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Fix roborio duplicate .so's on deploy (#1571)

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This commit is contained in:
Matt
2024-11-14 01:52:23 -05:00
committed by GitHub
parent 5f3dc152c3
commit c04e13ef93
13 changed files with 57 additions and 32 deletions
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7
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/TimeSyncManager.java
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@@ -129,8 +129,11 @@ public class TimeSyncManager {
var conns = ntInstance.getConnections();
if (conns.length > 0) {
logger.debug("Changing TimeSyncClient server to " + conns[0].remote_ip);
m_client.setServer(conns[0].remote_ip);
var newServer = conns[0].remote_ip;
if (!m_client.getServer().equals(newServer)) {
logger.debug("Changing TimeSyncClient server to " + newServer);
m_client.setServer(newServer);
}
}
if (m_client != null) {

23
photon-targeting/build.gradle
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@@ -106,8 +106,6 @@ model {
}
if (binary.targetPlatform.name == platName) {
// only include release binaries (hard coded for now)
def isDebug = binary.buildType.name.contains('debug')
if (!isDebug) {
@@ -191,6 +189,27 @@ model {
apply from: "${rootDir}/shared/javacpp/publish.gradle"
// quickly hack our raw jar into publishing
def rawjavaJar = tasks.register("rawjavaJar", Jar) {
dependsOn classes
includeEmptyDirs = false
from sourceSets.main.output
archiveClassifier = 'raw'
}
publishing {
publications {
rawjava(MavenPublication) {
artifact (rawjavaJar) {
classifier = null
}
artifactId = "${nativeName}-rawjava"
groupId artifactGroupId
version pubVersion
}
}
}
// Add photon serde headers to our published sources
cppHeadersZip {
from('src/generated/main/native/include') {

6
photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java
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@@ -104,7 +104,7 @@ public class TimeSyncClient {
public void stop() {
synchronized (mutex) {
if (handle > 0) {
if (handle != 0) {
TimeSyncClient.stop(handle);
handle = 0;
}
@@ -119,7 +119,7 @@ public class TimeSyncClient {
*/
public long getOffset() {
synchronized (mutex) {
if (handle > 0) {
if (handle != 0) {
return TimeSyncClient.getOffset(handle);
}
@@ -139,7 +139,7 @@ public class TimeSyncClient {
public PingMetadata getPingMetadata() {
synchronized (mutex) {
if (handle > 0) {
if (handle != 0) {
return TimeSyncClient.getLatestMetadata(handle);
}

4
photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java
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@@ -27,7 +27,7 @@ public class TimeSyncServer {
public void start() {
synchronized (mutex) {
if (handle > 0) {
if (handle != 0) {
TimeSyncServer.start(handle);
} else {
System.err.println("TimeSyncServer: use after free?");
@@ -36,7 +36,7 @@ public class TimeSyncServer {
}
public void stop() {
if (handle > 0) {
if (handle != 0) {
TimeSyncServer.stop(handle);
handle = 0;
}

22
photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
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@@ -17,7 +17,6 @@
#include "net/TimeSyncClient.h"
#include <fmt/core.h>
#include <wpinet/UDPClient.h>
#include <wpinet/uv/util.h>
@@ -32,6 +31,7 @@
#include <Eigen/Core>
#include <wpi/Logger.h>
#include <wpi/print.h>
#include <wpi/struct/Struct.h>
#include "ntcore_cpp.h"
@@ -58,7 +58,7 @@ static void ClientLoggerFunc(unsigned int level, const char* file,
}
void wpi::tsp::TimeSyncClient::Tick() {
// fmt::println("wpi::tsp::TimeSyncClient::Tick");
// wpi::println("wpi::tsp::TimeSyncClient::Tick");
// Regardless of if we've gotten a pong back yet, we'll ping again. this is
// pretty naive but should be "fine" for now?
@@ -101,15 +101,15 @@ void wpi::tsp::TimeSyncClient::UdpCallback(uv::Buffer& buf, size_t nbytes,
wpi::UnpackStruct<TspPong>(buf.bytes()),
};
// fmt::println("->[client] Got pong: {} {} {} {}", pong.version,
// wpi::println("->[client] Got pong: {} {} {} {}", pong.version,
// pong.message_id, pong.client_time, pong.server_time);
if (pong.version != 1) {
fmt::println("Bad version from server?");
wpi::println("Bad version from server?");
return;
}
if (pong.message_id != 2) {
fmt::println("Bad message id from server?");
wpi::println("Bad message id from server?");
return;
}
@@ -131,7 +131,7 @@ void wpi::tsp::TimeSyncClient::UdpCallback(uv::Buffer& buf, size_t nbytes,
auto filtered = m_lastOffsets.Calculate(serverTimeOffsetUs);
// fmt::println("Ping-ponged! RTT2 {} uS, offset {}/filtered offset {} uS",
// wpi::println("Ping-ponged! RTT2 {} uS, offset {}/filtered offset {} uS",
// rtt2,
// serverTimeOffsetUs, filtered);
@@ -144,9 +144,9 @@ void wpi::tsp::TimeSyncClient::UdpCallback(uv::Buffer& buf, size_t nbytes,
}
using std::cout;
// fmt::println("Ping-ponged! RTT2 {} uS, offset {} uS", rtt2,
// wpi::println("Ping-ponged! RTT2 {} uS, offset {} uS", rtt2,
// serverTimeOffsetUs);
// fmt::println("Estimated server time {} s",
// wpi::println("Estimated server time {} s",
// (m_timeProvider() + serverTimeOffsetUs) / 1000000.0);
}
@@ -161,12 +161,12 @@ wpi::tsp::TimeSyncClient::TimeSyncClient(std::string_view server,
m_serverIP{server},
m_serverPort{remote_port},
m_loopDelay(ping_delay) {
// fmt::println("Starting client (with server address {}:{})", server,
// wpi::println("Starting client (with server address {}:{})", server,
// remote_port);
}
void wpi::tsp::TimeSyncClient::Start() {
// fmt::println("Connecting received");
// wpi::println("Connecting received");
m_loopRunner.ExecSync([this](uv::Loop&) {
struct sockaddr_in serverAddr;
@@ -180,7 +180,7 @@ void wpi::tsp::TimeSyncClient::Start() {
m_udp->StartRecv();
});
// fmt::println("Starting pinger");
// wpi::println("Starting pinger");
using namespace std::chrono_literals;
m_pingTimer->timeout.connect(&wpi::tsp::TimeSyncClient::Tick, this);

