Merge remote-tracking branch 'upstream' into 2d-use-calibration

PhotonVision · Oct 15, 2023 · 3c2f942 · 3c2f942
2 parents 56aeae1 + 760de0f
commit 3c2f942
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Showing 131 changed files with 384 additions and 417 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -106,14 +106,14 @@ jobs:
         run: |
           chmod +x gradlew
           ./gradlew copyPhotonlib -x check
-          ./gradlew buildAllExamples -x check --max-workers 2
+          ./gradlew build -x check --max-workers 2
 
       - name: Build C++ examples
         working-directory: photonlib-cpp-examples
         run: |
           chmod +x gradlew
           ./gradlew copyPhotonlib -x check
-          ./gradlew buildAllExamples -x check --max-workers 2
+          ./gradlew build -x check --max-workers 2
   photon-build-all:
     # The type of runner that the job will run on.
     runs-on: ubuntu-22.04
@@ -225,6 +225,7 @@ jobs:
         include:
           - os: windows-2022
             artifact-name: Win64
+            architecture: x64
           # Mac builds are broken due to opencv class loading issues -- disable for now
           # - os: macos-11
           #   artifact-name: macOS
@@ -255,7 +256,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2023-22.04
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
             artifact-name: Athena
           - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
             artifact-name: Raspbian

diff --git a/build.gradle b/build.gradle
@@ -2,12 +2,12 @@ plugins {
     id "com.diffplug.spotless" version "6.19.0"
     id "com.github.johnrengelman.shadow" version "7.1.2"
     id "com.github.node-gradle.node" version "3.1.1" apply false
-    id "edu.wpi.first.GradleJni" version "1.0.0"
-    id "edu.wpi.first.GradleVsCode" version "1.1.0"
-    id "edu.wpi.first.NativeUtils" version "2023.11.1" apply false
+    id "edu.wpi.first.GradleJni" version "1.1.0"
+    id "edu.wpi.first.GradleVsCode" version "1.3.0"
+    id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "org.hidetake.ssh" version "2.10.1"
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }
 
 import org.gradle.api.internal.artifacts.dependencies.DefaultExternalModuleDependency;
@@ -26,10 +26,12 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2023.4.2"
-    opencvVersion = "4.6.0-4"
+    wpilibVersion = "2024.1.1-beta-1"
+    openCVversion = "4.8.0-1"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
+    frcYear = "2024"
+
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
 
@@ -61,3 +63,7 @@ spotless {
         targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
     }
 }
+
+wrapper {
+    gradleVersion '8.3'
+}
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
@@ -36,7 +36,8 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 APP_NAME="Gradle"
 APP_BASE_NAME=${0##*/}

diff --git a/photon-core/build.gradle b/photon-core/build.gradle
@@ -1,5 +1,5 @@
 plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }
 
 import java.nio.file.Path

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -28,7 +28,8 @@
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 import java.time.temporal.TemporalAccessor;
-import java.util.*;
+import java.util.Date;
+import java.util.List;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.FileUtils;
@@ -47,13 +48,13 @@ public class ConfigManager {
 
     private final ConfigProvider m_provider;
 
-    private Thread settingsSaveThread;
+    private final Thread settingsSaveThread;
     private long saveRequestTimestamp = -1;
 
     enum ConfigSaveStrategy {
         SQL,
         LEGACY,
-        ATOMIC_ZIP;
+        ATOMIC_ZIP
     }
 
     // This logic decides which kind of ConfigManager we load as the default. If we want
@@ -115,9 +116,8 @@ private void translateLegacyIfPresent(Path folderPath) {
                     e1.printStackTrace();
                 }
 
-                // So we can't save the old config, and we couldn't copy the folder
-                // But we've loaded the config. So just try to delete the directory so we don't try to load
-                // form it next time. That does mean we have no backup recourse, tho
+                // Delete the directory because we were successfully able to load the config but were unable
+                // to save or copy the folder.
                 if (maybeCams.exists()) FileUtils.deleteDirectory(maybeCams.toPath());
             }
 
@@ -225,7 +225,7 @@ public String taToLogFname(TemporalAccessor date) {
     }
 
     public Date logFnameToDate(String fname) throws ParseException {
-        // Strip away known unneded portions of the log file name
+        // Strip away known unneeded portions of the log file name
         fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
         DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
         return format.parse(fname);

