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

.github/ISSUE_TEMPLATE/bug_report.md

@@ -18,7 +18,7 @@ Steps to reproduce the behavior:
 4. See error
 
 **Screenshots / Videos**
-If applicable, add screenshots to help explain your problem. Additionally, provide journalctl logs and settings zip export.
+If applicable, add screenshots to help explain your problem. Additionally, provide journalctl logs and settings zip export. If your issue is regarding the web dashboard, please provide screenshots and the output of the browser console.
 
 **Platform:**
  - Hardware Platform (ex. Raspberry Pi 4, Windows x64):

.github/workflows/build.yml

@@ -119,7 +119,7 @@ jobs:
           path: build/html
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 11
+      MACOSX_DEPLOYMENT_TARGET: 12
     strategy:
       fail-fast: false
       matrix:

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.22.0"
-    id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
+    id "edu.wpi.first.NativeUtils" version "2024.3.2" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
@@ -22,6 +22,7 @@ apply from: "versioningHelper.gradle"
 
 ext {
     wpilibVersion = "2024.1.1-beta-3"
+    wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
@@ -38,16 +39,12 @@ ext {
     if (wpilibNativeName == "macx64") nativeName = "osxx86-64";
     if (wpilibNativeName == "macarm64") nativeName = "osxarm64";
     jniPlatform = nativeName
-    println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
+
+    println("Building for platform: " + jniPlatform + " wpilib: " + wpilibNativeName)
+    println("Using Wpilib: " + wpilibVersion)
+    println("Using OpenCV: " + openCVversion)
 }
 
-wpilibTools.deps.wpilibVersion = wpilibVersion
-
-// Tell gradlerio what version of things to use (that we care about)
-// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
-wpi.getVersions().getOpencvVersion().convention(openCVversion);
-wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
-
 spotless {
     java {
         target fileTree('.') {

photon-client/src/components/app/photon-camera-stream.vue

@@ -8,7 +8,7 @@ import PvIcon from "@/components/common/pv-icon.vue";
 
 const props = defineProps<{
   streamType: "Raw" | "Processed";
-  id?: string;
+  id: string;
 }>();
 
 const streamSrc = computed<string>(() => {
@@ -25,8 +25,6 @@ const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
 const streamStyle = computed<StyleValue>(() => {
   if (useStateStore().colorPickingMode) {
     return { width: "100%", cursor: "crosshair" };
-  } else if (streamSrc.value !== loadingImage) {
-    return { width: "100%", cursor: "pointer" };
   }
 
   return { width: "100%" };
@@ -40,37 +38,45 @@ const overlayStyle = computed<StyleValue>(() => {
   }
 });
 
-const handleStreamClick = () => {
-  if (!useStateStore().colorPickingMode && streamSrc.value !== loadingImage) {
-    window.open(streamSrc.value);
-  }
-};
 const handleCaptureClick = () => {
   if (props.streamType === "Raw") {
     useCameraSettingsStore().saveInputSnapshot();
   } else {
     useCameraSettingsStore().saveOutputSnapshot();
   }
 };
+const handlePopoutClick = () => {
+  window.open(streamSrc.value);
+};
+const handleFullscreenRequest = () => {
+  const stream = document.getElementById(props.id);
+  if (!stream) return;
+  stream.requestFullscreen();
+};
 </script>
 
 <template>
   <div class="stream-container">
-    <img
-      :id="id"
-      crossorigin="anonymous"
-      :src="streamSrc"
-      :alt="streamDesc"
-      :style="streamStyle"
-      @click="handleStreamClick"
-    />
+    <img :id="id" crossorigin="anonymous" :src="streamSrc" :alt="streamDesc" :style="streamStyle" />
     <div class="stream-overlay" :style="overlayStyle">
       <pv-icon
         icon-name="mdi-camera-image"
         tooltip="Capture and save a frame of this stream"
         class="ma-1 mr-2"
         @click="handleCaptureClick"
       />
+      <pv-icon
+        icon-name="mdi-fullscreen"
+        tooltip="Open this stream in fullscreen"
+        class="ma-1 mr-2"
+        @click="handleFullscreenRequest"
+      />
+      <pv-icon
+        icon-name="mdi-open-in-new"
+        tooltip="Open this stream in a new window"
+        class="ma-1 mr-2"
+        @click="handlePopoutClick"
+      />
     </div>
   </div>
 </template>
@@ -81,6 +87,7 @@ const handleCaptureClick = () => {
 }
 
