Split photon-server and photon-core (#211)

Uses multiple Gradle projects to support the split.

.github/workflows/main.yml

@@ -50,11 +50,6 @@ jobs:
         path: photon-client/dist/
 
   build-server:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
 
@@ -84,11 +79,16 @@ jobs:
         run: ./gradlew jacocoTestReport
       
       # Publish Coverage Report.
-      - name: Publish Coverage Report
+      - name: Publish Server Coverage Report
         uses: codecov/codecov-action@v1
         with:
           file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
 
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v1
+        with:
+          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+
   build-offline-docs:
     runs-on: ubuntu-latest
 
@@ -128,11 +128,6 @@ jobs:
   build-package:
     needs: [build-client, build-server, build-offline-docs]
 
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
 
@@ -147,8 +142,8 @@ jobs:
 
       # Clear any existing web resources.
       - run: |
-          rm -rf src/main/resources/web/*
-          mkdir -p src/main/resources/web/docs
+          rm -rf photon-server/src/main/resources/web/*
+          mkdir -p photon-server/src/main/resources/web/docs
 
       # Download client artifact to resources folder.
       - uses: actions/download-artifact@v2
@@ -162,16 +157,10 @@ jobs:
           name: built-docs
           path: photon-server/src/main/resources/web/docs     
 
-
-      # Print folder contents.
-      - run: ls
-        working-directory: photon-server/src/main/resources/web/
-
       # Build fat jar.
       - run: |
           chmod +x gradlew
-          ./gradlew shadowJar
-        working-directory: photon-server
+          ./gradlew photon-server:shadowJar
 
       # Upload final fat jar as artifact.
       - uses: actions/upload-artifact@master
@@ -189,11 +178,6 @@ jobs:
         if: github.event_name == 'push'
 
   check-lint:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
     # The type of runner that the job will run on.
     runs-on: ubuntu-latest
     

.gitignore

@@ -126,3 +126,8 @@ photon-server/photon-vision
 photon-server/src/main/resources/web
 photon-server/src/main/java/org/photonvision/PhotonVersion.java
 photon-server/src/main/generated/native/include/org_photonvision_raspi_PicamJNI.h
+*.bin
+.gradle
+.gradle/*
+photonvision_config
+build/spotlessJava

build.gradle

@@ -0,0 +1,32 @@
+plugins {
+    id "com.diffplug.gradle.spotless" version "3.28.0"
+}
+
+allprojects {
+    repositories {
+        jcenter()
+        mavenCentral()
+        maven {
+            url = "https://maven.photonvision.org/repository/internal/"
+        }
+        maven {
+            url = 'https://frcmaven.wpi.edu:443/artifactory/development'
+        }
+    }
+}
+
+spotless {
+    java {
+        googleJavaFormat()
+        paddedCell()
+        indentWithTabs(2)
+        indentWithSpaces(4)
+        removeUnusedImports()
+    }
+    java {
+        target '**/*.java'
+        licenseHeaderFile "$rootDir/LicenseHeader.txt"
+
+        targetExclude('photon-core/src/main/java/org/photonvision/PhotonVersion.java')
+    }
+}

common.gradle

@@ -0,0 +1,93 @@
+// Plugins
+apply plugin: 'jacoco'
+apply plugin: 'java'
+
+sourceCompatibility = 11
+
+// Common version config
+ext {
+    wpilibVersion = '2020.3.2-99-g9f4de91'
+    joglVersion = '2.4.0-rc-20200307'
+    openCVVersion = '3.4.7-2'
+}
+
+// Common deps
+dependencies {
+    // Jackson
+    implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
+    implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
+    implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
+
+    // Apache commons
+    implementation group: 'org.apache.commons', name: 'commons-lang3', version: '3.9'
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+    implementation group: 'commons-io', name: 'commons-io', version: '2.6'
+    implementation group: 'commons-cli', name: 'commons-cli', version: '1.4'
+    implementation 'org.apache.commons:commons-collections4:4.4'
+    implementation 'org.apache.commons:commons-exec:1.3'
+
+    // WPILib deps
+    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
+    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
+
+    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
+    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:linuxaarch64bionic"
+    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:linuxraspbian"
+    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:linuxx86-64"
+    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:osxx86-64"
+    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:windowsx86-64"
+
+    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
+    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxaarch64bionic"
+    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxraspbian"
+    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxx86-64"
+    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:osxx86-64"
+    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:windowsx86-64"
+
+    implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:$openCVVersion"
+    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxaarch64bionic"
+    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxraspbian"
+    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxx86-64"
+    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:osxx86-64"
+    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:windowsx86-64"
+
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2021.1.2-9-g26584ff'
+
+    // test stuff
+    testImplementation('org.junit.jupiter:junit-jupiter:5.6.0')
+}
+
+test {
+    useJUnitPlatform()
+    testLogging {
+        events 'passed', 'skipped', 'failed', 'standardOut', 'standardError'
+    }
+}
+
+task testHeadless(type: Test) {
+    group = 'verification'
+    systemProperty("java.awt.headless", "true")
+    useJUnitPlatform()
+}
+
+task generateJavaDocs(type: Javadoc) {
+    source = sourceSets.main.allJava
+    classpath = sourceSets.main.compileClasspath
+    destinationDir = file("${projectDir}/build/docs")
+}
+
+jacocoTestReport {
+    dependsOn test // Tests are required to run before generating the report
+
+    reports {
+        xml.enabled true
+    }
+
+    afterEvaluate {
+        classDirectories.setFrom(files(classDirectories.files.collect {
+            fileTree(dir: it,
+                    exclude: 'edu/wpi/**'
+            )
+        }))
+    }
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0-bin.zip
-distributionSha256Sum=5a3578b9f0bb162f5e08cf119f447dfb8fa950cedebb4d2a977e912a11a74b91
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-bin.zip
+distributionSha256Sum=3239b5ed86c3838a37d983ac100573f64c1f3fd8e1eb6c89fa5f9529b5ec091d
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

