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Fix MacOS OpenCV library loading and use wpi buildTools versions (#978)

Browse Source 
* Bump to beta 2

* Reduce copy paste spam going forwards

* Bump gradle

* oops

* fix gradlew

* update gradle wrapper props

* remove unused imports

* Update node task

* Fix shadowjar

* fix more deps

* ?

* core works

* revert changes to index

* Formatting fixes

* Update config.gradle

* Fix PhotonLib gradle

* fix tests and sim loading native libraries

* re-enable macos build

* fix?

* Update build.gradle

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Sriman Achanta
2023-10-25 20:27:56 -04:00
committed by GitHub
parent f3fb0109f9
commit 63147786b9
18 changed files with 195 additions and 206 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
.github/workflows/build.yml vendored
View File

@@ -119,7 +119,7 @@ jobs:
path: build/html
build-photonlib-host:
env:
MACOSX_DEPLOYMENT_TARGET: 10.14
MACOSX_DEPLOYMENT_TARGET: 11
strategy:
fail-fast: false
matrix:
@@ -127,9 +127,9 @@ jobs:
- os: windows-2022
artifact-name: Win64
architecture: x64
# Mac builds are broken due to opencv class loading issues -- disable for now
# - os: macos-11
# artifact-name: macOS
- os: macos-12
artifact-name: macOS
architecture: x64
- os: ubuntu-22.04
artifact-name: Linux

12
build.gradle
View File

@@ -1,17 +1,11 @@
plugins {
id "com.diffplug.spotless" version "6.22.0"
id "com.github.johnrengelman.shadow" version "7.1.2"
id "com.github.node-gradle.node" version "3.1.1" apply false
id "edu.wpi.first.GradleJni" version "1.1.0"
id "edu.wpi.first.GradleVsCode" version "1.3.0"
id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
id "org.hidetake.ssh" version "2.10.1"
id 'edu.wpi.first.WpilibTools' version '1.1.0'
id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}
import org.gradle.api.internal.artifacts.dependencies.DefaultExternalModuleDependency;
allprojects {
repositories {
mavenCentral()
@@ -93,5 +87,5 @@ spotless {
}
wrapper {
gradleVersion '8.3'
gradleVersion '8.4'
}

BIN
gradle/wrapper/gradle-wrapper.jar vendored
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8
gradle/wrapper/gradle-wrapper.properties vendored
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@@ -1,5 +1,7 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
distributionPath=permwrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
zipStorePath=permwrapper/dists

84
gradlew vendored
View File

@@ -1,7 +1,7 @@
#!/bin/sh
#
# Copyright <EFBFBD> 2015-2021 the original authors.
# Copyright © 2015-2021 the original authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -16,6 +16,50 @@
# limitations under the License.
#
##############################################################################
#
# Gradle start up script for POSIX generated by Gradle.
#
# Important for running:
#
# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
# noncompliant, but you have some other compliant shell such as ksh or
# bash, then to run this script, type that shell name before the whole
# command line, like:
#
# ksh Gradle
#
# Busybox and similar reduced shells will NOT work, because this script
# requires all of these POSIX shell features:
# * functions;
# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
# * compound commands having a testable exit status, especially «case»;
# * various built-in commands including «command», «set», and «ulimit».
#
# Important for patching:
#
# (2) This script targets any POSIX shell, so it avoids extensions provided
# by Bash, Ksh, etc; in particular arrays are avoided.
#
# The "traditional" practice of packing multiple parameters into a
# space-separated string is a well documented source of bugs and security
# problems, so this is (mostly) avoided, by progressively accumulating
# options in "$@", and eventually passing that to Java.
#
# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
# see the in-line comments for details.
#
# There are tweaks for specific operating systems such as AIX, CygWin,
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
#
##############################################################################
# Attempt to set APP_HOME
@@ -36,15 +80,12 @@ do
esac
done
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
APP_NAME="Gradle"
APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
@@ -90,22 +131,29 @@ location of your Java installation."
fi
else
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
@@ -150,11 +198,15 @@ if "$cygwin" || "$msys" ; then
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \
@@ -162,6 +214,12 @@ set -- \
org.gradle.wrapper.GradleWrapperMain \
"$@"
# Stop when "xargs" is not available.
if ! command -v xargs >/dev/null 2>&1
then
die "xargs is not available"
fi
# Use "xargs" to parse quoted args.
#
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.

