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

Load libquadmath on Windows (#1163 )
Nobody reads these, right? This probably won't make things worse. Surely.
2026-06-22 01:11:40 +00:00 · 2024-01-15 22:23:30 -05:00 · 2024-01-15 18:44:58 -05:00 · 2024-01-15 15:44:43 -05:00 · 2024-01-14 13:31:12 -05:00 · 2024-01-13 22:35:57 -05:00
15 changed files with 282 additions and 124 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -307,6 +307,8 @@ jobs:
          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
--- a/build.gradle
+++ b/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
+}
--- a/photon-core/build.gradle
+++ b/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"
--- a/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
+++ b/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",
--- a/photon-lib/build.gradle
+++ b/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') {
--- a/photon-lib/src/test/java/org/photonvision/OpenCVTest.java
+++ b/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();
--- a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
+++ b/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())));
--- a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
+++ b/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();

--- a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java
+++ b/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);
    }
--- a/photon-targeting/build.gradle
+++ b/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"
--- a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
+++ b/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;

--- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
+++ b/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.
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
+++ b/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.
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/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;
--- a/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
+++ b/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;
Author	SHA1	Message	Date
Matt	d542190187	Merge branch 'master' of github.com:mcm001/photonvision	2024-01-15 22:23:30 -05:00
Matt	e1f550a751	Load libquadmath on Windows (#1163 ) Nobody reads these, right? This probably won't make things worse. Surely.	2024-01-15 18:44:58 -05:00
Ryan Blue	a40e4049d4	Update spotless to fix exception spam (#1162 )	2024-01-15 15:44:43 -05:00
Matt	152888f216	Bind-mount repo in image builder (#1157 ) Reduces built image size by not accidentally copying source in	2024-01-14 13:31:12 -05:00
ArchB1W	b729d9e917	[photon-lib java] Implement ProtobufSerializable (#1156 ) * [photon-lib java] Fix classes with protobuf support not "announcing it" Since they didn't implement `ProtobufSerializable` this meant that most other software didn't even know protobufs were even implemented. In AdvantageKit for example this would cause it to not work it all and crash. * Run `spotlessJavaApply`	2024-01-13 22:35:57 -05:00
Thad House	6917ec8401	Fix vendordep including all wpilib libraries (#1155 ) * Fix vendordep including all wpilib libraries. Without this fix, users were consuming a massively oversized .jar	2024-01-13 18:57:56 -06:00
Matt	44a2aff38e	Restart server on general settings change	2024-01-08 12:51:17 -05:00