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Updated Maven Deps to the new WPILib Artifactory, added AARCH64-Bionic support (Jetson)

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Banks Troutman
2019-09-26 14:19:30 -04:00
parent c46ec3066d
commit c5de2f8f5e
4 changed files with 41 additions and 58 deletions
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78
Main/pom.xml
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@@ -44,15 +44,15 @@
</properties> </properties>
<repositories> <repositories>
<!--WPI official maven repo for frc libs--> <!--WPI official maven repo for frc libs-->
<!-- <repository>-->
<!-- <id>WPI</id>-->
<!-- <name>WPI Maven repo</name>-->
<!-- <url>https://first.wpi.edu/FRC/roborio/maven/release</url>-->
<!-- </repository>-->
<repository> <repository>
<id>WPI</id> <id>WPI</id>
<name>WPI Maven repo</name>
<url>https://first.wpi.edu/FRC/roborio/maven/release</url>
</repository>
<repository>
<id>WPIArtifactory</id>
<name>WPILib Artifactory Server-releases</name> <name>WPILib Artifactory Server-releases</name>
<url>https://frcmaven.wpi.edu:443/artifactory/release</url> <url>https://frcmaven.wpi.edu:443/artifactory/development</url>
</repository> </repository>
</repositories> </repositories>
<dependencies> <dependencies>
@@ -116,31 +116,37 @@
<dependency> <dependency>
<groupId>edu.wpi.first.cscore</groupId> <groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-java</artifactId> <artifactId>cscore-java</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
</dependency> </dependency>
<!--frc cscore interface libs--> <!--frc cscore interface libs-->
<dependency> <dependency>
<groupId>edu.wpi.first.cscore</groupId> <groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId> <artifactId>cscore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>linuxathena</classifier> <classifier>linuxaarch64bionic</classifier>
</dependency> </dependency>
<dependency> <dependency>
<groupId>edu.wpi.first.cscore</groupId> <groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId> <artifactId>cscore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>linuxraspbian</classifier> <classifier>linuxraspbian</classifier>
</dependency> </dependency>
<dependency> <dependency>
<groupId>edu.wpi.first.cscore</groupId> <groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId> <artifactId>cscore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>linuxx86-64</classifier> <classifier>linuxx86-64</classifier>
</dependency> </dependency>
<dependency> <dependency>
<groupId>edu.wpi.first.cscore</groupId> <groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId> <artifactId>cscore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>osxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId>
<version>2019.4.1-176-ga5650b9</version>
<classifier>windowsx86-64</classifier> <classifier>windowsx86-64</classifier>
</dependency> </dependency>
@@ -148,39 +154,39 @@
<dependency> <dependency>
<groupId>edu.wpi.first.cameraserver</groupId> <groupId>edu.wpi.first.cameraserver</groupId>
<artifactId>cameraserver-java</artifactId> <artifactId>cameraserver-java</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
</dependency> </dependency>
<!--frc network table java libs--> <!--frc network table java libs-->
<dependency> <dependency>
<groupId>edu.wpi.first.ntcore</groupId> <groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-java</artifactId> <artifactId>ntcore-java</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
</dependency> </dependency>
<!--frc network tables interface libs--> <!--frc network tables interface libs-->
<dependency> <dependency>
<groupId>edu.wpi.first.ntcore</groupId> <groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId> <artifactId>ntcore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>linuxathena</classifier> <classifier>osxx86-64</classifier>
</dependency> </dependency>
<dependency> <dependency>
<groupId>edu.wpi.first.ntcore</groupId> <groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId> <artifactId>ntcore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>linuxraspbian</classifier> <classifier>linuxraspbian</classifier>
</dependency> </dependency>
<dependency> <dependency>
<groupId>edu.wpi.first.ntcore</groupId> <groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId> <artifactId>ntcore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>linuxx86-64</classifier> <classifier>linuxx86-64</classifier>
</dependency> </dependency>
<dependency> <dependency>
<groupId>edu.wpi.first.ntcore</groupId> <groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId> <artifactId>ntcore-jni</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
<classifier>windowsx86-64</classifier> <classifier>windowsx86-64</classifier>
</dependency> </dependency>
@@ -188,11 +194,10 @@
<dependency> <dependency>
<groupId>edu.wpi.first.wpiutil</groupId> <groupId>edu.wpi.first.wpiutil</groupId>
<artifactId>wpiutil-java</artifactId> <artifactId>wpiutil-java</artifactId>
<version>2019.4.1</version> <version>2019.4.1-176-ga5650b9</version>
</dependency> </dependency>
<!-- WPI OpenCV for all supported platforms --> <!-- WPI OpenCV for all supported platforms -->
<!-- NEW 2020 OpenCV Deps -->
<dependency> <dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId> <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-java</artifactId> <artifactId>opencv-java</artifactId>
@@ -228,36 +233,5 @@
<version>3.4.7-1</version> <version>3.4.7-1</version>
<classifier>windowsx86-64</classifier> <classifier>windowsx86-64</classifier>
</dependency> </dependency>
<!-- OLD 2019 OpenCV Deps
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
<artifactId>opencv-java</artifactId>
<version>3.4.4-5</version>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.4-5</version>
<classifier>windowsx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.4-5</version>
<classifier>linuxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.4-5</version>
<classifier>linuxathena</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.4-5</version>
<classifier>linuxraspbian</classifier>
</dependency>
-->
</dependencies> </dependencies>
</project> </project>

