Merge branch 'master' into 2023-11-21_ambiguity-typo-fix

build.gradle

@@ -21,6 +21,7 @@ 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"
@@ -36,16 +37,11 @@ ext {
     if (nativeName == "macx64") nativeName = "osxx86-64";
     if (nativeName == "macarm64") nativeName = "osxarm64";
     jniPlatform = nativeName
-    println("Building for platform " + jniPlatform)
+    println("Building for platform: " + jniPlatform)
+    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-core/build.gradle

@@ -1,38 +1,24 @@
-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"
 }
 
-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/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-lib/build.gradle

@@ -9,54 +9,14 @@ import java.nio.file.Path
 ext {
     nativeName = "photonlib"
     includePhotonTargeting = true
+    // Include the generated Version file
+    generatedHeaders = "src/generate/native/include"
 }
 
-apply from: "${rootDir}/shared/setupBuild.gradle"
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 apply from: "${rootDir}/versioningHelper.gradle"
 
-
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
-
-def nativeConfigName = 'wpilibNatives'
-def nativeConfig = configurations.create(nativeConfigName)
-
-def nativeTasks = wpilibTools.createExtractionTasks {
-    configurationName = nativeConfigName
-}
-
-nativeTasks.addToSourceSetResources(sourceSets.main)
-
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
-
-dependencies {
-    implementation project(":photon-targeting")
-
-    implementation wpilibTools.deps.wpilibJava("wpiutil")
-    implementation wpilibTools.deps.wpilibJava("cameraserver")
-    implementation wpilibTools.deps.wpilibJava("cscore")
-    implementation wpilibTools.deps.wpilibJava("wpinet")
-    implementation wpilibTools.deps.wpilibJava("wpimath")
-    implementation wpilibTools.deps.wpilibJava("ntcore")
-    implementation wpilibTools.deps.wpilibJava("hal")
-    implementation wpilibTools.deps.wpilibJava("wpilibj")
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-    implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
-
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
-
-    implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
-    implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
-}
-
+// Include the version file in the distributed sources
 cppHeadersZip {
     from('src/generate/native/include') {
         into '/'
@@ -66,8 +26,6 @@ cppHeadersZip {
 def photonlibFileInput = file("src/generate/photonlib.json.in")
 ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")
 
-def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
-
 task generateVendorJson() {
     description = "Generates the vendor JSON file"
     group = "PhotonVision"
@@ -103,18 +61,9 @@ task writeCurrentVersion {
 
 build.mustRunAfter writeCurrentVersion
 
-model {
-    components {
-        all {
-            it.sources.each {
-                it.exportedHeaders {
-                    srcDirs "src/main/native/include"
-                    srcDirs "src/generate/native/include"
-                }
-            }
-        }
-    }
+def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
 
+model {
     // Publish the vendordep json
     publishing {
         publications {