 .stream-overlay {
+  display: flex;
   opacity: 0;
   transition: 0.1s ease;
   position: absolute;

photon-client/src/components/cameras/CamerasView.vue

@@ -78,10 +78,20 @@ const fpsTooLow = computed<boolean>(() => {
     </v-card-title>
     <div class="stream-container pb-4">
       <div class="stream">
-        <photon-camera-stream v-show="value.includes(0)" stream-type="Raw" style="max-width: 100%" />
+        <photon-camera-stream
+          v-show="value.includes(0)"
+          id="input-camera-stream"
+          stream-type="Raw"
+          style="max-width: 100%"
+        />
       </div>
       <div class="stream">
-        <photon-camera-stream v-show="value.includes(1)" stream-type="Processed" style="max-width: 100%" />
+        <photon-camera-stream
+          v-show="value.includes(1)"
+          id="output-camera-stream"
+          stream-type="Processed"
+          style="max-width: 100%"
+        />
       </div>
     </div>
     <v-divider />

photon-client/src/components/dashboard/tabs/TargetsTab.vue

@@ -41,7 +41,7 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <th class="text-center">Ambiguity %</th>
+                <th class="text-center">Ambiguity Ratio</th>
               </template>
             </tr>
           </thead>
@@ -73,7 +73,7 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <td>{{ target.ambiguity >= 0 ? target.ambiguity?.toFixed(2) + "%" : "(In Multi-Target)" }}</td>
+                <td>{{ target.ambiguity >= 0 ? target.ambiguity.toFixed(2) : "(In Multi-Target)" }}</td>
               </template>
             </tr>
           </tbody>
@@ -102,7 +102,14 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
         <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
           <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m</td>
           <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m</td>
-          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z.toFixed(2) }}&deg;</td>
+          <td>
+            {{
+              (
+                useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z *
+                (180.0 / Math.PI)
+              ).toFixed(2)
+            }}&deg;
+          </td>
           <td>{{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}</td>
         </tbody>
       </v-simple-table>

photon-core/build.gradle

@@ -1,41 +1,27 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
 import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
-    implementation project(':photon-targeting')
-
-    implementation "io.javalin:javalin:$javalinVersion"
-
-    implementation 'org.msgpack:msgpack-core:0.9.0'
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
-
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion"
-
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
 
     // Zip
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
 
     implementation "org.photonvision:photon-mrcal-java:dev-Unknown"
     implementation "org.photonvision:photon-mrcal-jni:dev-Unknown:" + wpilibNativeName;
 }
 
-task writeCurrentVersionJava {
+task writeCurrentVersion {
     def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
     writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
             versionString)
 }
 
-build.dependsOn writeCurrentVersionJava
+build.dependsOn writeCurrentVersion

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -51,6 +51,7 @@ static class TableKeys {
         static final String CAM_UNIQUE_NAME = "unique_name";
         static final String CONFIG_JSON = "config_json";
         static final String DRIVERMODE_JSON = "drivermode_json";
+        static final String OTHERPATHS_JSON = "otherpaths_json";
         static final String PIPELINE_JSONS = "pipeline_jsons";
 
         static final String NETWORK_CONFIG = "networkConfig";
@@ -147,6 +148,7 @@ private void initDatabase() {
                                 + " unique_name TINYTEXT PRIMARY KEY,\n"
                                 + " config_json text NOT NULL,\n"
                                 + " drivermode_json text NOT NULL,\n"
+                                + " otherpaths_json text NOT NULL,\n"
                                 + " pipeline_jsons mediumtext NOT NULL\n"
                                 + ");";
                 createCameraTableStatement.execute(sql);
@@ -295,8 +297,8 @@ private void saveCameras(Connection conn) {
         try {
             // Replace this camera's row with the new settings
             var sqlString =
-                    "REPLACE INTO cameras (unique_name, config_json, drivermode_json, pipeline_jsons) VALUES "
-                            + "(?,?,?,?);";
+                    "REPLACE INTO cameras (unique_name, config_json, drivermode_json, otherpaths_json, pipeline_jsons) VALUES "
+                            + "(?,?,?,?,?);";
 
