Make photonlib complain if versions don't match (#302)

Adds messages if Photon isn't detected or major versions don't match

build.gradle

@@ -41,5 +41,6 @@ spotless {
         target "**/*.java"
         licenseHeaderFile "$rootDir/LicenseHeader.txt"
         targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
+        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
     }
 }

photon-core/build.gradle

@@ -1,5 +1,4 @@
-import java.time.LocalDateTime
-import java.time.format.DateTimeFormatter
+import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
@@ -30,23 +29,8 @@ dependencies {
 }
 
 task writeCurrentVersionJava {
-    String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
-    File versionFile = new File(java.nio.file.Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java")
-            .toAbsolutePath().toString())
-    versionFile.delete()
-    versionFile << "package org.photonvision;\n" +
-            "\n" +
-            "/*\n" +
-            " * Autogenerated file! Do not manually edit this file. This version is regenerated\n" +
-            " * any time the publish task is run, or when this file is deleted.\n" +
-            " */\n" +
-            "\n" +
-            "@SuppressWarnings(\"ALL\")\n" +
-            "public final class PhotonVersion {\n" +
-            "    public static final String versionString = \"${versionString}\";\n" +
-            "    public static final String buildDate = \"${date}\";\n" +
-            "    public static final boolean isRelease = !versionString.startsWith(\"dev\");\n" +
-            "}"
+    writePhotonVersionFile(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
+            versionString)
 }
 
 build.dependsOn writeCurrentVersionJava

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.function.Consumer;
+import org.photonvision.PhotonVersion;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -62,16 +63,23 @@ public class NetworkTablesManager {
                 hasReportedConnectionFailure = false;
                 lastConnectMessageMillis = System.currentTimeMillis();
                 ScriptManager.queueEvent(ScriptEventType.kNTConnected);
+                getInstance().broadcastVersion();
             }
         }
     }
 
+    private void broadcastVersion() {
+        kRootTable.getEntry("version").setString(PhotonVersion.versionString);
+        kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);
+    }
+
     public void setConfig(NetworkConfig config) {
         if (config.runNTServer) {
             setServerMode();
         } else {
             setClientMode(config.teamNumber);
         }
+        broadcastVersion();
     }
 
     private void setClientMode(int teamNumber) {
@@ -86,11 +94,13 @@ public class NetworkTablesManager {
             logger.error(
                     "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
         }
+        broadcastVersion();
     }
 
     private void setServerMode() {
         logger.info("Starting NT Server");
         ntInstance.stopClient();
         ntInstance.startServer();
+        broadcastVersion();
     }
 }

photon-lib/build.gradle

@@ -1,14 +1,19 @@
+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: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/versioningHelper.gradle"
 
 test {
     useJUnitPlatform()
 }
 
+def jniPlatforms = ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
+
 // Apply Java configuration
 dependencies {
     compile project(":photon-targeting")
@@ -19,16 +24,15 @@ dependencies {
     implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
     implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
     implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
-    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
     implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2"
 
     // NTCore
     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"
+    jniPlatforms.each {  compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:$it" }
+
+    // HAL
+    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
+    jniPlatforms.each {compile "edu.wpi.first.hal:hal-jni:$wpilibVersion:$it"}
 
     // Junit
     testImplementation("org.junit.jupiter:junit-jupiter-api:5.6.2")
@@ -102,4 +106,12 @@ task generateVendorJson() {
 
 build.dependsOn generateVendorJson
 
+
+task writeCurrentVersionJava {
+    writePhotonVersionFile(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
+            versionString)
+}
+
+build.dependsOn writeCurrentVersionJava
+
 apply from: "publish.gradle"

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -20,6 +20,7 @@ package org.photonvision;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DriverStation;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.hardware.VisionLEDMode;
 import org.photonvision.targeting.PhotonPipelineResult;
@@ -32,8 +33,10 @@ public class PhotonCamera {
     final NetworkTableEntry outputSaveImgEntry;
     final NetworkTableEntry pipelineIndexEntry;
     final NetworkTableEntry ledModeEntry;
+    final NetworkTableEntry versionEntry;
 
     final NetworkTable mainTable = NetworkTableInstance.getDefault().getTable("photonvision");
+    private final String path;
 
     boolean driverMode;
     int pipelineIndex;
@@ -47,12 +50,14 @@ public class PhotonCamera {
     * @param rootTable The root table that the camera is broadcasting information over.
     */
     public PhotonCamera(NetworkTable rootTable) {
+        path = rootTable.getPath();
         rawBytesEntry = rootTable.getEntry("rawBytes");
         driverModeEntry = rootTable.getEntry("driverMode");
         inputSaveImgEntry = rootTable.getEntry("inputSaveImgCmd");
         outputSaveImgEntry = rootTable.getEntry("outputSaveImgCmd");
         pipelineIndexEntry = rootTable.getEntry("pipelineIndex");
         ledModeEntry = mainTable.getEntry("ledMode");
+        versionEntry = mainTable.getEntry("version");
 
         driverMode = driverModeEntry.getBoolean(false);
         pipelineIndex = pipelineIndexEntry.getNumber(0).intValue();
@@ -74,6 +79,8 @@ public class PhotonCamera {
     * @return The latest pipeline result.
     */
     public PhotonPipelineResult getLatestResult() {
+        verifyVersion();
+
         // Clear the packet.
         packet.clear();
 
