[photon-targeting] Remove dependency on wpilibc

Closes https://github.com/PhotonVision/photonvision/pull/1543/files Signed-off-by: Jade Turner <[email protected]>
PhotonVision · Nov 10, 2024 · cc96a06 · cc96a06
1 parent 14f7155
commit cc96a06
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Showing 5 changed files with 4 additions and 21 deletions.
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
@@ -18,7 +18,6 @@ def nativeTasks = wpilibTools.createExtractionTasks {
 
 nativeTasks.addToSourceSetResources(sourceSets.main)
 
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpilibc")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")

diff --git a/photon-lib/src/generate/photonlib.json.in b/photon-lib/src/generate/photonlib.json.in
@@ -10,19 +10,6 @@
   ],
   "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
   "jniDependencies": [
-    {
-      "groupId": "edu.wpi.first.wpilibc",
-      "artifactId": "wpilibc-cpp",
-      "version": "${wpilib_version}",
-      "skipInvalidPlatforms": true,
-      "isJar": false,
-      "validPlatforms": [
-        "windowsx86-64",
-        "linuxathena",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
-    },
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",

diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
@@ -64,7 +64,6 @@ model {
             nativeUtils.useRequiredLibrary(it, "wpiutil_shared")
             nativeUtils.useRequiredLibrary(it, "wpimath_shared")
             nativeUtils.useRequiredLibrary(it, "wpinet_shared")
-            nativeUtils.useRequiredLibrary(it, "wpilibc_shared")
             nativeUtils.useRequiredLibrary(it, "ntcore_shared")
         }
         "${nativeName}JNI"(JniNativeLibrarySpec) {
@@ -215,7 +214,6 @@ def nativeTasks = wpilibTools.createExtractionTasks {
 
 nativeTasks.addToSourceSetResources(sourceSets.test)
 
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpilibc")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")

diff --git a/photon-targeting/src/generated/main/java/org/photonvision/jni/WpilibLoader.java b/photon-targeting/src/generated/main/java/org/photonvision/jni/WpilibLoader.java
@@ -64,7 +64,6 @@ public static boolean loadLibraries() {
             CombinedRuntimeLoader.loadLibraries(
                     WpilibLoader.class,
                     "wpiutiljni",
-                    "wpilibc",
                     "wpimathjni",
                     "ntcorejni",
                     "wpinetjni",

diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
@@ -21,12 +21,12 @@
 #include <string>
 #include <utility>
 
-#include <frc/Errors.h>
 #include <units/time.h>
 #include <wpi/SmallVector.h>
 
 #include "MultiTargetPNPResult.h"
 #include "PhotonTrackedTarget.h"
+#include "fmt/base.h"
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/struct/PhotonPipelineResultStruct.h"
 
@@ -73,9 +73,9 @@ class PhotonPipelineResult : public PhotonPipelineResult_PhotonStruct {
    */
   PhotonTrackedTarget GetBestTarget() const {
     if (!HasTargets() && !HAS_WARNED) {
-      FRC_ReportError(
-          frc::warn::Warning, "{}",
-          "This PhotonPipelineResult object has no targets associated with it! "
+      fmt::println(
+          "WARNING: This PhotonPipelineResult object has no targets associated "
+          "with it! "
           "Please check HasTargets() before calling this method. For more "
           "information, please review the PhotonLib documentation at "
           "http://docs.photonvision.org");