Fix things

photon-targeting/build.gradle

@@ -55,13 +55,13 @@ model {
             nativeUtils.useRequiredLibrary(it, "opencv_shared")
         }
         "${nativeName}JNI"(JniNativeLibrarySpec) {
-            
+
             enableCheckTask project.hasProperty('doJniCheck')
             javaCompileTasks << compileJava
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
-            
+
             sources {
                 cpp {
                     source {
@@ -83,7 +83,7 @@ model {
             binaries.withType(SharedLibraryBinarySpec) { binary ->
                 // check that we're building for the platform (per PArchOverride/wpilib plat detection)
                 if (binary.targetPlatform.name == jniPlatform) {
-                    
+
                     // only include release binaries (hard coded for now)
                     def isDebug = binary.buildType.name.contains('debug')
                     if (!isDebug) {
@@ -95,7 +95,6 @@ model {
                             // And (not sure if this is a hack) make the jar task depend on the build task
                             dependsOn binary.identifier.projectScopedName
                         }
-
                     }
                 }
             }

photon-targeting/src/main/java/org/photonvision/jni/CalibrationHelper.java → photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java

@@ -17,18 +17,21 @@
 
 package org.photonvision.jni;
 
-public class CalibrationHelper {
-    public static class CalResult {}
+public class TimeSyncClient {
+    public static class PingMetadata {
+        long offset;
+        long pingsSent;
+        long pingsRecieved;
+        long lastPongTime;
+    }
 
-    public static native long Create(int width, int height, long overlayMatPtr, double tolerance);
+    public static native long create(String serverIP, int serverPort, double pingIntervalSeconds);
 
-    public static native long Destroy();
+    public static native void start(long handle);
 
-    public static native CalResult Detect(long inputImg, long outputImg);
+    public static native void stop(long handle);
 
-    public static void main(String[] args) {
-        System.load(
-                "/home/matt/Documents/GitHub/photonvision/photon-core/build/libs/photoncoreJNI/shared/linuxx86-64/release/libphotoncorejni.so");
-        System.out.println(Create(1, 2, 3, 4));
-    }
+    public static native long getOffset(long handle);
+
+    public static native PingMetadata getLatestMetadata();
 }

photon-targeting/src/main/native/jni/CalibrationHelperJNI.cpp → photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java

@@ -15,35 +15,12 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <org_photonvision_jni_CalibrationHelper.h>
+package org.photonvision.jni;
 
-#include <cstdio>
+public class TimeSyncServer {
+    public static native long create(int port);
 
-#include <opencv2/core.hpp>
-#include <opencv2/core/mat.hpp>
-#include <opencv2/imgcodecs.hpp>
+    public static native void start(long handle);
 
-
-
-extern "C" {
-
-/*
- * Class:     org_photonvision_jni_CalibrationHelper
- * Method:    Create
- * Signature: (IIJD)J
- */
-JNIEXPORT jlong JNICALL
-Java_org_photonvision_jni_CalibrationHelper_Create
-  (JNIEnv*, jclass, jint, jint, jlong, jdouble)
-{
-
-  cv::Mat mat = cv::imread(
-      "/home/matt/Documents/GitHub/photonvision/test-resources/testimages/2022/"
-      "WPI/FarLaunchpad13ft10in.png");
-
-  std::printf("mat size %i %i\n", mat.rows, mat.cols);
-
-  return 0;
+    public static native void stop(long handle);
 }
-
-}  // extern "C"

photon-targeting/src/main/native/cpp/net/TimeSyncClientServer.cpp

@@ -1,9 +1,26 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
+/*
+ * 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/>.
+ */
 
 #include "net/TimeSyncClientServer.h"
 
+#include <fmt/core.h>
+#include <wpinet/UDPClient.h>
+#include <wpinet/uv/util.h>
+
 #include <atomic>
 #include <chrono>
 #include <cstdlib>
@@ -14,11 +31,7 @@
 #include <thread>
 
 #include <wpi/Logger.h>
-// #include <wpi/print.h>
-#include <fmt/core.h>
 #include <wpi/struct/Struct.h>
-#include <wpinet/UDPClient.h>
-#include <wpinet/uv/util.h>
 
 #include "ntcore_cpp.h"
 
@@ -169,9 +182,7 @@ void wpi::TimeSyncServer::Start() {
   m_udp->StartRecv();
 }
 
-void wpi::TimeSyncServer::Stop() {
-  m_loopRunner.Stop();
-}
+void wpi::TimeSyncServer::Stop() { m_loopRunner.Stop(); }
 
 void wpi::TimeSyncClient::Tick() {
   fmt::println("wpi::TimeSyncClient::Tick");
@@ -286,9 +297,7 @@ void wpi::TimeSyncClient::Start() {
       [this](uv::Loop&) { m_pingTimer->Start(m_loopDelay, m_loopDelay); });
 }
 