             for (var c : config.getCameraConfigurations().entrySet()) {
                 PreparedStatement statement = conn.prepareStatement(sqlString);
@@ -305,6 +307,7 @@ private void saveCameras(Connection conn) {
                 statement.setString(1, c.getKey());
                 statement.setString(2, JacksonUtils.serializeToString(config));
                 statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
+                statement.setString(4, JacksonUtils.serializeToString(config.otherPaths));
 
                 // Serializing a list of abstract classes sucks. Instead, make it into an array
                 // of strings, which we can later unpack back into individual settings
@@ -321,7 +324,7 @@ private void saveCameras(Connection conn) {
                                         })
                                 .filter(Objects::nonNull)
                                 .collect(Collectors.toList());
-                statement.setString(4, JacksonUtils.serializeToString(settings));
+                statement.setString(5, JacksonUtils.serializeToString(settings));
 
                 statement.executeUpdate();
             }
@@ -455,10 +458,11 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)
             query =
                     conn.prepareStatement(
                             String.format(
-                                    "SELECT %s, %s, %s, %s FROM cameras",
+                                    "SELECT %s, %s, %s, %s, %s FROM cameras",
                                     TableKeys.CAM_UNIQUE_NAME,
                                     TableKeys.CONFIG_JSON,
                                     TableKeys.DRIVERMODE_JSON,
+                                    TableKeys.OTHERPATHS_JSON,
                                     TableKeys.PIPELINE_JSONS));
 
             var result = query.executeQuery();
@@ -474,6 +478,8 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)
                 var driverMode =
                         JacksonUtils.deserialize(
                                 result.getString(TableKeys.DRIVERMODE_JSON), DriverModePipelineSettings.class);
+                var otherPaths =
+                        JacksonUtils.deserialize(result.getString(TableKeys.OTHERPATHS_JSON), String[].class);
                 List<?> pipelineSettings =
                         JacksonUtils.deserialize(
                                 result.getString(TableKeys.PIPELINE_JSONS), dummyList.getClass());
@@ -487,6 +493,7 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)
 
                 config.pipelineSettings = loadedSettings;
                 config.driveModeSettings = driverMode;
+                config.otherPaths = otherPaths;
                 loadedConfigurations.put(uniqueName, config);
             }
         } catch (SQLException | IOException e) {

photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java

@@ -27,6 +27,7 @@ public enum PiVersion {
     ZERO_2_W("Raspberry Pi Zero 2"),
     PI_3("Pi 3"),
     PI_4("Pi 4"),
+    PI_5("Pi 5"),
     COMPUTE_MODULE_3("Compute Module 3"),
     UNKNOWN("UNKNOWN");
 

photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java

@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.camera;
 
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Objects;
@@ -108,8 +110,20 @@ public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid, String baseNa
         for (var qc : quirkyCameras) {
             boolean hasBaseName = !qc.baseName.isEmpty();
             boolean matchesBaseName = qc.baseName.equals(baseName) || !hasBaseName;
+            // If we have a quirkycamera we need to copy the quirks from our predefined object and create
+            // a quirkycamera object with the baseName.
             if (qc.usbVid == usbVid && qc.usbPid == usbPid && matchesBaseName) {
-                return qc;
+                List<CameraQuirk> quirks = new ArrayList<CameraQuirk>();
+                for (var q : CameraQuirk.values()) {
+                    if (qc.hasQuirk(q)) quirks.add(q);
+                }
+                QuirkyCamera c =
+                        new QuirkyCamera(
+                                usbVid,
+                                usbPid,
+                                baseName,
+                                Arrays.copyOf(quirks.toArray(), quirks.size(), CameraQuirk[].class));
+                return c;
             }
         }
         return new QuirkyCamera(usbVid, usbPid, baseName);