15
gradlew.bat vendored
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@@ -14,7 +14,7 @@
@rem limitations under the License.
@rem
@if "%DEBUG%" == "" @echo off
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@rem
@rem Gradle startup script for Windows
@@ -25,7 +25,8 @@
if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
if "%DIRNAME%" == "" set DIRNAME=.
if "%DIRNAME%"=="" set DIRNAME=.
@rem This is normally unused
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@@ -40,7 +41,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if "%ERRORLEVEL%" == "0" goto execute
if %ERRORLEVEL% equ 0 goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -75,13 +76,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
:end
@rem End local scope for the variables with windows NT shell
if "%ERRORLEVEL%"=="0" goto mainEnd
if %ERRORLEVEL% equ 0 goto mainEnd
:fail
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
rem the _cmd.exe /c_ return code!
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
exit /b 1
set EXIT_CODE=%ERRORLEVEL%
if %EXIT_CODE% equ 0 set EXIT_CODE=1
if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
exit /b %EXIT_CODE%
:mainEnd
if "%OS%"=="Windows_NT" endlocal

23
photon-core/build.gradle
View File

@@ -1,5 +1,5 @@
plugins {
id 'edu.wpi.first.WpilibTools' version '1.1.0'
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}
import java.nio.file.Path
@@ -36,24 +36,3 @@ task writeCurrentVersionJava {
}
build.dependsOn writeCurrentVersionJava
def testNativeConfigName = 'wpilibTestNative'
def testNativeConfig = configurations.create(testNativeConfigName)
def folder = project.layout.buildDirectory.dir('NativeTest')
def testNativeTasks = wpilibTools.createExtractionTasks {
taskPostfix = "Test"
configurationName = testNativeConfigName
rootTaskFolder.set(folder)
}
testNativeTasks.addToSourceSetResources(sourceSets.test)
testNativeConfig.dependencies.add wpilibTools.deps.cscore()
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")

18
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
View File

@@ -22,12 +22,12 @@ import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.WPIMathJNI;
import edu.wpi.first.math.geometry.Translation2d;
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.RuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.awt.*;
import java.io.File;
@@ -40,29 +40,27 @@ import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
public class TestUtils {
public static boolean loadLibraries() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
WPIMathJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);
try {
var loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
CombinedRuntimeLoader.loadLibraries(
TestUtils.class,
"wpiutiljni",
"wpimathjni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"cscorejnicvstatic",
"apriltagjni");
return true;
} catch (IOException e) {
e.printStackTrace();

41
photon-lib/build.gradle
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@@ -1,12 +1,12 @@
plugins {
id 'edu.wpi.first.WpilibTools' version '1.1.0'
id "java"
id 'cpp'
id "google-test-test-suite"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}
import java.nio.file.Path
apply plugin: "cpp"
apply plugin: "java"
apply plugin: "google-test-test-suite"
apply plugin: "edu.wpi.first.NativeUtils"
apply from: "${rootDir}/shared/config.gradle"
@@ -16,20 +16,14 @@ test {
useJUnitPlatform()
}
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
java {
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
}
wpilibTools.deps.wpilibVersion = wpilibVersion
wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
println("Building for WPILib ${wpilibTools.deps.wpilibVersion}")
// From wpilib shared/config.gradle:
// NativeUtils adds the following OpenCV warning suppression for Linux, but not
// for macOS
// https://github.com/opencv/opencv/issues/20269
nativeUtils.platformConfigs.osxuniversal.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion")
nativeUtils.platformConfigs.linuxathena.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion")
// nativeUtils.platformConfigs.linuxx64.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion")
// Apply Java configuration
dependencies {
implementation project(":photon-targeting")
@@ -44,16 +38,15 @@ dependencies {
implementation wpilibTools.deps.wpilibJava("ntcore")
implementation wpilibTools.deps.wpilibJava("wpilibj")
implementation wpilibTools.deps.wpilibJava("apriltag")
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
// Jackson
implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:$openCVversion"
implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-jni:$openCVversion:$jniPlatform"
implementation "org.ejml:ejml-simple:0.42"
implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
// Junit
testImplementation wpilibTools.deps.wpilibJava("cscore")
@@ -167,10 +160,10 @@ def testNativeTasks = wpilibTools.createExtractionTasks {
testNativeTasks.addToSourceSetResources(sourceSets.test)
testNativeConfig.dependencies.add wpilibTools.deps.cscore()
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
testNativeConfig.dependencies.add wpilibTools.deps.cscore()
testNativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())

7
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
View File

@@ -32,7 +32,7 @@ import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
@@ -89,10 +89,7 @@ public class PhotonCameraSim implements AutoCloseable {
static {
try {
var loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
} catch (Exception e) {
throw new RuntimeException("Failed to load native libraries!", e);
}

7
photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
View File

@@ -28,7 +28,7 @@ import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.CombinedRuntimeLoader;
import java.awt.image.BufferedImage;
import java.io.IOException;
import java.util.ArrayList;
@@ -68,10 +68,7 @@ public class VideoSimUtil {
static {
try {
var loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
} catch (Exception e) {
throw new RuntimeException("Failed to load native libraries!", e);
}

