Merge remote-tracking branch 'upstream/master'

PhotonVision · Nov 1, 2024 · d8100d5 · d8100d5
2 parents 30fdc79 + 5e1a939
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -48,13 +48,13 @@ jobs:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
-      - name: Install RoboRIO Toolchain
-        run: ./gradlew installRoboRioToolchain
       - name: Install Java 17
         uses: actions/setup-java@v4
         with:
           java-version: 17
           distribution: temurin
+      - name: Install RoboRIO Toolchain
+        run: ./gradlew installRoboRioToolchain
       # Need to publish to maven local first, so that C++ sim can pick it up
       # Still haven't figured out how to make the vendordep file be copied before trying to build examples
       - name: Publish photonlib to maven local
@@ -85,7 +85,7 @@ jobs:
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
-        uses: actions/setup-java@v3
+        uses: actions/setup-java@v4
         with:
           java-version: 17
           distribution: temurin
@@ -115,6 +115,10 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
+      - name: Install graphviz
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install graphviz
       - name: Install dependencies
         working-directory: docs
         run: |
@@ -220,7 +224,7 @@ jobs:
   combine:
     name: Combine
     needs: [build-photonlib-docker, build-photonlib-host]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -261,11 +265,11 @@ jobs:
             artifact-name: macOSArm
             architecture: x64
             arch-override: macarm64
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: Linux
             architecture: x64
             arch-override: linuxx64
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             architecture: x64
             arch-override: linuxarm64
@@ -283,6 +287,9 @@ jobs:
           java-version: 17
           distribution: temurin
           architecture: ${{ matrix.architecture }}
+      - name: Install Arm64 Toolchain
+        run: ./gradlew installArm64Toolchain
+        if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
       - run: |
           rm -rf photon-server/src/main/resources/web/*
           mkdir -p photon-server/src/main/resources/web/docs
@@ -301,7 +308,7 @@ jobs:
           path: photon-server/src/main/resources/web/docs
       - run: |
           chmod +x gradlew
-          ./gradlew photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
+          ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
         if: ${{ (matrix.arch-override != 'none') }}
       - run: |
           chmod +x gradlew
@@ -311,6 +318,10 @@ jobs:
         with:
           name: jar-${{ matrix.artifact-name }}
           path: photon-server/build/libs
+      - uses: actions/upload-artifact@v4
+        with:
+          name: photon-targeting_jar-${{ matrix.artifact-name }}
+          path: photon-targeting/build/libs
 
   run-smoketest-native:
     needs: [build-package]
@@ -319,7 +330,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: jar-Linux
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
           - os: windows-latest
@@ -344,7 +355,7 @@ jobs:
       - run: |
           sudo apt-get update
           sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-latest' }}
+        if: ${{ (matrix.os) == 'ubuntu-22.04' }}
       # and actually run the jar
       - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
         if: ${{ (matrix.os) != 'windows-latest' }}
@@ -358,7 +369,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_raspi.img.xz
@@ -397,46 +408,52 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_limelight.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_limelight3.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight3.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5b
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5b.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5b.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5plus.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5plus.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5pro
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5pro.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5pro.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5max
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5max.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
 
@@ -509,10 +526,19 @@ jobs:
             **/photonlib*.zip
         if: github.event_name == 'push'
       # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
+      # Split into two uploads to work around max size limits in action-gh-releases
+      # https://github.com/softprops/action-gh-release/issues/353
+      - uses: softprops/[email protected]
         with:
           files: |
-            **/*.xz
+            **/*orangepi5*.xz
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - uses: softprops/[email protected]
+        with:
+          files: |
+            **/!(*orangepi5*).xz
             **/*.jar
             **/photonlib*.json
             **/photonlib*.zip

diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
@@ -57,7 +57,7 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
           java-version: 17
           distribution: temurin

diff --git a/.github/workflows/photon-code-docs.yml b/.github/workflows/photon-code-docs.yml
@@ -59,7 +59,7 @@ jobs:
     - name: Fetch tags
       run: git fetch --tags --force
     - name: Install Java 17
-      uses: actions/setup-java@v3
+      uses: actions/setup-java@v4
       with:
         java-version: 17
         distribution: temurin

diff --git a/.github/workflows/photonvision-docs.yml b/.github/workflows/photonvision-docs.yml
@@ -14,7 +14,7 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
     - uses: actions/checkout@v3
@@ -26,6 +26,11 @@ jobs:
     - name: Install and upgrade pip
       run: python -m pip install --upgrade pip
 