6
photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
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@@ -17,7 +17,6 @@
#include "net/TimeSyncServer.h"
#include <fmt/core.h>
#include <wpinet/UDPClient.h>
#include <wpinet/uv/util.h>
@@ -31,6 +30,7 @@
#include <thread>
#include <wpi/Logger.h>
#include <wpi/print.h>
#include <wpi/struct/Struct.h>
#include "ntcore_cpp.h"
@@ -59,7 +59,7 @@ static void ServerLoggerFunc(unsigned int level, const char* file,
void wpi::tsp::TimeSyncServer::UdpCallback(uv::Buffer& data, size_t n,
const sockaddr& sender,
unsigned flags) {
// fmt::println("TimeSyncServer got ping!");
// wpi::println("TimeSyncServer got ping!");
TspPing ping{wpi::UnpackStruct<TspPing>(data.bytes())};
@@ -85,7 +85,7 @@ void wpi::tsp::TimeSyncServer::UdpCallback(uv::Buffer& data, size_t n,
wpi::uv::Buffer pongBuf{pongData};
int sent =
m_udp->TrySend(sender, wpi::SmallVector<wpi::uv::Buffer, 1>{pongBuf});
// fmt::println("Pong ret: {}", sent);
// wpi::println("Pong ret: {}", sent);
if (static_cast<size_t>(sent) != wpi::Struct<TspPong>::GetSize()) {
WPI_ERROR(m_logger, "Didn't send the whole pong back?");
return;

2
photon-targeting/src/main/native/include/net/TimeSyncClient.h
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@@ -17,7 +17,6 @@
#pragma once
#include <fmt/core.h>
#include <wpinet/EventLoopRunner.h>
#include <wpinet/UDPClient.h>
#include <wpinet/uv/Buffer.h>
@@ -38,6 +37,7 @@
#include <frc/filter/MedianFilter.h>
#include <wpi/Logger.h>
#include <wpi/print.h>
#include <wpi/static_circular_buffer.h>
#include <wpi/struct/Struct.h>

2
photon-targeting/src/main/native/include/net/TimeSyncServer.h
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@@ -17,7 +17,6 @@
#pragma once
#include <fmt/core.h>
#include <wpinet/EventLoopRunner.h>
#include <wpinet/UDPClient.h>
#include <wpinet/uv/Buffer.h>
@@ -37,6 +36,7 @@
#include <thread>
#include <wpi/Logger.h>
#include <wpi/print.h>
#include <wpi/struct/Struct.h>
#include "TimeSyncStructs.h"

4
photon-targeting/src/main/native/jni/FileLoggerExtrasJNI.cpp
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@@ -35,12 +35,12 @@ struct QueuedFileLogger {
explicit QueuedFileLogger(std::string_view file)
: logger{file, std::bind(&QueuedFileLogger::callback, this,
std::placeholders::_1)} {
// fmt::println("Watching {}", file);
// wpi::println("Watching {}", file);
}
void callback(std::string_view newline) {
std::lock_guard lock{m_mutex};
// fmt::println("FileLogger got: {}", newline);
// wpi::println("FileLogger got: {}", newline);
m_data.insert(m_data.end(), newline.begin(), newline.end());
}

6
photon-targeting/src/main/native/jni/jni_utils.h
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@@ -17,13 +17,15 @@
#pragma once
#include <wpi/print.h>
#define CHECK_PTR(ptr) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
wpi::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return; \
}
#define CHECK_PTR_RETURN(ptr, default) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
wpi::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return default; \
}

3
photon-targeting/src/test/native/cpp/PacketTest.cpp
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@@ -19,6 +19,7 @@
#include <vector>
#include <units/angle.h>
#include <wpi/print.h>
#include "gtest/gtest.h"
#include "photon/dataflow/structures/Packet.h"
@@ -141,7 +142,7 @@ TEST(PacketTest, PhotonPipelineResult) {
auto t3 = std::chrono::steady_clock::now();
EXPECT_EQ(result2, b2);
fmt::println(
wpi::println(
"Pack {} unpack {} packet length {}",
std::chrono::duration_cast<std::chrono::nanoseconds>(t2 - t1).count(),
std::chrono::duration_cast<std::chrono::nanoseconds>(t3 - t2).count(),

2
photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp
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@@ -33,7 +33,7 @@ TEST(TimeSyncProtocolTest, Smoketest) {
for (int i = 0; i < 10; i++) {
std::this_thread::sleep_for(100ms);
TimeSyncClient::Metadata m = client.GetMetadata();
fmt::println("Offset={} rtt={}", m.offset, m.rtt2);
wpi::println("Offset={} rtt={}", m.offset, m.rtt2);
}
server.Stop();

2
shared/config.gradle
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@@ -12,7 +12,7 @@ nativeUtils.wpi.configureDependencies {
opencvVersion = openCVversion
googleTestYear = "frc2024"
googleTestVersion = "1.14.0-1"
niLibVersion = "2024.2.1"
niLibVersion = "2025.0.0"
}
// Configure warnings and errors