Merge branch 'master' into 2023-11-08_mrcal

PhotonVision · Jan 4, 2024 · 1e70623 · 1e70623
2 parents 0a4cf83 + d85bafa
commit 1e70623
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Showing 7 changed files with 18 additions and 10 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -264,18 +264,23 @@ jobs:
     needs: [build-package]
 
     if: ${{ github.event_name != 'pull_request' }}
+
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.1.3_arm64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
-            image_url: https://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.2.2_limelight-arm64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+          - 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
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -288,6 +293,7 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ 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
         run: |
           chmod +x scripts/generatePiImage.sh

diff --git a/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -135,7 +135,7 @@ public void accept(CVPipelineResult result) {
                         TrackedTarget.simpleFromTrackedTargets(result.targets),
                         result.multiTagResult);
 
-        ts.resultPublisher.accept(simplified, simplified.getPacketSize());
+        ts.resultPublisher.set(simplified, simplified.getPacketSize());
         if (ConfigManager.getInstance().getConfig().getNetworkConfig().shouldPublishProto) {
             ts.protoResultPublisher.set(simplified);
         }

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -187,6 +187,8 @@ private static Platform getCurrentPlatform() {
             } else if (RuntimeDetector.isArm64()) {
                 // TODO - os detection needed?
                 return LINUX_AARCH64;
+            } else if (RuntimeDetector.isArm32()) {
+                return LINUX_ARM32;
             } else {
                 // Unknown or otherwise unsupported platform
                 return Platform.UNKNOWN;

diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -563,7 +563,7 @@ public void submitProcessedFrame(PhotonPipelineResult result) {
     public void submitProcessedFrame(PhotonPipelineResult result, long receiveTimestamp) {
         ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
 
-        ts.resultPublisher.accept(result, result.getPacketSize());
+        ts.resultPublisher.set(result, result.getPacketSize());
 
         boolean hasTargets = result.hasTargets();
         ts.hasTargetEntry.set(hasTargets, receiveTimestamp);

diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
@@ -143,7 +143,7 @@ public void submitProcessedFrame(
         PhotonPipelineResult newResult =
                 new PhotonPipelineResult(latencyMillis, targetList, new MultiTargetPNPResult());
 
-        ts.resultPublisher.accept(newResult, newResult.getPacketSize());
+        ts.resultPublisher.set(newResult, newResult.getPacketSize());
 
         boolean hasTargets = newResult.hasTargets();
         ts.hasTargetEntry.set(hasTargets);

diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketPublisher.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketPublisher.java
@@ -30,14 +30,14 @@ public PacketPublisher(RawPublisher publisher, PacketSerde<T> serde) {
         this.serde = serde;
     }
 
-    public void accept(T value, int byteSize) {
+    public void set(T value, int byteSize) {
         var packet = new Packet(byteSize);
         serde.pack(packet, value);
         publisher.set(packet.getData());
     }
 
-    public void accept(T value) {
-        accept(value, serde.getMaxByteSize());
+    public void set(T value) {
+        set(value, serde.getMaxByteSize());
     }
 
     @Override

diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
@@ -10,9 +10,9 @@ NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
 echo "Using jar: " $NEW_JAR
 echo "Downloading image from" $1
 sudo apt-get install -y xz-utils
-curl -sk $1 | grep "browser_download_url.*xz" | cut -d : -f 2,3 | tr -d '"' | wget -qi -
+wget -q $1
 ls
-FILE_NAME=$(ls | grep image_*.xz)
+FILE_NAME=$(ls | grep *.xz)
 
 if [ -z "$FILE_NAME" ]
 then