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
@@ -55,7 +55,7 @@ class LegacyConfigProvider extends ConfigProvider {
     final File configDirectoryFile;
 
     private long saveRequestTimestamp = -1;
-    private Thread settingsSaveThread;
+    private final Thread settingsSaveThread;
 
     public static void saveUploadedSettingsZip(File uploadPath) {
         var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
@@ -67,7 +67,6 @@ public static void saveUploadedSettingsZip(File uploadPath) {
             logger.info("Copied settings successfully!");
         } catch (IOException e) {
             logger.error("Exception copying uploaded settings!", e);
-            return;
         }
     }
 
@@ -371,7 +370,7 @@ public String taToLogFname(TemporalAccessor date) {
     }
 
     public Date logFnameToDate(String fname) throws ParseException {
-        // Strip away known unneded portions of the log file name
+        // Strip away known unneeded portions of the log file name
         fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
         DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
         return format.parse(fname);

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -30,7 +30,7 @@
 import org.photonvision.common.util.file.JacksonUtils;
 
 public class NetworkConfig {
-    // Can be a integer team number, or a IP address
+    // Can be an integer team number, or an IP address
     public String ntServerAddress = "0";
     public NetworkMode connectionType = NetworkMode.DHCP;
     public String staticIp = "";
@@ -58,7 +58,7 @@ public NetworkConfig() {
                             .orElse("Wired connection 1");
         }
 
-        // We can (usually) manage networking on Linux devices, and if we can we should try to. Command
+        // We can (usually) manage networking on Linux devices, and if we can, we should try to. Command
         // line inhibitions happen at a level above this class
         setShouldManage(deviceCanManageNetwork());
     }

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -33,10 +33,10 @@
 
 // TODO rename this class
 public class PhotonConfiguration {
-    private HardwareConfig hardwareConfig;
-    private HardwareSettings hardwareSettings;
+    private final HardwareConfig hardwareConfig;
+    private final HardwareSettings hardwareSettings;
     private NetworkConfig networkConfig;
-    private HashMap<String, CameraConfiguration> cameraConfigurations;
+    private final HashMap<String, CameraConfiguration> cameraConfigurations;
 
     public PhotonConfiguration(
             HardwareConfig hardwareConfig,
@@ -113,7 +113,7 @@ public Map<String, Object> toHashMap() {
 
         var lightingConfig = new UILightingConfig();
         lightingConfig.brightness = hardwareSettings.ledBrightnessPercentage;
-        lightingConfig.supported = (hardwareConfig.ledPins.size() != 0);
+        lightingConfig.supported = !hardwareConfig.ledPins.isEmpty();
         settingsSubmap.put("lighting", SerializationUtils.objectToHashMap(lightingConfig));
 
         var generalSubmap = new HashMap<String, Object>();

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
@@ -21,11 +21,7 @@
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
-import java.sql.Connection;
-import java.sql.DriverManager;
-import java.sql.PreparedStatement;
-import java.sql.SQLException;
-import java.sql.Statement;
+import java.sql.*;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
@@ -255,8 +251,7 @@ private String getOneConfigFile(Connection conn, String filename) {
             var result = query.executeQuery();
 
             while (result.next()) {
-                var contents = result.getString("contents");
-                return contents;
+                return result.getString("contents");
             }
         } catch (SQLException e) {
             logger.error("SQL Err getting file " + filename, e);
@@ -286,7 +281,7 @@ private void saveCameras(Connection conn) {
                 statement.setString(2, JacksonUtils.serializeToString(config));
                 statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
 
-                // Serializing a list of abstract classes sucks. Instead, make it into a array
+                // Serializing a list of abstract classes sucks. Instead, make it into an array
                 // of strings, which we can later unpack back into individual settings
                 List<String> settings =
                         config.pipelineSettings.stream()
@@ -424,7 +419,7 @@ public boolean saveUploadedNetworkConfig(Path uploadPath) {
     private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
         HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
 
-        // Querry every single row of the cameras db
+        // Query every single row of the cameras db
         PreparedStatement query = null;
         try {
             query =

diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
@@ -21,7 +21,6 @@
 import java.util.Objects;
 import org.photonvision.common.dataflow.events.DataChangeEvent;
 
-@SuppressWarnings("rawtypes")
 public abstract class DataChangeSubscriber {
     public final List<DataChangeSource> wantedSources;
     public final List<DataChangeDestination> wantedDestinations;

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
@@ -41,7 +41,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
     private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
 
-    private NTTopicSet ts = new NTTopicSet();
+    private final NTTopicSet ts = new NTTopicSet();
 
     NTDataChangeListener pipelineIndexListener;
     private final Supplier<Integer> pipelineIndexSupplier;
@@ -181,15 +181,12 @@ public void accept(CVPipelineResult result) {
         }
 
