Merge branch 'master' into fix-inorrectly-setting-gain

PhotonVision · Sep 16, 2024 · 7cd7ad6 · 7cd7ad6
2 parents 09a50df + 5460585
commit 7cd7ad6
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Showing 4 changed files with 17 additions and 228 deletions.
diff --git a/build.gradle b/build.gradle
@@ -2,7 +2,7 @@ import edu.wpi.first.toolchain.*
 
 plugins {
     id "com.diffplug.spotless" version "6.24.0"
-    id "edu.wpi.first.NativeUtils" version "2024.7.2" apply false
+    id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
@@ -28,7 +28,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2025.0.0-alpha-1"
+    wpilibVersion = "2024.3.2"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0"

diff --git a/photon-core/src/main/java/edu/wpi/first/util/RuntimeDetector.java b/photon-core/src/main/java/edu/wpi/first/util/RuntimeDetector.java
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
@@ -19,23 +19,17 @@
 
 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.cscore.CameraServerCvJNI;
 import edu.wpi.first.cscore.CameraServerJNI;
-import edu.wpi.first.cscore.OpenCvLoader;
 import edu.wpi.first.hal.JNIWrapper;
+import edu.wpi.first.math.WPIMathJNI;
 import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.jni.ArmFeedforwardJNI;
-import edu.wpi.first.math.jni.DAREJNI;
-import edu.wpi.first.math.jni.EigenJNI;
-import edu.wpi.first.math.jni.Ellipse2dJNI;
-import edu.wpi.first.math.jni.Pose3dJNI;
-import edu.wpi.first.math.jni.StateSpaceUtilJNI;
-import edu.wpi.first.math.jni.TrajectoryUtilJNI;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.util.CombinedRuntimeLoader;
 import edu.wpi.first.util.WPIUtilJNI;
-import java.awt.*;
+import java.awt.HeadlessException;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Path;
@@ -52,21 +46,23 @@ public static boolean loadLibraries() {
 
         NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
         WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
+        WPIMathJNI.Helper.setExtractOnStaticLoad(false);
         CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-        OpenCvLoader.Helper.setExtractOnStaticLoad(false);
+        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
+        // OpenCvLoader.Helper.setExtractOnStaticLoad(false);
         JNIWrapper.Helper.setExtractOnStaticLoad(false);
         WPINetJNI.Helper.setExtractOnStaticLoad(false);
         AprilTagJNI.Helper.setExtractOnStaticLoad(false);
 
         // wpimathjni is a bit odd, it's all in the wpimathjni shared lib, but the java side stuff has
         // been split.
-        ArmFeedforwardJNI.Helper.setExtractOnStaticLoad(false);
-        DAREJNI.Helper.setExtractOnStaticLoad(false);
-        EigenJNI.Helper.setExtractOnStaticLoad(false);
-        Ellipse2dJNI.Helper.setExtractOnStaticLoad(false);
-        Pose3dJNI.Helper.setExtractOnStaticLoad(false);
-        StateSpaceUtilJNI.Helper.setExtractOnStaticLoad(false);
-        TrajectoryUtilJNI.Helper.setExtractOnStaticLoad(false);
+        // ArmFeedforwardJNI.Helper.setExtractOnStaticLoad(false);
+        // DAREJNI.Helper.setExtractOnStaticLoad(false);
+        // EigenJNI.Helper.setExtractOnStaticLoad(false);
+        // Ellipse2dJNI.Helper.setExtractOnStaticLoad(false);
+        // Pose3dJNI.Helper.setExtractOnStaticLoad(false);
+        // StateSpaceUtilJNI.Helper.setExtractOnStaticLoad(false);
+        // TrajectoryUtilJNI.Helper.setExtractOnStaticLoad(false);
 
         try {
             CombinedRuntimeLoader.loadLibraries(

diff --git a/photon-lib/src/test/java/org/photonvision/OpenCVTest.java b/photon-lib/src/test/java/org/photonvision/OpenCVTest.java
@@ -26,7 +26,7 @@
 
 import static org.junit.jupiter.api.Assertions.*;
 
-import edu.wpi.first.cscore.OpenCvLoader;
+import edu.wpi.first.cscore.CameraServerCvJNI;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -77,7 +77,7 @@ public static void assertSame(Transform3d trf1, Transform3d trf2) {
 
     @BeforeAll
     public static void setUp() throws IOException {
-        OpenCvLoader.forceLoad();
+        CameraServerCvJNI.forceLoad();
 
         // NT live for debug purposes
         NetworkTableInstance.getDefault().startServer();