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Bump wpilib to latest dev (#1327)

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This commit is contained in:
Matt
2024-05-26 14:02:07 -05:00
committed by GitHub
parent ed08e2a78f
commit 98633e9150
17 changed files with 300 additions and 16 deletions
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4
.github/workflows/build.yml vendored
View File

@@ -149,7 +149,7 @@ jobs:
- run: git fetch --tags --force
- run: |
chmod +x gradlew
./gradlew photon-lib:build --max-workers 1
./gradlew photon-targeting:build photon-lib:build --max-workers 1
- run: ./gradlew photon-lib:publish photon-targeting:publish
name: Publish
env:
@@ -180,7 +180,7 @@ jobs:
- name: Build PhotonLib
run: |
chmod +x gradlew
./gradlew photon-lib:build --max-workers 1
./gradlew photon-targeting:build photon-lib:build --max-workers 1
- name: Publish
run: |
chmod +x gradlew

2
build.gradle
View File

@@ -24,7 +24,7 @@ allprojects {
apply from: "versioningHelper.gradle"
ext {
wpilibVersion = "2024.3.2"
wpilibVersion = "2024.3.2-139-gfbfef85"
wpimathVersion = wpilibVersion
openCVversion = "4.8.0-2"
joglVersion = "2.4.0-rc-20200307"

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

@@ -0,0 +1,207 @@
/*
* 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() {}
}

2
photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
View File

@@ -198,7 +198,7 @@ class LegacyConfigProvider extends ConfigProvider {
if (atfl == null) {
logger.info("Loading default apriltags for 2024 field...");
try {
atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
atfl = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
} catch (UncheckedIOException e) {
logger.error("Error loading WPILib field", e);
atfl = null;

2
photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
View File

@@ -294,7 +294,7 @@ public class SqlConfigProvider extends ConfigProvider {
} catch (IOException e) {
logger.error("Could not deserialize apriltag layout! Loading defaults");
try {
atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
atfl = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
} catch (UncheckedIOException e2) {
logger.error("Error loading WPILib field", e);
atfl = null;

4
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
View File

@@ -19,8 +19,8 @@ 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;
@@ -48,7 +48,7 @@ public class TestUtils {
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
WPIMathJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
OpenCvLoader.Helper.setExtractOnStaticLoad(false);
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);

2
photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
View File

@@ -440,7 +440,7 @@ class PhotonCameraSim {
double minTargetAreaPercent;
frc::AprilTagFieldLayout tagLayout{
frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
cs::CvSource videoSimRaw;
cv::Mat videoSimFrameRaw{};

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.CameraServerCvJNI;
import edu.wpi.first.cscore.OpenCvLoader;
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 {
CameraServerCvJNI.forceLoad();
OpenCvLoader.forceLoad();
// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();

9
photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
View File

@@ -18,11 +18,10 @@
#pragma once
#include <algorithm>
#include <bit>
#include <string>
#include <vector>
#include <wpi/Endian.h>
namespace photon {
/**
@@ -73,8 +72,7 @@ class Packet {
packetData.resize(packetData.size() + sizeof(T));
std::memcpy(packetData.data() + writePos, &src, sizeof(T));
if constexpr (wpi::support::endian::system_endianness() ==
wpi::support::endianness::little) {
if constexpr (std::endian::native == std::endian::little) {
// Reverse to big endian for network conventions.
std::reverse(packetData.data() + writePos,
packetData.data() + writePos + sizeof(T));
@@ -95,8 +93,7 @@ class Packet {
if (!packetData.empty()) {
std::memcpy(&value, packetData.data() + readPos, sizeof(T));
if constexpr (wpi::support::endian::system_endianness() ==
wpi::support::endianness::little) {
if constexpr (std::endian::native == std::endian::little) {
// Reverse to little endian for host.
uint8_t& raw = reinterpret_cast<uint8_t&>(value);
std::reverse(&raw, &raw + sizeof(T));

14
photon-targeting/src/test/java/org/photonvision/PacketTest.java
View File

@@ -160,6 +160,8 @@ class PacketTest {
9.0,
-5.0,
-1,
-1,
-1f,
new Transform3d(),
new Transform3d(),
-1,
@@ -198,6 +200,8 @@ class PacketTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -217,6 +221,8 @@ class PacketTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -247,6 +253,8 @@ class PacketTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -266,6 +274,8 @@ class PacketTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -303,6 +313,8 @@ class PacketTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -322,6 +334,8 @@ class PacketTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,