9
photon-lib/src/test/java/org/photonvision/OpenCVTest.java
View File

@@ -40,7 +40,6 @@ import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.List;
import org.junit.jupiter.api.BeforeAll;
@@ -101,13 +100,9 @@ public class OpenCVTest {
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"cscorejnicvstatic");
var loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
"apriltagjni");
} catch (Exception e) {
e.printStackTrace();
}

9
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
View File

@@ -46,7 +46,6 @@ import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
@@ -101,13 +100,9 @@ class VisionSystemSimTest {
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"cscorejnicvstatic");
var loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
"apriltagjni");
} catch (Exception e) {
e.printStackTrace();
}

72
photon-server/build.gradle
View File

@@ -1,11 +1,11 @@
plugins {
id 'edu.wpi.first.WpilibTools' version '1.1.0'
id "application"
id 'com.github.johnrengelman.shadow' version '8.1.1'
id "com.github.node-gradle.node" version "7.0.1"
id "org.hidetake.ssh" version "2.11.2"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}
apply plugin: "application"
apply plugin: "com.github.johnrengelman.shadow"
apply plugin: "org.hidetake.ssh"
evaluationDependsOn(':photon-core')
mainClassName = 'org.photonvision.Main'
@@ -15,26 +15,12 @@ version versionString + (project.hasProperty('pionly') ? "-raspi" : "")
apply from: "${rootDir}/shared/common.gradle"
def nativeConfigName = 'wpilibTestNative'
def nativeConfig = configurations.create(nativeConfigName)
def nativeTasks = wpilibTools.createExtractionTasks { configurationName = nativeConfigName }
nativeTasks.addToSourceSetResources(sourceSets.main)
nativeConfig.dependencies.add wpilibTools.deps.cscore()
nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
dependencies {
implementation project(':photon-core')
implementation project(':photon-targeting')
implementation "io.javalin:javalin:$javalinVersion"
implementation "org.slf4j:slf4j-simple:2.0.7"
implementation wpilibTools.deps.wpilibJava("wpiutil")
implementation wpilibTools.deps.wpilibJava("wpimath")
@@ -42,43 +28,35 @@ dependencies {
implementation wpilibTools.deps.wpilibJava("hal")
implementation wpilibTools.deps.wpilibJava("ntcore")
implementation wpilibTools.deps.wpilibJava("wpilibj")
implementation wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
implementation "org.msgpack:msgpack-core:0.9.0"
implementation "org.msgpack:jackson-dataformat-msgpack:0.9.0"
implementation "org.slf4j:slf4j-simple:2.0.7"
}
shadowJar {
archiveBaseName = "photonvision"
archiveVersion = project.version as String
archiveClassifier.set(wpilibTools.currentPlatform.platformName)
configurations = [
project.configurations.runtimeClasspath
]
String name = "photonvision-${project.version}"
archiveClassifier.set(wpilibTools.platformMapper.currentPlatform.platformName)
archiveBaseName = "photonvision"
archiveVersion = project.version
// archiveFileName.set("${name}.jar")
}
task runNpmOnClient(type: Exec) {
workingDir "${projectDir}/../photon-client"
if (System.getProperty('os.name').toLowerCase(Locale.ROOT).contains('windows')) {
commandLine 'cmd', '/c', 'npm run build'
} else {
commandLine 'npm', 'run', 'build'
}
node {
nodeProjectDir = file("${projectDir}/../photon-client")
}
task copyClientUIToResources(type: Copy) {
tasks.register('copyClientUIToResources', Copy) {
from "${projectDir}/../photon-client/dist/"
into "${projectDir}/src/main/resources/web/"
}
task buildAndCopyUI {}
buildAndCopyUI.dependsOn copyClientUIToResources
copyClientUIToResources.dependsOn runNpmOnClient
copyClientUIToResources.shouldRunAfter runNpmOnClient
tasks.register("buildAndCopyUI") {
dependsOn "npm_run_build"
finalizedBy "copyClientUIToResources"
}
run {
if (project.hasProperty("profile")) {
@@ -108,9 +86,6 @@ remotes {
}
}
import java.io.*;
import java.net.*;
task findDeployTarget {
doLast {
if(project.hasProperty('tgtIP')){
@@ -148,18 +123,9 @@ run {
environment "PATH_PREFIX", "../"
}
// task overrideToPi {
// doLast {
// project.setProperty('ArchOverride', 'linuxarm32')
// }
// }
task deploy {
//dependsOn overrideToPi
dependsOn assemble
dependsOn findDeployTarget
dependsOn assemble
doLast {
println 'Starting deployment to ' + findDeployTarget.rmt.host

