Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-19 00:41:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Roll Back to 2024.3.2 (#1423)

Browse Source 
Roll back to 2024.3.2 to get some good testing on actual robots.
This commit is contained in:
Cameron (3539)
2024-09-15 20:01:11 -04:00
committed by GitHub
parent 9e6a066561
commit 546058593e
4 changed files with 17 additions and 228 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
build.gradle
View File

@@ -2,7 +2,7 @@ import edu.wpi.first.toolchain.*
plugins {
id "com.diffplug.spotless" version "6.24.0"
id "edu.wpi.first.NativeUtils" version "2024.7.2" apply false
id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
id "edu.wpi.first.GradleRIO" version "2024.3.2"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
@@ -28,7 +28,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
apply from: "versioningHelper.gradle"
ext {
wpilibVersion = "2025.0.0-alpha-1"
wpilibVersion = "2024.3.2"
wpimathVersion = wpilibVersion
openCVversion = "4.8.0-2"
joglVersion = "2.4.0"

207
photon-core/src/main/java/edu/wpi/first/util/RuntimeDetector.java
View File

@@ -1,207 +0,0 @@
/*
* 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 edu.wpi.first.util;
import java.io.File;
/**
* A utility class for detecting and providing platform-specific such as OS and CPU architecture.
*/
public final class RuntimeDetector {
private static String filePrefix;
private static String fileExtension;
private static String filePath;
private static synchronized void computePlatform() {
if (fileExtension != null && filePath != null && filePrefix != null) {
return;
}
boolean intel32 = is32BitIntel();
boolean intel64 = is64BitIntel();
boolean arm64 = isArm64();
if (isWindows()) {
filePrefix = "";
fileExtension = ".dll";
if (intel32) {
filePath = "/windows/x86/";
} else {
filePath = "/windows/x86-64/";
}
} else if (isMac()) {
filePrefix = "lib";
fileExtension = ".dylib";
filePath = "/osx/universal/";
} else if (isLinux()) {
filePrefix = "lib";
fileExtension = ".so";
if (intel32) {
filePath = "/linux/x86/";
} else if (intel64) {
filePath = "/linux/x86-64/";
} else if (isAthena()) {
filePath = "/linux/athena/";
} else if (isArm32()) {
filePath = "/linux/arm32/";
} else if (arm64) {
filePath = "/linux/arm64/";
} else {
filePath = "/linux/nativearm/";
}
} else {
throw new IllegalStateException("Failed to determine OS");
}
}
/**
* Get the file prefix for the current system.
*
* @return The file prefix.
*/
public static synchronized String getFilePrefix() {
computePlatform();
return filePrefix;
}
/**
* Get the file extension for the current system.
*
* @return The file extension.
*/
public static synchronized String getFileExtension() {
computePlatform();
return fileExtension;
}
/**
* Get the platform path for the current system.
*
* @return The platform path.
*/
public static synchronized String getPlatformPath() {
computePlatform();
return filePath;
}
/**
* Get the path to the requested resource.
*
* @param libName Library name.
* @return The path to the requested resource.
*/
public static synchronized String getLibraryResource(String libName) {
computePlatform();
return filePath + filePrefix + libName + fileExtension;
}
/**
* Get the path to the hash to the requested resource.
*
* @param libName Library name.
* @return The path to the hash to the requested resource.
*/
public static synchronized String getHashLibraryResource(String libName) {
computePlatform();
return filePath + libName + ".hash";
}
/**
* Check if hardware platform is Athena.
*
* @return True if hardware platform is Athena.
*/
public static boolean isAthena() {
File runRobotFile = new File("/usr/local/frc/bin/frcRunRobot.sh");
return runRobotFile.exists();
}
/**
* Check if OS is Arm32.
*
* @return True if OS is Arm32.
*/
public static boolean isArm32() {
String arch = System.getProperty("os.arch");
return "arm".equals(arch) || "arm32".equals(arch);
}
/**
* Check if architecture is Arm64.
*
* @return if architecture is Arm64.
*/
public static boolean isArm64() {
String arch = System.getProperty("os.arch");
return "aarch64".equals(arch) || "arm64".equals(arch);
}
/**
* Check if OS is Linux.
*
* @return if OS is Linux.
*/
public static boolean isLinux() {
return System.getProperty("os.name").startsWith("Linux");
}
/**
* Check if OS is Windows.
*
* @return if OS is Windows.
*/
public static boolean isWindows() {
return System.getProperty("os.name").startsWith("Windows");
}
/**
* Check if OS is Mac.
*
* @return if OS is Mac.
*/
public static boolean isMac() {
return System.getProperty("os.name").startsWith("Mac");
}
/**
* Check if OS is 32bit Intel.
*
* @return if OS is 32bit Intel.
*/
public static boolean is32BitIntel() {
String arch = System.getProperty("os.arch");
return "x86".equals(arch) || "i386".equals(arch);
}
/**
* Check if OS is 64bit Intel.
*
* @return if OS is 64bit Intel.
*/
public static boolean is64BitIntel() {
String arch = System.getProperty("os.arch");
return "amd64".equals(arch) || "x86_64".equals(arch);
}
private RuntimeDetector() {}
}

30
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
View File

@@ -19,23 +19,17 @@ package org.photonvision.common.util;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.WPIMathJNI;
import edu.wpi.first.math.geometry.Translation2d;
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.math.util.Units;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.awt.*;
import java.awt.HeadlessException;
import java.io.File;
import java.io.IOException;
import java.nio.file.Path;
@@ -52,21 +46,23 @@ public class TestUtils {
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
WPIMathJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
OpenCvLoader.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.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);
// 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(

4
photon-lib/src/test/java/org/photonvision/OpenCVTest.java
View File

@@ -26,7 +26,7 @@ package org.photonvision;
import static org.junit.jupiter.api.Assertions.*;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -77,7 +77,7 @@ public class OpenCVTest {
@BeforeAll
public static void setUp() throws IOException {
OpenCvLoader.forceLoad();
CameraServerCvJNI.forceLoad();
// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();