photon-core/.gitignore

@@ -0,0 +1,13 @@
+bin/*
+.settings/*
+.project
+.classpath
+*.prefs
+.gradle
+.gradle/*
+build
+build/*
+photonvision/*
+photonvision_config/*
+
+src/main/java/org/photonvision/PhotonVersion.java

photon-core/build.gradle

@@ -0,0 +1,19 @@
+apply from: '../common.gradle'
+apply from: 'versioningHelper.gradle'
+
+dependencies {
+    implementation 'io.javalin:javalin:3.7.0'
+
+    implementation 'org.msgpack:msgpack-core:0.8.20'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.8.20'
+
+    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion"
+
+    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
+    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
+
+    // Zip
+    compile 'org.zeroturnaround:zt-zip:1.14'
+}

photon-core/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,6 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-bin.zip
+distributionSha256Sum=3239b5ed86c3838a37d983ac100573f64c1f3fd8e1eb6c89fa5f9529b5ec091d
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists

photon-core/settings.gradle

@@ -0,0 +1,2 @@
+rootProject.name = 'photon-core'
+

photon-core/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java

@@ -34,6 +34,13 @@ public class OutgoingUIEvent<T> extends DataChangeEvent<T> {
         this.originContext = originContext;
     }
 
+    public static OutgoingUIEvent<HashMap<String, Object>> wrappedOf(
+            String commandName, Object value) {
+        HashMap<String, Object> data = new HashMap<>();
+        data.put(commandName, value);
+        return new OutgoingUIEvent<>(commandName, data);
+    }
+
     public static OutgoingUIEvent<HashMap<String, Object>> wrappedOf(
             String commandName, String propertyName, Object value, WsContext originContext) {
         HashMap<String, Object> data = new HashMap<>();

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java

@@ -17,14 +17,13 @@
 
 package org.photonvision.common.dataflow.websocket;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.server.SocketHandler;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 public class UIDataPublisher implements CVPipelineResultConsumer {
@@ -57,18 +56,10 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
             uiTargets.add(t.toHashMap());
         }
         dataMap.put("targets", uiTargets);
-
         uiMap.put(index, dataMap);
-        var retMap = new HashMap<String, Object>();
-        retMap.put("updatePipelineResult", uiMap);
-
-        try {
-            SocketHandler.getInstance().broadcastMessage(retMap, null);
-        } catch (JsonProcessingException e) {
-            logger.error(e.getMessage());
-            logger.error(Arrays.toString(e.getStackTrace()));
-        }
 
+        DataChangeService.getInstance()
+                .publishEvent(OutgoingUIEvent.wrappedOf("updatePipelineResult", uiMap));
         lastUIResultUpdateTime = now;
     }
 }

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java

@@ -17,13 +17,13 @@
 
 package org.photonvision.common.hardware.metrics;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
 import java.util.HashMap;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.server.SocketHandler;
 
 public class MetricsPublisher {
     private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
@@ -65,14 +65,7 @@ public class MetricsPublisher {
         metrics.put("gpuMemUtil", gpuMetrics.getMallocedMemory());
         metrics.put("diskUtilPct", diskMetrics.getUsedDiskPct());
 
-        var retMap = new HashMap<String, Object>();
-        retMap.put("metrics", metrics);
-
-        try {
-            SocketHandler.getInstance().broadcastMessage(retMap, null);
-        } catch (JsonProcessingException e) {
-            logger.error("Exception while sending metrics!", e);
-        }
+        DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
     }
 
     private static class Singleton {

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -33,7 +33,6 @@ import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.server.SocketHandler;
 
 @SuppressWarnings("unused")
 public class Logger {
@@ -302,12 +301,12 @@ public class Logger {
     private static class UILogAppender implements LogAppender {
         @Override
         public void log(String message, LogLevel level) {
-            var messageMap = new SocketHandler.UIMap();
+            var messageMap = new HashMap<String, Object>();
             messageMap.put("logMessage", message);
             messageMap.put("logLevel", level.code);
-            var superMap = new SocketHandler.UIMap();
+            var superMap = new HashMap<String, Object>();
             superMap.put("logMessage", messageMap);
-            DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("log", superMap));
+            DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("log", superMap));
         }
     }
 

photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java

@@ -59,4 +59,17 @@ public class MathUtils {
     public static int map(int value, int inMin, int inMax, int outMin, int outMax) {
         return (int) Math.floor(map((double) value, inMin, inMax, outMin, outMax) + 0.5);
     }
+
+    /**
+    * Linearly interpolates between two values.
+    *
+    * @param startValue The start value.
+    * @param endValue The end value.
+    * @param t The fraction for interpolation.
+    * @return The interpolated value.
+    */
+    @SuppressWarnings("ParameterName")
+    public static double lerp(double startValue, double endValue, double t) {
+        return startValue + (endValue - startValue) * t;
+    }
 }