Merge branch 'master' into sim-multitag

.github/workflows/build.yml

@@ -119,17 +119,17 @@ jobs:
           path: build/html
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 10.14
+      MACOSX_DEPLOYMENT_TARGET: 11
     strategy:
       fail-fast: false
       matrix:
         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
+          - os: macos-12
+            artifact-name: macOS
+            architecture: x64
           - os: ubuntu-22.04
             artifact-name: Linux
 

build.gradle

@@ -1,17 +1,11 @@
 plugins {
-    id "com.diffplug.spotless" version "6.19.0"
-    id "com.github.johnrengelman.shadow" version "7.1.2"
-    id "com.github.node-gradle.node" version "3.1.1" apply false
-    id "edu.wpi.first.GradleJni" version "1.1.0"
-    id "edu.wpi.first.GradleVsCode" version "1.3.0"
+    id "com.diffplug.spotless" version "6.22.0"
     id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "org.hidetake.ssh" version "2.10.1"
-    id 'edu.wpi.first.WpilibTools' version '1.1.0'
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2"
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
-import org.gradle.api.internal.artifacts.dependencies.DefaultExternalModuleDependency;
-
 allprojects {
     repositories {
         mavenCentral()
@@ -49,6 +43,10 @@ wpilibTools.deps.wpilibVersion = wpilibVersion
 
 spotless {
     java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**', "photon-core\\src\\main\\java\\org\\photonvision\\PhotonVersion.java", "photon-lib\\src\\main\\java\\org\\photonvision\\PhotonVersion.java"
+        }
         toggleOffOn()
         googleJavaFormat()
         indentWithTabs(2)
@@ -57,13 +55,37 @@ spotless {
         trimTrailingWhitespace()
         endWithNewline()
     }
-    java {
-        target "**/*.java"
-        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
-        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'xml', {
+        target fileTree('.') {
+            include '**/*.xml'
+            exclude '**/build/**', '**/build-*/**', "**/.idea/**"
+        }
+        eclipseWtp('xml')
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
     }
 }
 
 wrapper {
-    gradleVersion '8.3'
+    gradleVersion '8.4'
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists

gradlew

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright � 2015-2021 the original authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -16,6 +16,50 @@
 # limitations under the License.
 #
 
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
@@ -36,15 +80,12 @@ do
     esac
 done
 
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
 # 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##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
 
@@ -90,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -150,18 +198,28 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
         -classpath "$CLASSPATH" \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.

gradlew.bat

@@ -14,7 +14,7 @@
 @rem limitations under the License.
 @rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +25,8 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,7 +41,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -75,13 +76,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal

photon-client/src/components/dashboard/tabs/AprilTagTab.vue

@@ -25,7 +25,7 @@ const interactiveCols = computed(
     <pv-select
       v-model="currentPipelineSettings.tagFamily"
       label="Target family"
-      :items="['AprilTag Family 36h11', 'AprilTag Family 25h9', 'AprilTag Family 16h5']"
+      :items="['AprilTag 36h11 (6.5in)', 'AprilTag 25h9 (6in)', 'AprilTag 16h5 (6in)']"
       :select-cols="interactiveCols"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
     />

photon-client/src/components/dashboard/tabs/PnPTab.vue

@@ -21,15 +21,16 @@ const interactiveCols = computed(
       v-model="useCameraSettingsStore().currentPipelineSettings.targetModel"
       label="Target Model"
       :items="[
-        { name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
-        { name: '2020 High Goal Inner', value: TargetModel.InfiniteRechargeHighGoalInner },
+        { name: '2016 High Goal', value: TargetModel.StrongholdHighGoal },
         { name: '2019 Dual Target', value: TargetModel.DeepSpaceDualTarget },
+        { name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
         { name: '2020 Power Cell (7in)', value: TargetModel.CircularPowerCell7in },
         { name: '2022 Cargo Ball (9.5in)', value: TargetModel.RapidReactCircularCargoBall },
-        { name: '2016 High Goal', value: TargetModel.StrongholdHighGoal },
         { name: '200mm AprilTag', value: TargetModel.Apriltag_200mm },
         { name: '6in (16h5) Aruco', value: TargetModel.Aruco6in_16h5 },
-        { name: '6in (16h5) AprilTag', value: TargetModel.Apriltag6in_16h5 }
+        { name: '6in (16h5) AprilTag', value: TargetModel.Apriltag6in_16h5 },
+        { name: '6.5in (36h11) Aruco', value: TargetModel.Aruco6p5in_36h11 },
+        { name: '6.5in (36h11) AprilTag', value: TargetModel.Apriltag6p5in_36h11 }
       ]"
       :select-cols="interactiveCols"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"

photon-client/src/types/PipelineTypes.ts

@@ -21,15 +21,16 @@ export enum RobotOffsetPointMode {
 }
 
 export enum TargetModel {
-  InfiniteRechargeHighGoalOuter = 0,
-  InfiniteRechargeHighGoalInner = 1,
-  DeepSpaceDualTarget = 2,
+  StrongholdHighGoal = 0,
+  DeepSpaceDualTarget = 1,
+  InfiniteRechargeHighGoalOuter = 2,
   CircularPowerCell7in = 3,
   RapidReactCircularCargoBall = 4,
-  StrongholdHighGoal = 5,
-  Apriltag_200mm = 6,
-  Aruco6in_16h5 = 7,
-  Apriltag6in_16h5 = 8
+  Apriltag_200mm = 5,
+  Aruco6in_16h5 = 6,
+  Apriltag6in_16h5 = 7,
+  Aruco6p5in_36h11 = 8,
+  Apriltag6p5in_36h11 = 9
 }
 
 export interface PipelineSettings {

photon-core/build.gradle

@@ -1,5 +1,5 @@
 plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.1.0'
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
 import java.nio.file.Path
@@ -36,24 +36,3 @@ task writeCurrentVersionJava {
 }
 
 build.dependsOn writeCurrentVersionJava
-
-def testNativeConfigName = 'wpilibTestNative'
-def testNativeConfig = configurations.create(testNativeConfigName)
-
-def folder = project.layout.buildDirectory.dir('NativeTest')
-
-def testNativeTasks = wpilibTools.createExtractionTasks {
-    taskPostfix = "Test"
-    configurationName = testNativeConfigName
-    rootTaskFolder.set(folder)
-}
-
-testNativeTasks.addToSourceSetResources(sourceSets.test)
-
-testNativeConfig.dependencies.add wpilibTools.deps.cscore()
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")