14
Main/src/main/java/com/chameleonvision/Main.java
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@@ -4,15 +4,29 @@ import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.CameraManager; import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.vision.process.VisionProcess; import com.chameleonvision.vision.process.VisionProcess;
import com.chameleonvision.web.Server; import com.chameleonvision.web.Server;
import edu.wpi.cscore.CameraServerCvJNI;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
public class Main { public class Main {
public static void main(String[] args) { public static void main(String[] args) {
// Attempt to load the JNI Libraries
try {
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
} catch (IOException e) {
var errorStr = SettingsManager.getCurrentPlatform().equals(SettingsManager.Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
throw new RuntimeException(errorStr);
}
if (CameraManager.initializeCameras()) { if (CameraManager.initializeCameras()) {
SettingsManager.initialize(); SettingsManager.initialize();
for (var camSet : CameraManager.getAllCamerasByName().entrySet()) { for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
new Thread(new VisionProcess(camSet.getValue())).start(); new Thread(new VisionProcess(camSet.getValue())).start();
} }
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number); NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
// NetworkTableInstance.getDefault().startClient("localhost"); // NetworkTableInstance.getDefault().startClient("localhost");
Server.main(8888); Server.main(8888);

6
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -36,8 +36,6 @@ public class Camera {
private CamVideoMode camVideoMode; private CamVideoMode camVideoMode;
private int currentPipelineIndex; private int currentPipelineIndex;
private HashMap<Integer, Pipeline> pipelines; private HashMap<Integer, Pipeline> pipelines;
private long initTimeout;
public Camera(String cameraName) { public Camera(String cameraName) {
this(cameraName, DEFAULT_FOV); this(cameraName, DEFAULT_FOV);
@@ -71,7 +69,7 @@ public class Camera {
// set up video modes according to minimums // set up video modes according to minimums
if (SettingsManager.getCurrentPlatform() == SettingsManager.Platform.WINDOWS_64 && !UsbCam.isConnected()) { if (SettingsManager.getCurrentPlatform() == SettingsManager.Platform.WINDOWS_64 && !UsbCam.isConnected()) {
System.out.print("Waiting on camera... "); System.out.print("Waiting on camera... ");
initTimeout = System.nanoTime(); long initTimeout = System.nanoTime();
while(!UsbCam.isConnected()) while(!UsbCam.isConnected())
{ {
//TODO add a time sleep, can wait only so long before giving up //TODO add a time sleep, can wait only so long before giving up
@@ -96,8 +94,6 @@ public class Camera {
cvSink = cs.getVideo(UsbCam); cvSink = cs.getVideo(UsbCam);
cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight); cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
var s = (MjpegServer) cs.getServer("serve_" + name);
CameraManager.CameraPorts.put(name, s.getPort());
} }
VideoMode[] getAvailableVideoModes() { VideoMode[] getAvailableVideoModes() {

1
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -20,7 +20,6 @@ import java.util.List;
public class CameraManager { public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams"); private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
public static HashMap<String, Integer> CameraPorts = new HashMap<>();
private static HashMap<String, Camera> AllCamerasByName = new HashMap<>(); private static HashMap<String, Camera> AllCamerasByName = new HashMap<>();