@@ -199,4 +206,20 @@ public class PhotonCamera {
     public boolean hasTargets() {
         return getLatestResult().hasTargets();
     }
+
+    private void verifyVersion() {
+        String versionString = versionEntry.getString("");
+        if (versionString.equals("")) {
+            DriverStation.reportError(
+                    "PhotonVision coprocessor at path " + path + " not found on NetworkTables!", true);
+        } else if (!PhotonVersion.versionMatches(versionString)) {
+            DriverStation.reportError(
+                    "Photon version "
+                            + PhotonVersion.versionString
+                            + " does not match coprocessor version "
+                            + versionString
+                            + "!",
+                    true);
+        }
+    }
 }

photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java

@@ -0,0 +1,52 @@
+/*
+ * 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;
+
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.Test;
+
+public class PhotonVersionTest {
+    public static final boolean versionMatches(String versionString, String other) {
+        String c = versionString;
+        Pattern p = Pattern.compile("v[0-9]+.[0-9]+.[0-9]+");
+        Matcher m = p.matcher(c);
+        if (m.find()) {
+            c = m.group(0);
+        } else {
+            return false;
+        }
+        m = p.matcher(other);
+        if (m.find()) {
+            other = m.group(0);
+        } else {
+            return false;
+        }
+        return c.equals(other);
+    }
+
+    @Test
+    public void testVersion() {
+        Assertions.assertTrue(versionMatches("v2021.1.6", "v2021.1.6"));
+        Assertions.assertTrue(versionMatches("dev-v2021.1.6", "v2021.1.6"));
+        Assertions.assertTrue(versionMatches("dev-v2021.1.6-5-gca49ea50", "v2021.1.6"));
+        Assertions.assertFalse(versionMatches("", "v2021.1.6"));
+        Assertions.assertFalse(versionMatches("v2021.1.6", ""));
+    }
+}

shared/PhotonVersion.java.in

@@ -0,0 +1,51 @@
+/*
+ * 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;
+
+/*
+* Autogenerated file! Do not manually edit this file. This version is regenerated
+* any time the publish task is run, or when this file is deleted.
+*/
+
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+@SuppressWarnings("ALL")
+public final class PhotonVersion {
+    public static final String versionString = "${version}";
+    public static final String buildDate = "${date}";
+    public static final boolean isRelease = !versionString.startsWith("dev");
+
+    public static final boolean versionMatches(String other) {
+        String c = versionString;
+        Pattern p = Pattern.compile("v[0-9]+.[0-9]+.[0-9]+");
+        Matcher m = p.matcher(c);
+        if (m.find()) {
+            c = m.group(0);
+        } else {
+            return false;
+        }
+        m = p.matcher(other);
+        if (m.find()) {
+            other = m.group(0);
+        } else {
+            return false;
+        }
+        return c.equals(other);
+    }
+}

shared/common.gradle

@@ -1,3 +1,7 @@
+import java.nio.file.Path
+import java.time.LocalDateTime
+import java.time.format.DateTimeFormatter
+
 // Plugins
 apply plugin: "jacoco"
 apply plugin: "java"

versioningHelper.gradle

@@ -1,6 +1,6 @@
+import java.nio.file.Path
 import java.time.LocalDateTime
 import java.time.format.DateTimeFormatter
-import java.nio.file.Path
 
 gradle.allprojects {
     ext.getCurrentVersion = { ->
@@ -12,18 +12,28 @@ gradle.allprojects {
                 standardOutput = stdout
             }
             tagIsh = stdout.toString().trim().toLowerCase()
-        } catch(Exception e) {
+        } catch (Exception e) {
             tagIsh = "dev-Unknown"
         }
         // Dev tags: v2021.1.6-3-gf922466d
         // We're specifically looking to capture the middle -3-
         boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
-        if(isDev && !tagIsh.startsWith("dev-")) tagIsh = "dev-" + tagIsh
+        if (isDev && !tagIsh.startsWith("dev-")) tagIsh = "dev-" + tagIsh
         println("Picked up version: " + tagIsh)
         return tagIsh
     }
 
-    if(!ext.has("versionString")) {
+    if (!ext.has("versionString")) {
         ext.versionString = getCurrentVersion()
     }
+
+    ext.writePhotonVersionFile = { Path path, String version ->
+        println("Writing " + version + " to " + path.toAbsolutePath().toString())
+        String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
+        File versionFileOut = new File(path.toAbsolutePath().toString())
+        versionFileOut.delete()
+        def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
+        def read = versionFileIn.text.replace('${version}', version).replace('${date}', date)
+        versionFileOut.write(read)
+    }
 }