+    - name: Install graphviz
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install graphviz
+
     - name: Install Python dependencies
       working-directory: docs
       run: |

diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
@@ -21,7 +21,7 @@ on:
 
 jobs:
   buildAndDeploy:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
       - name: Checkout code

diff --git a/.readthedocs.yaml b/.readthedocs.yaml
@@ -9,6 +9,8 @@ build:
   os: ubuntu-22.04
   tools:
     python: "3.11"
+  apt_packages:
+    - graphviz
   jobs:
     post_checkout:
       # Cancel building pull requests when there aren't changed in the docs directory or YAML file.

diff --git a/README.md b/README.md
@@ -23,20 +23,23 @@ If you are interested in contributing code or documentation to the project, plea
 
 ## Building
 
-Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html?highlight=npm%20install#compiling-instructions).
+Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).
 
-You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html#running-examples).
+You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
 
 ## Gradle Arguments
 
 Note that these are case sensitive!
 
-* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
-    * linuxathena
+* `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
+    * winx32
+    * winx64
+    * winarm64
+    * macx64
+    * macarm64
+    * linuxx64
     * linuxarm64
-    * arm64
-    * x86-64
-    * x86
+    * linuxathena
 - `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
 

diff --git a/build.gradle b/build.gradle
@@ -4,11 +4,10 @@ plugins {
     id "java"
     id "cpp"
     id "com.diffplug.spotless" version "6.24.0"
-    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.GradleRIO" version "2025.1.1-beta-1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
-    id 'com.google.protobuf' version '0.9.4' apply false
+    id 'com.google.protobuf' version '0.9.3' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
 }
 
@@ -31,14 +30,15 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.3.2"
+    wpilibVersion = "2025.1.1-beta-1"
     wpimathVersion = wpilibVersion
-    openCVversion = "4.8.0-2"
+    openCVYear = "2024"
+    openCVversion = "4.8.0-4"
     joglVersion = "2.4.0"
     javalinVersion = "5.6.2"
     libcameraDriverVersion = "dev-v2023.1.0-14-g787ab59"
     rknnVersion = "dev-v2024.0.1-4-g0db16ac"
-    frcYear = "2024"
+    frcYear = "2025"
     mrcalVersion = "dev-v2024.0.0-24-gc1efcf0";
 
 

diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -36,6 +36,8 @@
     "sphinxcontrib.ghcontributors",
     "sphinx_design",
     "myst_parser",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.graphviz",
 ]
 
 # Configure OpenGraph support

diff --git a/docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md b/docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md
@@ -47,7 +47,7 @@ Pose iterations represents the amount of iterations done in order for the AprilT
 
 Max error bits, also known as hamming distance, is the number of positions at which corresponding pieces of data / tag are different. Put more generally, this is the number of bits (think of these as squares in the tag) that need to be changed / corrected in the tag to correctly detect it. A higher value means that more tags will be detected while a lower value cuts out tags that could be "questionable" in terms of detection.
 
-We recommend a value of 0 for the 16h5 and 7+ for the 36h11 family.
+We recommend a value of 0 for the 16h5 and at most 3 for the 36h11 family.
 
 ### Decision Margin Cutoff
 

diff --git a/docs/source/docs/calibration/calibration.md b/docs/source/docs/calibration/calibration.md
@@ -4,7 +4,7 @@
 In order to detect AprilTags and use 3D mode, your camera must be calibrated at the desired resolution! Inaccurate calibration will lead to poor performance.
 :::
 
-To calibrate a camera, images of a Charuco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html>).
+To calibrate a camera, images of a Charuco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html).
 
 :::{warning}
 While any resolution can be calibrated, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.