Merge branch 'master' of github.com:mcm001/photonvision

Nobody reads these, right? This probably won't make things worse. Surely.

.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 - ${{ matrix.image_url }}"
@@ -293,11 +299,25 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ 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 }}
+          # We do _not_ wanna copy photon into the image. Bind mount instead
+          bind_mount_repository: true
+          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 +340,7 @@ 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 +348,7 @@ jobs:
           files: |
             **/*.xz
             **/*.jar
+            **/photonlib*.json
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

build.gradle

@@ -1,5 +1,7 @@
+import edu.wpi.first.toolchain.*
+
 plugins {
-    id "com.diffplug.spotless" version "6.22.0"
+    id "com.diffplug.spotless" version "6.24.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.1.1"
@@ -96,3 +98,7 @@ spotless {
 wrapper {
     gradleVersion '8.4'
 }
+
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}

photon-core/build.gradle

@@ -1,7 +1,31 @@
+plugins {
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+}
+
 import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
+}
+
+nativeTasks.addToSourceSetResources(sourceSets.main)
+
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+
 dependencies {
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"

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-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java

@@ -40,6 +40,7 @@ public class MrCalJNILoader extends PhotonJNICommon {
                             "libccolamd",
                             "openblas",
                             "libgcc_s_seh-1",
+                            "libquadmath-0",
                             "libgfortran-5",
                             "liblapack",
                             "libcholmod",

photon-lib/build.gradle

@@ -1,9 +1,3 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
-apply plugin: "edu.wpi.first.NativeUtils"
-
 import java.nio.file.Path
 
 ext {
@@ -13,9 +7,125 @@ ext {
     generatedHeaders = "src/generate/native/include"
 }
 
-apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+apply from: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/shared/javacommon.gradle"
+
 apply from: "${rootDir}/versioningHelper.gradle"
 
+nativeUtils {
+    exportsConfigs {
+        "${nativeName}" {}
+    }
+}
+
+model {
+    components {
+        "${nativeName}"(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
+                        include '**/*.cpp', '**/*.cc'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
+                        include "**/*.h"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+    testSuites {
+        "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+            for(NativeComponentSpec c : $.components) {
+                if (c.name == nativeName) {
+                    testing c
+                    break
+                }
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/test/native/cpp'
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "cscore_shared")
+            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
+            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
+            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+
+    tasks {
+        def c = $.testSuites
+        project.tasks.create('runCpp', Exec) {
+            description = "Run the photon-lib executable"
+            def found = false
+            def systemArch = getCurrentArch()
+            c.each {
+                if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
+                    it.binaries.each {
+                        if (!found) {
+                            def arch = it.targetPlatform.name
+                            if (arch == systemArch) {
+                                dependsOn it.tasks.install
+                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                                test.dependsOn it.tasks.install
+                                test.systemProperty 'java.library.path', filePath
+                                test.environment 'LD_LIBRARY_PATH', filePath
+                                test.environment 'DYLD_LIBRARY_PATH', filePath
+                                test.workingDir filePath
+
+                                found = true
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+apply from: "${rootDir}/shared/javacpp/publish.gradle"
+
 // Include the version file in the distributed sources
 cppHeadersZip {
     from('src/generate/native/include') {

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-lib/src/test/java/org/photonvision/OpenCVTest.java

@@ -26,31 +26,23 @@ package org.photonvision;
 
 import static org.junit.jupiter.api.Assertions.*;
 
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.cscore.CameraServerCvJNI;
-import edu.wpi.first.cscore.CameraServerJNI;
-import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
-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.io.IOException;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
-import org.opencv.core.Core;
 import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.estimation.RotTrlTransform3d;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.simulation.SimCameraProperties;
-import org.photonvision.simulation.VisionSystemSim;
 import org.photonvision.simulation.VisionTargetSim;
 
 public class OpenCVTest {
@@ -84,28 +76,8 @@ public class OpenCVTest {
     private static final SimCameraProperties prop = new SimCameraProperties();
 
     @BeforeAll
-    public static void setUp() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
-        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    VisionSystemSim.class,
-                    "wpiutiljni",
-                    "ntcorejni",
-                    "wpinetjni",
-                    "wpiHaljni",
-                    Core.NATIVE_LIBRARY_NAME,
-                    "cscorejni",
-                    "apriltagjni");
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
+    public static void setUp() throws IOException {
+        CameraServerCvJNI.forceLoad();
 
         // NT live for debug purposes
         NetworkTableInstance.getDefault().startServer();

photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java

@@ -30,17 +30,11 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 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.NetworkTablesJNI;
-import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.WPIUtilJNI;
-import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -56,19 +50,6 @@ class PhotonPoseEstimatorTest {
 
     @BeforeAll
     public static void init() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    PhotonPoseEstimatorTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
-        } catch (IOException e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-        }
-
         List<AprilTag> tagList = new ArrayList<>(2);
         tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
         tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));

photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java

@@ -30,10 +30,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.cscore.CameraServerCvJNI;
-import edu.wpi.first.cscore.CameraServerJNI;
-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;
@@ -42,11 +38,7 @@ 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.ArrayList;
 import java.util.List;
 import java.util.stream.Stream;
@@ -58,7 +50,6 @@ import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 import org.junit.jupiter.params.provider.ValueSource;
-import org.opencv.core.Core;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.estimation.VisionEstimation;
 import org.photonvision.simulation.PhotonCameraSim;
@@ -85,28 +76,6 @@ class VisionSystemSimTest {
 
