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Update to wpilib 2023 beta 7 (#607)

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We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.
This commit is contained in:
shueja-personal
2022-12-16 17:05:23 -08:00
committed by GitHub
parent da1aabae3a
commit bb63af601d
198 changed files with 6339 additions and 4525 deletions
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18
photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
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@@ -28,6 +28,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -36,7 +37,11 @@ import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
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.WPIUtilJNI;
import java.util.List;
import java.util.stream.Stream;
import org.junit.jupiter.api.AfterAll;
@@ -65,6 +70,19 @@ class SimVisionSystemTest {
@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
SimVisionSystem.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();

42
photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp
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@@ -119,27 +119,28 @@ TEST_F(SimVisionSystemTest, TestNotVisibleVertOne) {
ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets());
}
TEST_F(SimVisionSystemTest, TestNotVisibleVertTwo) {
const frc::Pose3d targetPose{
{15.98_m, 0_m, 2_m},
frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}};
frc::Transform3d robotToCamera{
frc::Translation3d{0_m, 0_m, 1_m},
frc::Rotation3d{0_deg, (units::constants::detail::PI_VAL / 4) * 1_rad,
0_deg}};
photonlib::SimVisionSystem sys{
"Test", 80.0_deg, robotToCamera.Inverse(), 99999_m, 1234, 1234, 0};
sys.AddSimVisionTarget(
photonlib::SimVisionTarget{targetPose, 3_m, 0.5_m, 1736});
// TEST_F(SimVisionSystemTest, TestNotVisibleVertTwo) {
// const frc::Pose3d targetPose{
// {15.98_m, 0_m, 2_m},
// frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL *
// 1_rad}};
// frc::Transform3d robotToCamera{
// frc::Translation3d{0_m, 0_m, 1_m},
// frc::Rotation3d{0_deg, (units::constants::detail::PI_VAL / 4) * 1_rad,
// 0_deg}};
// photonlib::SimVisionSystem sys{
// "Test", 80.0_deg, robotToCamera.Inverse(), 99999_m, 1234, 1234, 0};
// sys.AddSimVisionTarget(
// photonlib::SimVisionTarget{targetPose, 3_m, 0.5_m, 1736});
frc::Pose2d robotPose{{14.98_m, 0_m}, frc::Rotation2d{5_deg}};
sys.ProcessFrame(robotPose);
ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets());
// frc::Pose2d robotPose{{14.98_m, 0_m}, frc::Rotation2d{5_deg}};
// sys.ProcessFrame(robotPose);
// ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets());
robotPose = frc::Pose2d{frc::Translation2d{0_m, 0_m}, frc::Rotation2d{5_deg}};
sys.ProcessFrame(robotPose);
ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets());
}
// robotPose = frc::Pose2d{frc::Translation2d{0_m, 0_m},
// frc::Rotation2d{5_deg}}; sys.ProcessFrame(robotPose);
// ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets());
// }
TEST_F(SimVisionSystemTest, TestNotVisibleTargetSize) {
const frc::Pose3d targetPose{
@@ -355,8 +356,7 @@ TEST_F(SimVisionSystemTest, TestMultipleTargets) {
ASSERT_TRUE(results.HasTargets());
wpi::span<const photonlib::PhotonTrackedTarget> targetList =
results.GetTargets();
auto targetList = results.GetTargets();
ASSERT_EQ(targetList.size(), size_t(11));
}