Fix build.yml (#1153)

* Only add maturity/suffix if groups matched

---------

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>

.github/workflows/build.yml

@@ -184,7 +184,7 @@ jobs:
       - name: Publish
         run: |
           chmod +x gradlew
-          ./gradlew photon-lib:publish
+          ./gradlew photon-lib:publish photon-targeting:publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push'
@@ -273,14 +273,20 @@ jobs:
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 4096
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -293,11 +299,23 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ matrix.artifact-name }}
-      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - name: Generate image
+      - uses: pguyot/arm-runner-action@v2
+        name: Generate image
+        id: generate_image
+        with:
+          base_image: ${{ matrix.image_url }}
+          image_additional_mb: ${{ matrix.image_additional_mb }}
+          optimize_image: yes
+          cpu: ${{ matrix.cpu }}
+          commands: |
+            chmod +x scripts/armrunner.sh
+            ./scripts/armrunner.sh
+      - name: Compress image
         run: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -v $new_image_name
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
@@ -320,6 +338,7 @@ jobs:
           files: |
             **/*.xz
             **/*.jar
+            **/photonlib*.json
         if: github.event_name == 'push'
       # Upload all jars and xz archives
       - uses: softprops/action-gh-release@v1
@@ -327,6 +346,7 @@ jobs:
           files: |
             **/*.xz
             **/*.jar
+            **/photonlib*.json
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

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

@@ -144,6 +144,24 @@ public class TestUtils {
         }
     }
 
+    public enum WPI2024Images {
+        kBackAmpZone_117in,
+        kSpeakerCenter_143in;
+
+        public static double FOV = 68.5;
+
+        public final Path path;
+
+        Path getPath() {
+            var filename = this.toString().substring(1);
+            return Path.of("2024", filename + ".jpg");
+        }
+
+        WPI2024Images() {
+            this.path = getPath();
+        }
+    }
+
     public enum WPI2023Apriltags {
         k162_36_Angle,
         k162_36_Straight,

photon-lib/py/setup.py

@@ -16,10 +16,24 @@ m = re.search(
 # which should be PEP440 compliant
 if m:
     versionString = m.group(0)
-    prefix = m.group(1)
-    maturity = m.group(2)
-    suffix = m.group(3).replace(".", "")
-    versionString = f"{prefix}.{maturity}.{suffix}"
+    # Hack -- for strings like v2024.1.1, do NOT add matruity/suffix
+    if len(m.group(2)) > 0:
+        print("using beta group matcher")
+        prefix = m.group(1)
+        maturity = m.group(2)
+        suffix = m.group(3).replace(".", "")
+        versionString = f"{prefix}.{maturity}.{suffix}"
+    else:
+        split = gitDescribeResult.split("-")
+        if len(split) == 3:
+            year, commits, sha = split
+            # Chop off leading v from "v2024.1.2", and use "post" for commits to master since
+            versionString = f"{year[1:]}post{commits}"
+            print("using dev release " + versionString)
+        else:
+            year = gitDescribeResult
+            versionString = year[1:]
+            print("using full release " + versionString)
 
 
 else:

photon-lib/src/generate/photonlib.json.in

@@ -8,7 +8,7 @@
     "https://maven.photonvision.org/repository/internal",
     "https://maven.photonvision.org/repository/snapshots"
   ],
-  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
   "jniDependencies": [],
   "cppDependencies": [
     {

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

@@ -40,6 +40,7 @@ import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
+import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
@@ -261,6 +262,34 @@ public class Main {
             camConf2023.pipelineSettings = psList2023;
         }
 
+        CameraConfiguration camConf2024 =
+                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2024");
+        if (camConf2024 == null || true) {
+            camConf2024 =
+                    new CameraConfiguration(
+                            "WPI2024",
+                            TestUtils.getResourcesFolderPath(true)
+                                    .resolve("testimages")
+                                    .resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path)
+                                    .toString());
+
+            camConf2024.FOV = TestUtils.WPI2024Images.FOV;
+            // same camera as 2023
+            camConf2024.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
+
+            var pipeline2024 = new AprilTagPipelineSettings();
+            var path_split = Path.of(camConf2024.path).getFileName().toString();
+            pipeline2024.pipelineNickname = path_split.replace(".jpg", "");
+            pipeline2024.targetModel = TargetModel.kAprilTag6p5in_36h11;
+            pipeline2024.tagFamily = AprilTagFamily.kTag36h11;
+            pipeline2024.inputShouldShow = true;
+            pipeline2024.solvePNPEnabled = true;
+
+            var psList2024 = new ArrayList<CVPipelineSettings>();
+            psList2024.add(pipeline2024);
+            camConf2024.pipelineSettings = psList2024;
+        }
+
         // Colored shape testing
         var camConfShape =
                 ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
@@ -290,12 +319,14 @@ public class Main {
         var fvs2020 = new FileVisionSource(camConf2020);
         var fvs2022 = new FileVisionSource(camConf2022);
         var fvs2023 = new FileVisionSource(camConf2023);
+        var fvs2024 = new FileVisionSource(camConf2024);
 
-        collectedSources.add(fvs2023);
-        collectedSources.add(fvs2022);
-        collectedSources.add(fvsShape);
-        collectedSources.add(fvs2020);
-        collectedSources.add(fvs2019);
+        collectedSources.add(fvs2024);
+        // collectedSources.add(fvs2023);
+        // collectedSources.add(fvs2022);
+        // collectedSources.add(fvsShape);
+        // collectedSources.add(fvs2020);
+        // collectedSources.add(fvs2019);
 
         ConfigManager.getInstance().unloadCameraConfigs();
         VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);

scripts/armrunner.sh

@@ -0,0 +1,12 @@
+###
+# Alternative ARM Runner installer to setup PhotonVision JAR
+# for ARM based builds such as Raspberry Pi, Orange Pi, etc.
+# This assumes that the image provided to arm-runner-action contains
+# the servicefile needed to auto-launch PhotonVision.
+###
+NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+echo "Using jar: " $(basename $NEW_JAR)
+
+DEST_PV_LOCATION=/opt/photonvision
+sudo mkdir -p $DEST_PV_LOCATION
+sudo cp $NEW_JAR ${DEST_PV_LOCATION}/photonvision.jar

test-resources/testimages/2024/README.txt

@@ -0,0 +1,13 @@
+This folder contains images of the AprilTags on the 2024 playing field. All measurements included
+are approximate and are intended to give a rough idea of views from various distances from field
+elements. All images were taken with a Microsoft Lifecam at 1280x720 resolution.
+Camera height: ~29.75 in
+Camera ~20 degrees pitch above horizontal
+The folder includes 2 types of images:
+1. "General Field" images which provide a
+general idea of the view from various spots on the field with a camera at this
+height and angle.
+2. Specific field element images which include a measurement away from a specific field element.
+The Amp, Loading, and Stage photos are measured to the face of the respective elements,
+approximately perpendicular from the face. The remaining photos are all measured to the center of
+the subwoofer face, perpendicular or diagonal as necessary.