32
photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java
View File

@@ -45,6 +45,8 @@ public class PhotonPipelineResultTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -64,6 +66,8 @@ public class PhotonPipelineResultTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -89,6 +93,8 @@ public class PhotonPipelineResultTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -108,6 +114,8 @@ public class PhotonPipelineResultTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -135,6 +143,8 @@ public class PhotonPipelineResultTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -154,6 +164,8 @@ public class PhotonPipelineResultTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -183,6 +195,8 @@ public class PhotonPipelineResultTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -202,6 +216,8 @@ public class PhotonPipelineResultTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -236,6 +252,8 @@ public class PhotonPipelineResultTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -255,6 +273,8 @@ public class PhotonPipelineResultTest {
1.0,
-9.0,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -280,6 +300,8 @@ public class PhotonPipelineResultTest {
1.0,
-9.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -299,6 +321,8 @@ public class PhotonPipelineResultTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -326,6 +350,8 @@ public class PhotonPipelineResultTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -345,6 +371,8 @@ public class PhotonPipelineResultTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -374,6 +402,8 @@ public class PhotonPipelineResultTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -393,6 +423,8 @@ public class PhotonPipelineResultTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,

8
photon-targeting/src/test/java/org/photonvision/targeting/PhotonTrackedTargetTest.java
View File

@@ -36,6 +36,8 @@ public class PhotonTrackedTargetTest {
9.0,
-5.0,
-1,
-1,
-1f,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
@@ -56,6 +58,8 @@ public class PhotonTrackedTargetTest {
9.0,
-5.0,
-1,
-1,
-1f,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
@@ -81,6 +85,8 @@ public class PhotonTrackedTargetTest {
9.0,
-5.0,
-1,
-1,
-1f,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
@@ -101,6 +107,8 @@ public class PhotonTrackedTargetTest {
1.0,
-9.0,
-1,
-1,
-1f,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,

8
photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonPipelineResultProtoTest.java
View File

@@ -49,6 +49,8 @@ public class PhotonPipelineResultProtoTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -68,6 +70,8 @@ public class PhotonPipelineResultProtoTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
@@ -99,6 +103,8 @@ public class PhotonPipelineResultProtoTest {
9.0,
4.0,
2,
-1,
-1f,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
@@ -118,6 +124,8 @@ public class PhotonPipelineResultProtoTest {
9.1,
6.7,
3,
-1,
-1f,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,

6
photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonTrackedTargetProtoTest.java
View File

@@ -39,6 +39,8 @@ public class PhotonTrackedTargetProtoTest {
9.0,
-5.0,
-1,
-1,
-1f,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
@@ -75,6 +77,8 @@ public class PhotonTrackedTargetProtoTest {
9.0,
-5.0,
-1,
-1,
-1f,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
@@ -94,6 +98,8 @@ public class PhotonTrackedTargetProtoTest {
1.0,
-9.0,
-1,
-1,
-1f,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,

6
photon-targeting/src/test/native/cpp/PacketTest.cpp
View File

@@ -53,6 +53,8 @@ TEST(PacketTest, PhotonTrackedTarget) {
9.0,
-5.0,
-1,
-1,
-1.0,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
@@ -87,6 +89,8 @@ TEST(PacketTest, PhotonPipelineResult) {
9.0,
4.0,
1,
-1,
-1.0,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
@@ -100,6 +104,8 @@ TEST(PacketTest, PhotonPipelineResult) {
9.1,
6.7,
-1,
-1,
-1.0,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),

4
photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp
View File

@@ -40,6 +40,8 @@ TEST(PhotonPipelineResultTest, Roundtrip) {
9.0,
4.0,
1,
-1,
-1.0,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
@@ -53,6 +55,8 @@ TEST(PhotonPipelineResultTest, Roundtrip) {
9.1,
6.7,
-1,
-1,
-1.0,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),

2
photon-targeting/src/test/native/cpp/targeting/proto/PhotonTrackedTargetProtoTest.cpp
View File

@@ -27,6 +27,8 @@ TEST(PhotonTrackedTargetTest, Roundtrip) {
9.0,
-5.0,
-1,
-1,
-1.0,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),