From 0bc13fe1f12bdeac00901f5eae959c58c2f873c3 Mon Sep 17 00:00:00 2001 From: Matt Morley Date: Sun, 22 Sep 2024 10:45:42 -0700 Subject: [PATCH] Actually load wpilibc --- README.md | 2 + photon-core/build.gradle | 1 + .../networktables/NTDataPublisher.java | 2 +- .../networktables/NetworkTablesManager.java | 26 +++++++-- .../photonvision/common/util/TestUtils.java | 3 +- .../org/photonvision/PhotonCameraTest.java | 58 ++++++++++--------- photon-server/build.gradle | 2 +- .../src/main/java/org/photonvision/Main.java | 7 +++ .../org/photonvision/jni/TimeSyncClient.java | 7 ++- .../org/photonvision/jni/TimeSyncServer.java | 7 ++- .../src/test/java/net/TimeSyncTest.java | 25 ++++++++ 11 files changed, 103 insertions(+), 37 deletions(-) diff --git a/README.md b/README.md index 4fcf69c59..bd5e5af69 100644 --- a/README.md +++ b/README.md @@ -40,6 +40,8 @@ Note that these are case sensitive! - `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to - `-Pprofile`: enables JVM profiling +If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain` + ## Out-of-Source Dependencies PhotonVision uses the following additonal out-of-source repositories for building code. diff --git a/photon-core/build.gradle b/photon-core/build.gradle index a63354dcb..dc082ed58 100644 --- a/photon-core/build.gradle +++ b/photon-core/build.gradle @@ -17,6 +17,7 @@ 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-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 0d64eb5cb..fe42a3c96 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -131,7 +131,7 @@ public void updateCameraNickname(String newCameraNickname) { public void accept(CVPipelineResult result) { var now = NetworkTablesJNI.now(); - var offset = NetworkTablesManager.getInstance().m_timeSyncClient.getOffset(); + var offset = NetworkTablesManager.getInstance().getOffset(); var captureMicros = MathUtils.nanosToMicros(result.getImageCaptureTimestampNanos()); var simplified = diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java index 2769c9aa2..b9addc1e4 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java @@ -40,6 +40,7 @@ import org.photonvision.common.util.TimedTaskManager; import org.photonvision.common.util.file.JacksonUtils; import org.photonvision.jni.TimeSyncClient; +import org.photonvision.jni.TimeSyncServer; public class NetworkTablesManager { private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault(); @@ -54,12 +55,10 @@ public class NetworkTablesManager { private StringSubscriber m_fieldLayoutSubscriber = kRootTable.getStringTopic(kFieldLayoutName).subscribe(""); - public TimeSyncClient m_timeSyncClient; + private TimeSyncClient m_timeSyncClient; + private TimeSyncServer m_timeSyncServer; private NetworkTablesManager() { - m_timeSyncClient = new TimeSyncClient("127.0.0.1", 5812, 1.0); - m_timeSyncClient.start(); - ntInstance.addLogger(255, 255, (event) -> {}); // to hide error messages ntInstance.addConnectionListener(true, m_ntLogger); // to hide error messages @@ -165,14 +164,33 @@ private void broadcastVersion() { } public void setConfig(NetworkConfig config) { + if (m_timeSyncClient != null) m_timeSyncClient.stop(); + if (m_timeSyncServer != null) m_timeSyncServer.stop(); + m_timeSyncClient = null; + m_timeSyncServer = null; + if (config.runNTServer) { setServerMode(); + m_timeSyncServer = new TimeSyncServer(5810); + m_timeSyncServer.start(); } else { setClientMode(config.ntServerAddress); + m_timeSyncClient = new TimeSyncClient(config.ntServerAddress, 5810, 1.0); + m_timeSyncClient.start(); } + broadcastVersion(); } + public long getOffset() { + if (m_timeSyncClient != null) return m_timeSyncClient.getOffset(); + if (m_timeSyncServer != null) return 0; + + // ????? should never hit + logger.error("Client and server and null?"); + return 0; + } + private void setClientMode(String ntServerAddress) { ntInstance.stopServer(); ntInstance.startClient4("photonvision"); diff --git a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java index 671b1a76e..0717150ac 100644 --- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java +++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java @@ -69,10 +69,11 @@ public static boolean loadLibraries() { CombinedRuntimeLoader.loadLibraries( TestUtils.class, "wpiutiljni", - "wpimathjni", + "wpilibc", "ntcorejni", "wpinetjni", "wpiHaljni", + "wpi", Core.NATIVE_LIBRARY_NAME, "cscorejni", "apriltagjni"); diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java index fb00ce324..63cac1c28 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java @@ -27,17 +27,23 @@ import edu.wpi.first.apriltag.jni.AprilTagJNI; import edu.wpi.first.cscore.CameraServerCvJNI; import edu.wpi.first.cscore.CameraServerJNI; +import edu.wpi.first.hal.HAL; import edu.wpi.first.hal.JNIWrapper; import edu.wpi.first.math.WPIMathJNI; import edu.wpi.first.net.WPINetJNI; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.NetworkTablesJNI; import edu.wpi.first.util.CombinedRuntimeLoader; import edu.wpi.first.util.WPIUtilJNI; +import edu.wpi.first.wpilibj.Timer; + import java.io.IOException; import org.junit.jupiter.api.Assertions; import org.junit.jupiter.api.Test; import org.opencv.core.Core; import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.jni.PhotonTargetingJniLoader; +import