     @BeforeAll
     public static void setUp() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
-        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    VisionSystemSim.class,
-                    "wpiutiljni",
-                    "ntcorejni",
-                    "wpinetjni",
-                    "wpiHaljni",
-                    Core.NATIVE_LIBRARY_NAME,
-                    "cscorejni",
-                    "apriltagjni");
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-
         // NT live for debug purposes
         NetworkTableInstance.getDefault().startServer();
 

photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java

@@ -26,14 +26,8 @@ package org.photonvision.estimation;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.cscore.CameraServerCvJNI;
-import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.geometry.Transform3d;
-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 edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.io.IOException;
@@ -44,25 +38,6 @@ import org.photonvision.PhotonPoseEstimator;
 public class ApriltagWorkbenchTest {
     @BeforeAll
     public static void setUp() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    ApriltagWorkbenchTest.class,
-                    "wpiutiljni",
-                    "ntcorejni",
-                    "wpinetjni",
-                    "wpiHaljni",
-                    "cscorejnicvstatic");
-        } catch (Exception e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-        }
-
         // No version check for testing
         PhotonCamera.setVersionCheckEnabled(false);
     }

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);

photon-targeting/build.gradle

@@ -1,9 +1,122 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
 ext {
     nativeName = "photontargeting"
 }
 
-apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+apply from: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/shared/javacommon.gradle"
+
+apply from: "${rootDir}/versioningHelper.gradle"
+
+nativeUtils {
+    exportsConfigs {
+        "${nativeName}" {}
+    }
+}
+
+model {
+    components {
+        "${nativeName}"(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
+                        include '**/*.cpp', '**/*.cc'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
+                        include "**/*.h"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+    testSuites {
+        "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+            for(NativeComponentSpec c : $.components) {
+                if (c.name == nativeName) {
+                    testing c
+                    break
+                }
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/test/native/cpp'
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "cscore_shared")
+            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
+            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
+            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+
+    tasks {
+        def c = $.testSuites
+        project.tasks.create('runCpp', Exec) {
+            description = "Run the photon-lib executable"
+            def found = false
+            def systemArch = getCurrentArch()
+            c.each {
+                if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
+                    it.binaries.each {
+                        if (!found) {
+                            def arch = it.targetPlatform.name
+                            if (arch == systemArch) {
+                                dependsOn it.tasks.install
+                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                                test.dependsOn it.tasks.install
+                                test.systemProperty 'java.library.path', filePath
+                                test.environment 'LD_LIBRARY_PATH', filePath
+                                test.environment 'DYLD_LIBRARY_PATH', filePath
+                                test.workingDir filePath
+
+                                found = true
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+apply from: "${rootDir}/shared/javacpp/publish.gradle"

photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java

@@ -17,13 +17,14 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.MultiTargetPNPResultProto;
 
-public class MultiTargetPNPResult {
+public class MultiTargetPNPResult implements ProtobufSerializable {
     // Seeing 32 apriltags at once seems like a sane limit
     private static final int MAX_IDS = 32;
 

photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java

@@ -18,6 +18,7 @@
 package org.photonvision.targeting;
 
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.PNPResultProto;
@@ -32,7 +33,7 @@ import org.photonvision.utils.PacketUtils;
  * <p>Note that the coordinate frame of these transforms depends on the implementing solvePnP
  * method.
  */
-public class PNPResult {
+public class PNPResult implements ProtobufSerializable {
     /**
      * If this result is valid. A false value indicates there was an error in estimation, and this
      * result should not be used.

photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java

@@ -17,6 +17,7 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
@@ -24,7 +25,7 @@ import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.PhotonPipelineResultProto;
 
 /** Represents a pipeline result from a PhotonCamera. */
-public class PhotonPipelineResult {
+public class PhotonPipelineResult implements ProtobufSerializable {
     private static boolean HAS_WARNED = false;
 
     // Targets to store.

photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java

@@ -18,6 +18,7 @@
 package org.photonvision.targeting;
 
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
@@ -25,7 +26,7 @@ import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.PhotonTrackedTargetProto;
 import org.photonvision.utils.PacketUtils;
 
-public class PhotonTrackedTarget {
+public class PhotonTrackedTarget implements ProtobufSerializable {
     private static final int MAX_CORNERS = 8;
 
     private final double yaw;

photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java

@@ -17,6 +17,7 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.Objects;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.dataflow.structures.PacketSerde;
@@ -26,7 +27,7 @@ import org.photonvision.targeting.proto.TargetCornerProto;
  * Represents a point in an image at the corner of the minimum-area bounding rectangle, in pixels.
  * Origin at the top left, plus-x to the right, plus-y down.
  */
-public class TargetCorner {
+public class TargetCorner implements ProtobufSerializable {
     public final double x;
     public final double y;
 

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.