);
}
@Override
@@ -72,6 +75,9 @@ public class PhotonPipelineMetadataSerde implements PacketSerde<PhotonPipelineMe
// publishTimestampMicros is of intrinsic type int64
ret.publishTimestampMicros = packet.decodeLong();
// timeSinceLastPong is of intrinsic type int64
ret.timeSinceLastPong = packet.decodeLong();
return ret;
}

6
photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineResultSerde.java
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@@ -35,9 +35,9 @@ import edu.wpi.first.util.struct.Struct;
*/
public class PhotonPipelineResultSerde implements PacketSerde<PhotonPipelineResult> {
@Override
public final String getInterfaceUUID() { return "5eeaa293d0c69aea90eaddea786a2b3b"; }
public final String getInterfaceUUID() { return "4b2ff16a964b5e2bf04be0c1454d91c4"; }
@Override
public final String getSchema() { return "PhotonPipelineMetadata:626e70461cbdb274fb43ead09c255f4e metadata;PhotonTrackedTarget:cc6dbb5c5c1e0fa808108019b20863f1 targets[?];optional MultiTargetPNPResult:541096947e9f3ca2d3f425ff7b04aa7b multitagResult;"; }
public final String getSchema() { return "PhotonPipelineMetadata:ac0a45f686457856fb30af77699ea356 metadata;PhotonTrackedTarget:cc6dbb5c5c1e0fa808108019b20863f1 targets[?];optional MultiTargetPNPResult:541096947e9f3ca2d3f425ff7b04aa7b multitagResult;"; }
@Override
public final String getTypeName() { return "PhotonPipelineResult"; }
@@ -78,7 +78,7 @@ public class PhotonPipelineResultSerde implements PacketSerde<PhotonPipelineResu
@Override
public PacketSerde<?>[] getNestedPhotonMessages() {
return new PacketSerde<?>[] {
PhotonPipelineMetadata.photonStruct,MultiTargetPNPResult.photonStruct,PhotonTrackedTarget.photonStruct
MultiTargetPNPResult.photonStruct,PhotonTrackedTarget.photonStruct,PhotonPipelineMetadata.photonStruct
};
}

2
photon-targeting/src/generated/main/native/cpp/photon/serde/PhotonPipelineMetadataSerde.cpp
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@@ -28,6 +28,7 @@ void StructType::Pack(Packet& packet, const PhotonPipelineMetadata& value) {
packet.Pack<int64_t>(value.sequenceID);
packet.Pack<int64_t>(value.captureTimestampMicros);
packet.Pack<int64_t>(value.publishTimestampMicros);
packet.Pack<int64_t>(value.timeSinceLastPong);
}
PhotonPipelineMetadata StructType::Unpack(Packet& packet) {
@@ -35,6 +36,7 @@ PhotonPipelineMetadata StructType::Unpack(Packet& packet) {
.sequenceID = packet.Unpack<int64_t>(),
.captureTimestampMicros = packet.Unpack<int64_t>(),
.publishTimestampMicros = packet.Unpack<int64_t>(),
.timeSinceLastPong = packet.Unpack<int64_t>(),
}};
}

4
photon-targeting/src/generated/main/native/include/photon/serde/PhotonPipelineMetadataSerde.h
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@@ -34,12 +34,12 @@ namespace photon {
template <>
struct WPILIB_DLLEXPORT SerdeType<PhotonPipelineMetadata> {
static constexpr std::string_view GetSchemaHash() {
return "626e70461cbdb274fb43ead09c255f4e";
return "ac0a45f686457856fb30af77699ea356";
}
static constexpr std::string_view GetSchema() {
return "int64 sequenceID;int64 captureTimestampMicros;int64 "
"publishTimestampMicros;";
"publishTimestampMicros;int64 timeSinceLastPong;";
}
static photon::PhotonPipelineMetadata Unpack(photon::Packet& packet);

4
photon-targeting/src/generated/main/native/include/photon/serde/PhotonPipelineResultSerde.h
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@@ -39,11 +39,11 @@ namespace photon {
template <>
struct WPILIB_DLLEXPORT SerdeType<PhotonPipelineResult> {
static constexpr std::string_view GetSchemaHash() {
return "5eeaa293d0c69aea90eaddea786a2b3b";
return "4b2ff16a964b5e2bf04be0c1454d91c4";
}
static constexpr std::string_view GetSchema() {
return "PhotonPipelineMetadata:626e70461cbdb274fb43ead09c255f4e "
return "PhotonPipelineMetadata:ac0a45f686457856fb30af77699ea356 "
"metadata;PhotonTrackedTarget:cc6dbb5c5c1e0fa808108019b20863f1 "
"targets[?];optional "
"MultiTargetPNPResult:541096947e9f3ca2d3f425ff7b04aa7b "

1
photon-targeting/src/generated/main/native/include/photon/struct/PhotonPipelineMetadataStruct.h
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@@ -29,6 +29,7 @@ struct PhotonPipelineMetadata_PhotonStruct {
int64_t sequenceID;
int64_t captureTimestampMicros;
int64_t publishTimestampMicros;
int64_t timeSinceLastPong;
friend bool operator==(PhotonPipelineMetadata_PhotonStruct const&,
PhotonPipelineMetadata_PhotonStruct const&) = default;