org.photonvision.jni.TimeSyncServer; import org.photonvision.targeting.PhotonPipelineResult; class PhotonCameraTest { @@ -78,38 +84,38 @@ public void testEmpty() { }); } - // @Test - // public void testMeme() throws InterruptedException, IOException { - // load_wpilib(); - // PhotonTargetingJniLoader.load(); + @Test + public void testMeme() throws InterruptedException, IOException { + load_wpilib(); + PhotonTargetingJniLoader.load(); - // HAL.initialize(500, 0); + HAL.initialize(500, 0); - // NetworkTableInstance.getDefault().stopClient(); - // NetworkTableInstance.getDefault().startServer(); + NetworkTableInstance.getDefault().stopClient(); + NetworkTableInstance.getDefault().startServer(); - // var server = new TimeSyncServer(5812); - // server.start(); + var server = new TimeSyncServer(5810); + server.start(); - // var camera = new PhotonCamera("Microsoft_LifeCam_HD-3000"); - // PhotonCamera.setVersionCheckEnabled(false); + var camera = new PhotonCamera("Arducam_OV9281_USB_Camera"); + PhotonCamera.setVersionCheckEnabled(false); - // for (int i = 0; i < 200; i++) { - // Thread.sleep(100); + for (int i = 0; i < 20000; i++) { + Thread.sleep(100); - // var res = camera.getLatestResult(); - // var captureTime = res.getTimestampSeconds(); - // var now = Timer.getFPGATimestamp(); + var res = camera.getLatestResult(); + var captureTime = res.getTimestampSeconds(); + var now = Timer.getFPGATimestamp(); - // // expectTrue(captureTime < now); + // expectTrue(captureTime < now); - // System.out.println( - // "sequence " - // + res.metadata.sequenceID - // + " image capture " - // + captureTime - // + " recieved at " - // + now); - // } - // } + System.out.println( + "sequence " + + res.metadata.sequenceID + + " image capture " + + captureTime + + " recieved at " + + now); + } + } } diff --git a/photon-server/build.gradle b/photon-server/build.gradle index 99375bb59..2515d65b9 100644 --- a/photon-server/build.gradle +++ b/photon-server/build.gradle @@ -103,7 +103,7 @@ task findDeployTarget { task deploy { dependsOn findDeployTarget - dependsOn assemble + dependsOn 'shadowJar' doLast { println 'Starting deployment to ' + findDeployTarget.rmt.host diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 86c5c76f7..cd5484774 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -59,6 +59,8 @@ import org.photonvision.vision.processes.VisionSourceManager; import org.photonvision.vision.target.TargetModel; +import edu.wpi.first.hal.HAL; + public class Main { public static final int DEFAULT_WEBPORT = 5800; @@ -381,6 +383,11 @@ public static void main(String[] args) { } logger.info("WPI JNI libraries loaded."); + if (!HAL.initialize(500, 0)) { + logger.error("Failed to initialize the HAL! Giving up :("); + System.exit(1); + } + try { if (Platform.isRaspberryPi()) { LibCameraJNILoader.forceLoad(); diff --git a/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java b/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java index 4dbf46efe..55bf987ec 100644 --- a/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java +++ b/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java @@ -28,7 +28,7 @@ public static class PingMetadata { long lastPongTime; } - final long handle; + private long handle; public TimeSyncClient(String server, int port, double interval) { this.handle = TimeSyncClient.create(server, port, interval); @@ -39,7 +39,10 @@ public void start() { } public void stop() { - TimeSyncClient.stop(handle); + if (handle > 0) { + TimeSyncClient.stop(handle); + handle = 0; + } } /** diff --git a/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java b/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java index ba6d36ab9..455702531 100644 --- a/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java +++ b/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java @@ -18,7 +18,7 @@ package org.photonvision.jni; public class TimeSyncServer { - final long handle; + private long handle; public TimeSyncServer(int port) { this.handle = TimeSyncServer.create(port); @@ -29,7 +29,10 @@ public void start() { } public void stop() { - TimeSyncServer.stop(handle); + if (handle > 0) { + TimeSyncServer.stop(handle); + handle = 0; + } } private static native long create(int port); diff --git a/photon-targeting/src/test/java/net/TimeSyncTest.java b/photon-targeting/src/test/java/net/TimeSyncTest.java index 162087cd5..9ab64679f 100644 --- a/photon-targeting/src/test/java/net/TimeSyncTest.java +++ b/photon-targeting/src/test/java/net/TimeSyncTest.java @@ -81,4 +81,29 @@ public void smoketest() throws InterruptedException { server.stop(); client.stop(); } + + // @Test + // public void runClient() throws InterruptedException { + // try { + // load_wpilib(); + // PhotonTargetingJniLoader.load(); + // } catch (IOException e) { + // assertTrue(false); + // } + + // HAL.initialize(1000, 0); + + // var client = new TimeSyncClient("10.0.0.141", 5810, 1.0); + + // System.err.println("Waiting: PID=" + ProcessHandle.current().pid()); + + // client.start(); + + // for (int i = 0; i < 20; i++) { + // Thread.sleep(1000); + // System.out.println(client.getOffset()); + // } + + // client.stop(); + // } }