Update to wpilib 2023 beta 7 (#607)

We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.

photon-server/src/main/java/org/photonvision/Main.java

@@ -17,7 +17,6 @@
 
 package org.photonvision;
 
-import edu.wpi.first.cscore.CameraServerCvJNI;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
@@ -37,9 +36,7 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
-import org.photonvision.raspi.PicamJNI;
 import org.photonvision.server.Server;
-import org.photonvision.vision.apriltag.AprilTagJNI;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
@@ -289,21 +286,17 @@ public class Main {
 
     public static void main(String[] args) {
         try {
-            CameraServerCvJNI.forceLoad();
+            TestUtils.loadLibraries();
             logger.info("Native libraries loaded.");
         } catch (Exception e) {
             logger.error("Failed to load native libraries!", e);
         }
-        try {
-            AprilTagJNI.forceLoad();
-        } catch (IOException e) {
-            logger.error("Failed to load native libraries!", e);
-        }
-        try {
-            PicamJNI.forceLoad();
-        } catch (IOException e) {
-            logger.error("Failed to load native libraries!", e);
-        }
+
+        // try {
+        //    PicamJNI.forceLoad();
+        // } catch (IOException e) {
+        //    logger.error("Failed to load Picam JNI!", e);
+        // }
 
         try {
             if (!handleArgs(args)) {
@@ -331,15 +324,6 @@ public class Main {
                         + Platform.currentPlatform.toString()
                         + (Platform.isRaspberryPi() ? (" (Pi " + Platform.currentPiVersion.name() + ")") : ""));
 
-        try {
-            CameraServerCvJNI.forceLoad();
-            PicamJNI.forceLoad();
-            // TestUtils.loadLibraries();
-            logger.info("Native libraries loaded.");
-        } catch (Exception e) {
-            logger.error("Failed to load native libraries!", e);
-        }
-
         ConfigManager.getInstance().load(); // init config manager
         ConfigManager.getInstance().requestSave();
 

photon-server/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java

@@ -1,103 +0,0 @@
-/*
- * 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.vision.pipeline;
-
-import edu.wpi.first.math.geometry.Translation3d;
-import java.io.IOException;
-import java.util.stream.Collectors;
-import org.junit.jupiter.api.Assertions;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.photonvision.common.util.TestUtils;
-import org.photonvision.vision.apriltag.AprilTagJNI;
-import org.photonvision.vision.camera.QuirkyCamera;
-import org.photonvision.vision.frame.provider.FileFrameProvider;
-import org.photonvision.vision.pipeline.result.CVPipelineResult;
-import org.photonvision.vision.target.TargetModel;
-import org.photonvision.vision.target.TrackedTarget;
-
-public class AprilTagTest {
-    @BeforeEach
-    public void Init() throws IOException {
-        TestUtils.loadLibraries();
-        AprilTagJNI.forceLoad();
-    }
-
-    @Test
-    public void testApriltagFacingCamera() {
-        var pipeline = new AprilTagPipeline();
-
-        pipeline.getSettings().inputShouldShow = true;
-        pipeline.getSettings().outputShouldDraw = true;
-        pipeline.getSettings().solvePNPEnabled = true;
-        pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
-        pipeline.getSettings().cornerDetectionUseConvexHulls = true;
-        pipeline.getSettings().targetModel = TargetModel.k200mmAprilTag;
-
-        var frameProvider =
-                new FileFrameProvider(
-                        TestUtils.getApriltagImagePath(TestUtils.ApriltagTestImages.kTag1_640_480, false),
-                        TestUtils.WPI2020Image.FOV,
-                        TestUtils.get2020LifeCamCoeffs(false));
-
-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
-
-        // Draw on input
-        var outputPipe = new OutputStreamPipeline();
-        outputPipe.process(
-                pipelineResult.inputFrame,
-                pipelineResult.outputFrame,
-                pipeline.getSettings(),
-                pipelineResult.targets);
-
-        TestUtils.showImage(pipelineResult.inputFrame.image.getMat(), "Pipeline output", 999999);
-
-        // these numbers are not *accurate*, but they are known and expected
-        var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
-        Assertions.assertEquals(2, pose.getTranslation().getX(), 0.2);
-        Assertions.assertEquals(0.0, pose.getTranslation().getY(), 0.2);
-        Assertions.assertEquals(0.0, pose.getTranslation().getY(), 0.2);
-
-        var objX = new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getY();
-        var objY = new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getZ();
-        var objZ = new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getX();
-        System.out.printf("Object x %.2f y %.2f z %.2f\n", objX, objY, objZ);
-
-        // We expect the object X to be forward, or -X in world space
-        Assertions.assertEquals(
-                -1, new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getX(), 0.1);
-        // We expect the object Y axis to be right, or negative-Y in world space
-        Assertions.assertEquals(
-                -1, new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getY(), 0.1);
-        // We expect the object Z axis to be up, or +Z in world space
-        Assertions.assertEquals(1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getZ(), 0.1);
-    }
-
-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.println(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " " + "fps)");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-        System.out.println(
-                "Found targets at "
-                        + pipelineResult.targets.stream()
-                                .map(TrackedTarget::getBestCameraToTarget3d)
-                                .collect(Collectors.toList()));
-    }
-}