-void wpi::TimeSyncClient::Stop() {
-  m_loopRunner.Stop();
-}
+void wpi::TimeSyncClient::Stop() { m_loopRunner.Stop(); }
 
 int64_t wpi::TimeSyncClient::GetOffset() {
   std::lock_guard lock{m_offsetMutex};

photon-targeting/src/main/native/include/net/TimeSyncClientServer.h

@@ -1,9 +1,29 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
+/*
+ * 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/>.
+ */
 
 #pragma once
 
+#include <fmt/core.h>
+#include <wpinet/EventLoopRunner.h>
+#include <wpinet/UDPClient.h>
+#include <wpinet/uv/Buffer.h>
+#include <wpinet/uv/Timer.h>
+#include <wpinet/uv/Udp.h>
+
 #include <atomic>
 #include <chrono>
 #include <cstdlib>
@@ -17,14 +37,7 @@
 #include <thread>
 
 #include <wpi/Logger.h>
-// #include <wpi/print.h>
-#include <fmt/core.h>
 #include <wpi/struct/Struct.h>
-#include <wpinet/EventLoopRunner.h>
-#include <wpinet/UDPClient.h>
-#include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Timer.h>
-#include <wpinet/uv/Udp.h>
 
 #include "ntcore_cpp.h"
 
@@ -59,7 +72,7 @@ class TimeSyncServer {
 
  public:
   explicit TimeSyncServer(int port = 5810,
-                 std::function<uint64_t()> timeProvider = nt::Now);
+                          std::function<uint64_t()> timeProvider = nt::Now);
 
   /**
    * Start listening for pings

photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp

@@ -0,0 +1,104 @@
+/*
+ * 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/>.
+ */
+
+#include <org_photonvision_jni_TimeSyncClient.h>
+
+#include <cstdio>
+
+#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgcodecs.hpp>
+
+#include "net/TimeSyncClientServer.h"
+
+using namespace wpi;
+
+extern "C" {
+
+/*
+ * Class:     org_photonvision_jni_TimeSyncClient
+ * Method:    create
+ * Signature: (Ljava/lang/String;ID)J
+ */
+JNIEXPORT jlong JNICALL
+Java_org_photonvision_jni_TimeSyncClient_create
+  (JNIEnv* env, jclass, jstring name, jint port, jdouble interval)
+{
+  using namespace std::chrono_literals;
+
+  const char* c_name{env->GetStringUTFChars(name, 0)};
+  std::string cpp_name{c_name};
+  jlong ret{reinterpret_cast<jlong>(
+      new TimeSyncClient(cpp_name, static_cast<int>(port),
+                         std::chrono::duration_cast<std::chrono::milliseconds>(
+                             std::chrono::duration<double>(interval))))};
+  env->ReleaseStringUTFChars(name, c_name);
+  return ret;
+}
+
+/*
+ * Class:     org_photonvision_jni_TimeSyncClient
+ * Method:    start
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_photonvision_jni_TimeSyncClient_start
+  (JNIEnv*, jclass, jlong ptr)
+{
+  TimeSyncClient* server = reinterpret_cast<TimeSyncClient*>(ptr);
+  server->Start();
+}
+
+/*
+ * Class:     org_photonvision_jni_TimeSyncClient
+ * Method:    stop
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_photonvision_jni_TimeSyncClient_stop
+  (JNIEnv*, jclass, jlong ptr)
+{
+  TimeSyncClient* server = reinterpret_cast<TimeSyncClient*>(ptr);
+  server->Stop();
+}
+
+/*
+ * Class:     org_photonvision_jni_TimeSyncClient
+ * Method:    getOffset
+ * Signature: (J)J
+ */
+JNIEXPORT jlong JNICALL
+Java_org_photonvision_jni_TimeSyncClient_getOffset
+  (JNIEnv*, jclass, jlong ptr)
+{
+  TimeSyncClient* server = reinterpret_cast<TimeSyncClient*>(ptr);
+  return server->GetOffset();
+}
+
+/*
+ * Class:     org_photonvision_jni_TimeSyncClient
+ * Method:    getLatestMetadata
+ * Signature: ()Ljava/lang/Object;
+ */
+JNIEXPORT jobject JNICALL
+Java_org_photonvision_jni_TimeSyncClient_getLatestMetadata
+  (JNIEnv*, jclass)
+{
+  return nullptr;
+}
+
+}  // extern "C"