Merge remote-tracking branch 'upstream' into opencv-dnn

.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

build.gradle

@@ -26,9 +26,12 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2023.4.2"
-    opencvVersion = "4.8.0-1"
+    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")
 
@@ -60,3 +63,7 @@ spotless {
         targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
     }
 }
+
+wrapper {
+    gradleVersion '8.3'
+}

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

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##*/}

photon-client/src/components/app/photon-3d-visualizer.vue

@@ -4,18 +4,18 @@ import { onBeforeUnmount, onMounted, watchEffect } from "vue";
 import {
   ArrowHelper,
   BoxGeometry,
+  Color,
   ConeGeometry,
   Mesh,
   MeshNormalMaterial,
+  type Object3D,
   PerspectiveCamera,
   Quaternion,
   Scene,
   Vector3,
-  Color,
   WebGLRenderer
 } from "three";
 import { TrackballControls } from "three/examples/jsm/controls/TrackballControls";
-import { type Object3D } from "three";
 
 const props = defineProps<{
   targets: PhotonTarget[];

photon-client/src/components/app/photon-log-view.vue

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, ref, inject } from "vue";
+import { computed, inject, ref } from "vue";
 import { LogLevel, type LogMessage } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 

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

@@ -1,7 +1,7 @@
 <script setup lang="ts">
 import { computed, ref } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { CalibrationBoardTypes, type VideoFormat, type Resolution } from "@/types/SettingTypes";
+import { CalibrationBoardTypes, type Resolution, type VideoFormat } from "@/types/SettingTypes";
 import JsPDF from "jspdf";
 import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
 import MonoLogo from "@/assets/images/logoMono.png";
@@ -150,7 +150,10 @@ const importCalibrationFromCalibDB = ref();
 const openCalibUploadPrompt = () => {
   importCalibrationFromCalibDB.value.click();
 };
-const readImportedCalibration = ({ files }: { files: FileList }) => {
+const readImportedCalibration = (payload: Event) => {
+  if (payload.target == null || !payload.target?.files) return;
+  const files: FileList = payload.target.files as FileList;
+
   files[0].text().then((text) => {
     useCameraSettingsStore()
       .importCalibDB({ payload: text, filename: files[0].name })

photon-client/src/components/settings/DeviceControlCard.vue

@@ -63,14 +63,17 @@ const offlineUpdate = ref();
 const openOfflineUpdatePrompt = () => {
   offlineUpdate.value.click();
 };
-const handleOfflineUpdate = ({ files }: { files: FileList }) => {
+const handleOfflineUpdate = (payload: Event) => {
   useStateStore().showSnackbarMessage({
     message: "New Software Upload in Progress...",
     color: "secondary",
     timeout: -1
   });
 
   const formData = new FormData();
+
+  if (payload.target == null || !payload.target?.files) return;
+  const files: FileList = payload.target.files as FileList;
   formData.append("jarData", files[0]);
 
   axios

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -11,8 +11,7 @@ import { PlaceholderCameraSettings } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 import type { WebsocketCameraSettingsUpdate } from "@/types/WebsocketDataTypes";
 import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
-import type { ActiveConfigurablePipelineSettings, ActivePipelineSettings } from "@/types/PipelineTypes";
-import type { PipelineType } from "@/types/PipelineTypes";
+import type { ActiveConfigurablePipelineSettings, ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
 import axios from "axios";
 
 interface CameraSettingsStore {
@@ -174,9 +173,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       settings: Partial<ActivePipelineSettings>,
       cameraIndex: number = useStateStore().currentCameraIndex
     ) {
-      Object.entries(settings).forEach(([k, v]) => {
-        this.cameras[cameraIndex].pipelineSettings[k] = v;
-      });
+      Object.assign(this.cameras[cameraIndex].pipelineSettings, settings);
     },
     /**
      * Change the nickname of the currently selected pipeline of the provided camera.

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -1,10 +1,10 @@
 import { defineStore } from "pinia";
 import type {
+  ConfigurableNetworkSettings,
   GeneralSettings,
   LightingSettings,
   MetricData,
-  NetworkSettings,
-  ConfigurableNetworkSettings
+  NetworkSettings
 } from "@/types/SettingTypes";
 import { NetworkConnectionType } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";

photon-client/src/types/WebsocketDataTypes.ts

@@ -1,6 +1,5 @@
-import type { GeneralSettings, LightingSettings, MetricData, NetworkSettings } from "@/types/SettingTypes";
+import type { GeneralSettings, LightingSettings, LogLevel, MetricData, NetworkSettings } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
-import type { LogLevel } from "@/types/SettingTypes";
 
 export interface WebsocketLogMessage {
   logMessage: {

photon-core/build.gradle

@@ -9,7 +9,7 @@ apply from: "${rootDir}/shared/common.gradle"
 dependencies {
     implementation project(':photon-targeting')
 
-    implementation 'io.javalin:javalin:4.2.0'
+    implementation "io.javalin:javalin:$javalinVersion"
 
     implementation 'org.msgpack:msgpack-core:0.9.0'
     implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
@@ -27,9 +27,6 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("apriltag")
 
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
-
-    // NetworkManager
-    implementation "com.github.hypfvieh:dbus-java:3.3.2"
 }
 
 task writeCurrentVersionJava {

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);

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);

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());
     }

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>();