         // Something in the result can sometimes be null -- so check probably too many things
-        if (result != null
-                && result.inputAndOutputFrame != null
+        if (result.inputAndOutputFrame != null
                 && result.inputAndOutputFrame.frameStaticProperties != null
                 && result.inputAndOutputFrame.frameStaticProperties.cameraCalibration != null) {
             var fsp = result.inputAndOutputFrame.frameStaticProperties;
-            if (fsp.cameraCalibration != null) {
-                ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
-                ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr());
-            }
+            ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
+            ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr());
         } else {
             ts.cameraIntrinsicsPublisher.accept(new double[] {});
             ts.cameraDistortionPublisher.accept(new double[] {});
@@ -215,8 +212,8 @@ public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTar
             }
             {
                 var points = t.getTargetCorners();
-                for (int i = 0; i < points.size(); i++) {
-                    detectedCorners.add(new TargetCorner(points.get(i).x, points.get(i).y));
+                for (Point point : points) {
+                    detectedCorners.add(new TargetCorner(point.x, point.y));
                 }
             }
 

diff --git a/...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -121,7 +121,7 @@ private void setClientMode(String ntServerAddress) {
         ntInstance.stopServer();
         ntInstance.startClient4("photonvision");
         try {
-            Integer t = Integer.parseInt(ntServerAddress);
+            int t = Integer.parseInt(ntServerAddress);
             if (!isRetryingConnection) logger.info("Starting NT Client, server team is " + t);
             ntInstance.setServerTeam(t);
         } catch (NumberFormatException e) {

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java
@@ -17,8 +17,6 @@
 
 package org.photonvision.common.hardware.GPIO.pi;
 
-import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
-
 import org.photonvision.common.hardware.GPIO.GPIOBase;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
@@ -18,7 +18,6 @@
 package org.photonvision.common.hardware.GPIO.pi;
 
 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
-import static org.photonvision.common.hardware.GPIO.pi.PigpioException.PI_NO_WAVEFORM_ID;
 
 import java.io.IOException;
 import java.nio.ByteBuffer;
@@ -149,7 +148,7 @@ private int waveAddGeneric(ArrayList<PigpioPulse> pulses) throws PigpioException
         // ## extension ##
         // III on/off/delay * pulses
 
-        if (pulses == null || pulses.size() == 0) return 0;
+        if (pulses == null || pulses.isEmpty()) return 0;
 
         try {
             ByteBuffer bb = ByteBuffer.allocate(pulses.size() * 12);

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
@@ -48,9 +48,9 @@ public class HardwareManager {
     private final StatusLED statusLED;
 
     @SuppressWarnings("FieldCanBeLocal")
-    private IntegerSubscriber ledModeRequest;
+    private final IntegerSubscriber ledModeRequest;
 
-    private IntegerPublisher ledModeState;
+    private final IntegerPublisher ledModeState;
 
     @SuppressWarnings({"FieldCanBeLocal", "unused"})
     private final NTDataChangeListener ledModeListener;

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java b/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
@@ -34,7 +34,7 @@ public enum PiVersion {
     private static final ShellExec shell = new ShellExec(true, false);
     private static final PiVersion currentPiVersion = calcPiVersion();
 
-    private PiVersion(String s) {
+    PiVersion(String s) {
         this.identifier = s.toLowerCase();
     }
 

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
@@ -17,7 +17,6 @@
 
 package org.photonvision.common.hardware;
 
-import com.jogamp.common.os.Platform.OSType;
 import edu.wpi.first.util.RuntimeDetector;
 import java.io.BufferedReader;
 import java.io.IOException;

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java b/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
@@ -46,7 +46,7 @@ public class VisionLED {
 
     private int mappedBrightnessPercentage;
 
-    private Consumer<Integer> modeConsumer;
+    private final Consumer<Integer> modeConsumer;
 
     public VisionLED(
             List<Integer> ledPins,
@@ -179,11 +179,7 @@ private void setInternal(VisionLEDMode newLedMode, boolean fromNT) {
             }
             currentLedMode = newLedMode;
             logger.info(
-                    "Changing LED mode from \""
-                            + lastLedMode.toString()
-                            + "\" to \""
-                            + newLedMode.toString()
-                            + "\"");
+                    "Changing LED mode from \"" + lastLedMode.toString() + "\" to \"" + newLedMode + "\"");
         } else {
             if (currentLedMode == VisionLEDMode.kDefault) {
                 switch (newLedMode) {