9
photon-targeting/build.gradle
View File

@@ -1,11 +1,16 @@
apply plugin: "java"
plugins {
id "java"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}
apply from: "${rootDir}/shared/common.gradle"
dependencies {
implementation wpilibTools.deps.wpilibJava("wpimath")
implementation wpilibTools.deps.wpilibJava("apriltag")
implementation "org.ejml:ejml-simple:0.42"
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
// Junit
testImplementation("org.junit.jupiter:junit-jupiter-api:5.8.2")

7
photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
View File

@@ -26,7 +26,7 @@ import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.numbers.*;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.CombinedRuntimeLoader;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
@@ -54,10 +54,7 @@ public final class OpenCVHelp {
static {
try {
var loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
} catch (Exception e) {
throw new RuntimeException("Failed to load native libraries!", e);
}

61
shared/common.gradle
View File

@@ -1,31 +1,33 @@
import java.nio.file.Path
import java.time.LocalDateTime
import java.time.format.DateTimeFormatter
// Plugins
apply plugin: "jacoco"
apply plugin: "java"
apply plugin: "jacoco"
java {
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
}
wpilibTools.deps.wpilibVersion = wpilibVersion
wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
def nativeConfigName = 'wpilibTestNative'
def nativeConfig = configurations.create(nativeConfigName)
def nativeTasks = wpilibTools.createExtractionTasks {
configurationName = nativeConfigName
}
nativeTasks.addToSourceSetResources(sourceSets.main)
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
dependencies {
// Jackson
implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
// Apache commons
implementation group: "org.apache.commons", name: "commons-lang3", version: "3.12.0"
implementation group: "commons-io", name: "commons-io", version: "2.11.0"
implementation group: "commons-cli", name: "commons-cli", version: "1.5.0"
implementation "org.apache.commons:commons-collections4:4.4"
implementation "org.apache.commons:commons-exec:1.3"
// WPILib deps
implementation wpilibTools.deps.wpilibJava("wpiutil")
implementation wpilibTools.deps.wpilibJava("cameraserver")
@@ -35,13 +37,23 @@ dependencies {
implementation wpilibTools.deps.wpilibJava("ntcore")
implementation wpilibTools.deps.wpilibJava("hal")
implementation wpilibTools.deps.wpilibJava("wpilibj")
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:$openCVversion"
implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-jni:$openCVversion:$jniPlatform"
// Jackson
implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
implementation "org.ejml:ejml-simple:0.42"
// Apache commons
implementation group: "org.apache.commons", name: "commons-lang3", version: "3.12.0"
implementation group: "commons-io", name: "commons-io", version: "2.11.0"
implementation group: "commons-cli", name: "commons-cli", version: "1.5.0"
implementation "org.apache.commons:commons-collections4:4.4"
implementation "org.apache.commons:commons-exec:1.3"
implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
// test stuff
testImplementation("org.junit.jupiter:junit-jupiter:5.8.2")
// wpilib serde
@@ -57,7 +69,7 @@ test {
finalizedBy jacocoTestReport
}
task testHeadless(type: Test) {
tasks.register('testHeadless', Test) {
group = "verification"
systemProperty("java.awt.headless", "true")
useJUnitPlatform()
@@ -65,13 +77,12 @@ task testHeadless(type: Test) {
workingDir = "../"
}
task generateJavaDocs(type: Javadoc) {
tasks.register('generateJavaDocs', Javadoc) {
source = sourceSets.main.allJava
classpath = sourceSets.main.compileClasspath
destinationDir = file("${projectDir}/build/docs")
}
jacoco {
toolVersion = "0.8.9"
reportsDirectory = layout.buildDirectory.dir('customJacocoReportDir')

11
shared/config.gradle
View File

@@ -1,3 +1,5 @@
apply plugin: "edu.wpi.first.NativeUtils"
// Configure Native-Utils WPI Plugin
nativeUtils.addWpiNativeUtils()
nativeUtils.withCrossRoboRIO()
@@ -6,15 +8,12 @@ nativeUtils.withCrossLinuxArm64()
// Configure WPI dependencies.
nativeUtils.wpi.configureDependencies {
opencvYear = 'frc2024'
googleTestYear = "frc2023"
wpiVersion = wpilibVersion
wpimathVersion = wpilibVersion
niLibVersion = "2024.1.1"
opencvYear = 'frc2024'
opencvVersion = openCVversion
googleTestYear = "frc2023"
niLibVersion = "2024.1.1"
googleTestVersion = "1.12.1-2"
imguiVersion = "1.86-1"
}
// Configure warnings and errors