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Verify WPILib/OpenCV versions at runtime (#1772)

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This commit is contained in:
Matt Morley
2025-02-10 17:52:48 -08:00
committed by GitHub
parent e2b028abdc
commit 8f816cf1af
6 changed files with 94 additions and 4 deletions
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72
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -43,11 +43,13 @@ import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.util.WPILibVersion;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
import org.opencv.core.Core;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.common.networktables.PacketSubscriber;
import org.photonvision.targeting.PhotonPipelineResult;
@@ -157,6 +159,76 @@ public class PhotonCamera implements AutoCloseable {
// HACK - start a TimeSyncServer, if we haven't yet.
TimeSyncSingleton.load();
// HACK - check if things are compatible
verifyDependencies();
}
public static void verifyDependencies() {
if (!WPILibVersion.Version.equals(PhotonVersion.wpilibTargetVersion)) {
String bfw =
"\n\n\n\n\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>> \n"
+ ">>> You are running an incompatible version \n"
+ ">>> of PhotonVision ! \n"
+ ">>> \n"
+ ">>> PhotonLib "
+ PhotonVersion.versionString
+ " is built for WPILib "
+ PhotonVersion.wpilibTargetVersion
+ "\n"
+ ">>> but you are using WPILib "
+ WPILibVersion.Version
+ ">>> \n"
+ ">>> This is neither tested nor supported. \n"
+ ">>> You MUST update PhotonVision, \n"
+ ">>> PhotonLib, or both. \n"
+ ">>> Verify the output of `./gradlew dependencies` \n"
+ ">>> \n"
+ ">>> Your code will now crash. \n"
+ ">>> We hope your day gets better. \n"
+ ">>> \n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n";
DriverStation.reportWarning(bfw, false);
DriverStation.reportError(bfw, false);
throw new UnsupportedOperationException(bfw);
}
if (!Core.VERSION.equals(PhotonVersion.opencvTargetVersion)) {
String bfw =
"\n\n\n\n\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>> \n"
+ ">>> You are running an incompatible version \n"
+ ">>> of PhotonVision ! \n"
+ ">>> \n"
+ ">>> PhotonLib "
+ PhotonVersion.versionString
+ " is built for OpenCV "
+ PhotonVersion.opencvTargetVersion
+ "\n"
+ ">>> but you are using OpenCV "
+ Core.VERSION
+ ">>> \n"
+ ">>> This is neither tested nor supported. \n"
+ ">>> You MUST update PhotonVision, \n"
+ ">>> PhotonLib, or both. \n"
+ ">>> Verify the output of `./gradlew dependencies` \n"
+ ">>> \n"
+ ">>> Your code will now crash. \n"
+ ">>> We hope your day gets better. \n"
+ ">>> \n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n";
DriverStation.reportWarning(bfw, false);
DriverStation.reportError(bfw, false);
throw new UnsupportedOperationException(bfw);
}
}
/**

5
photon-lib/src/main/native/include/PhotonVersion.h
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@@ -24,13 +24,12 @@
#pragma once
#include <regex>
#include <string>
namespace photon {
namespace PhotonVersion {
extern const char* versionString;
extern const char* buildDate;
extern const bool isRelease;
extern const char* wpilibTargetVersion;
extern const char* opencvTargetVersion;
} // namespace PhotonVersion
} // namespace photon

7
photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java
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@@ -24,6 +24,8 @@
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import org.junit.jupiter.api.Assertions;
@@ -56,4 +58,9 @@ public class PhotonVersionTest {
Assertions.assertFalse(versionMatches("", "v2021.1.6"));
Assertions.assertFalse(versionMatches("v2021.1.6", ""));
}
@Test
public void testNominalDeps() {
assertDoesNotThrow(PhotonCamera::verifyDependencies);
}
}

4
shared/PhotonVersion.cpp.in
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@@ -30,5 +30,9 @@ namespace photon {
const char* versionString = "${version}";
const char* buildDate = "${date}";
const bool isRelease = strncmp(dev_, versionString, strlen(dev_)) != 0;
// Versions of dependant libraries
const char* wpilibTargetVersion = "${wpilibVersion}";
const char* opencvTargetVersion = "${opencvVersion}";
}
}

4
shared/PhotonVersion.java.in
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@@ -38,6 +38,10 @@ public final class PhotonVersion {
public static final String buildDate = "${date}";
public static final boolean isRelease = !versionString.startsWith("dev");
// Versions of dependant libraries
public static final String wpilibTargetVersion = "${wpilibVersion}";
public static final String opencvTargetVersion = "${opencvVersion}";
public static final boolean versionMatches(String other) {
String c = versionString;
Pattern p = Pattern.compile("v[0-9]+.[0-9]+.[0-9]+");

6
versioningHelper.gradle
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@@ -34,7 +34,11 @@ gradle.allprojects {
String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
File versionFileOut = new File(path.toAbsolutePath().toString())
versionFileOut.delete()
def read = versionFileIn.text.replace('${version}', version).replace('${date}', date)
def read = versionFileIn.text.replace('${version}', version)
.replace('${date}', date)
.replace('${wpilibVersion}', wpilibVersion)
// Note that OpenCV is usually {VERSION}-{some suffix}, we just want the first bit
.replace('${opencvVersion}', openCVversion.split("-").first())
if (!versionFileOut.parentFile.exists()) versionFileOut.parentFile.mkdirs()
if (!versionFileOut.exists()) versionFileOut.createNewFile()
versionFileOut.write(read)