Backport maven changes

.github/workflows/build.yml

@@ -10,29 +10,6 @@ on:
     branches: [ master ]
 
 jobs:
-  build-offline-docs:
-    name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-      - name: Build the docs
-        run: |
-          make html
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
   build-photonlib-host:
     env:
       MACOSX_DEPLOYMENT_TARGET: 12

build.gradle

@@ -28,12 +28,12 @@ ext {
     wpilibVersion = "2024.3.1"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
-    joglVersion = "2.4.0"
+    joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
-    photonGlDriverLibVersion = "dev-v2023.1.0-11-g2b7036f"
-    rknnVersion = "dev-v2024.0.1-4-g0db16ac"
+    photonGlDriverLibVersion = "dev-v2023.1.0-9-g75fc678"
+    rknnVersion = "dev-v2024.0.0-64-gc0836a6"
     frcYear = "2024"
-    mrcalVersion = "dev-v2024.0.0-24-gc1efcf0";
+    mrcalVersion = "dev-v2024.0.0-7-gc976aaa";
 
 
     pubVersion = versionString

photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java

@@ -23,6 +23,5 @@ public enum LogGroup {
     VisionModule,
     Data,
     General,
-    Config,
-    CSCore,
+    Config
 }

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -99,7 +99,6 @@ public class Logger {
         levelMap.put(LogGroup.Data, LogLevel.INFO);
         levelMap.put(LogGroup.VisionModule, LogLevel.INFO);
         levelMap.put(LogGroup.Config, LogLevel.INFO);
-        levelMap.put(LogGroup.CSCore, LogLevel.TRACE);
     }
 
     static {
@@ -195,7 +194,7 @@ public class Logger {
         return logLevel.code <= levelMap.get(group).code;
     }
 
-    void log(String message, LogLevel level) {
+    private void log(String message, LogLevel level) {
         if (shouldLog(level)) {
             log(message, level, group, className);
         }

photon-core/src/main/java/org/photonvision/common/logging/PvCSCoreLogger.java

@@ -1,70 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.logging;
-
-import edu.wpi.first.cscore.CameraServerJNI;
-import java.nio.file.Path;
-
-/** Redirect cscore logs to our logger */
-public class PvCSCoreLogger {
-    private static PvCSCoreLogger INSTANCE;
-
-    public static PvCSCoreLogger getInstance() {
-        if (INSTANCE == null) {
-            INSTANCE = new PvCSCoreLogger();
-        }
-        return INSTANCE;
-    }
-
-    private Logger logger;
-
-    private PvCSCoreLogger() {
-        CameraServerJNI.setLogger(this::logMsg, 7);
-        this.logger = new Logger(getClass(), LogGroup.CSCore);
-    }
-
-    private void logMsg(int level, String file, int line, String msg) {
-        if (level == 20) {
-            logger.info(msg);
-            return;
-        }
-
-        file = Path.of(file).getFileName().toString();
-
-        String levelmsg;
-        LogLevel pvlevel;
-        if (level >= 50) {
-            levelmsg = "CRITICAL";
-            pvlevel = LogLevel.ERROR;
-        } else if (level >= 40) {
-            levelmsg = "ERROR";
-            pvlevel = LogLevel.ERROR;
-        } else if (level >= 30) {
-            levelmsg = "WARNING";
-            pvlevel = LogLevel.WARN;
-        } else if (level >= 20) {
-            levelmsg = "INFO";
-            pvlevel = LogLevel.INFO;
-        } else {
-            levelmsg = "DEBUG";
-            pvlevel = LogLevel.DEBUG;
-        }
-        logger.log(
-                "CS: " + levelmsg + " " + level + ": " + msg + " (" + file + ":" + line + ")", pvlevel);
-    }
-}

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

@@ -35,7 +35,6 @@ import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.logging.PvCSCoreLogger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
@@ -66,7 +65,6 @@ public class Main {
     private static final boolean isRelease = PhotonVersion.isRelease;
 
     private static boolean isTestMode = false;
-    private static boolean isSmoketest = false;
     private static Path testModeFolder = null;
     private static boolean printDebugLogs;
 
@@ -92,11 +90,6 @@ public class Main {
                 "clear-config",
                 false,
                 "Clears PhotonVision pipeline and networking settings. Preserves log files");
-        options.addOption(
-                "s",
-                "smoketest",
-                false,
-                "Exit Photon after loading native libraries and camera configs, but before starting up camera runners");
 
         CommandLineParser parser = new DefaultParser();
         CommandLine cmd = parser.parse(options, args);
@@ -134,10 +127,6 @@ public class Main {
             if (cmd.hasOption("clear-config")) {
                 ConfigManager.getInstance().clearConfig();
             }
-
-            if (cmd.hasOption("smoketest")) {
-                isSmoketest = true;
-            }
         }
         return true;
     }
@@ -348,17 +337,11 @@ public class Main {
 
     public static void main(String[] args) {
         try {
-            boolean success = TestUtils.loadLibraries();
-
-            if (!success) {
-                logger.error("Failed to load native libraries! Giving up :(");
-                System.exit(1);
-            }
+            TestUtils.loadLibraries();
+            logger.info("Native libraries loaded.");
         } catch (Exception e) {
             logger.error("Failed to load native libraries!", e);
-            System.exit(1);
         }
-        logger.info("Native libraries loaded.");
 
         try {
             if (Platform.isRaspberryPi()) {
@@ -410,8 +393,6 @@ public class Main {
                         + Platform.getPlatformName()
                         + (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : ""));
 
-        PvCSCoreLogger.getInstance();
-
         logger.debug("Loading ConfigManager...");
         ConfigManager.getInstance().load(); // init config manager
         ConfigManager.getInstance().requestSave();
@@ -431,11 +412,6 @@ public class Main {
         NeuralNetworkModelManager.getInstance()
                 .initialize(ConfigManager.getInstance().getModelsDirectory());
 
-        if (isSmoketest) {
-            logger.info("PhotonVision base functionality loaded -- smoketest complete");
-            System.exit(0);
-        }
-
         if (!isTestMode) {
             logger.debug("Loading VisionSourceManager...");
             VisionSourceManager.getInstance()