Merge branch 'main' into atfl-proto

.github/workflows/gradle.yml

@@ -61,7 +61,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 11
+      MACOSX_DEPLOYMENT_TARGET: 12
     strategy:
       fail-fast: false
       matrix:

CMakeLists.txt

@@ -60,6 +60,7 @@ option(WITH_JAVA_SOURCE "Build Java source jars" ON)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
+option(WITH_WPIUNITS "Build wpiunits" ON)
 option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
@@ -75,9 +76,6 @@ option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
 option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
 option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
 
-# Options for installation.
-option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
-
 # Options for location of OpenCV Java.
 set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
 
@@ -154,17 +152,17 @@ FATAL: Cannot build wpilib without wpimath.
 ")
 endif()
 
-set( wpilib_dest "")
+if (NOT WITH_WPIUNITS AND WITH_WPIMATH AND WITH_JAVA)
+    message(FATAL_ERROR "
+FATAL: Cannot build Java wpimath without wpiunits.
+       Enable wpiunits by setting WITH_WPIUNITS=ON or disable the Java build by setting WITH_JAVA=OFF
+")
+endif()
+
 set( include_dest include )
 set( java_lib_dest java )
 set( jni_lib_dest jni )
 
-if (WITH_FLAT_INSTALL)
-    set (wpilib_config_dir ${wpilib_dest})
-else()
-    set (wpilib_config_dir share/wpilib)
-endif()
-
 if (USE_SYSTEM_LIBUV)
 set (LIBUV_SYSTEM_REPLACE "
 find_dependency(libuv CONFIG)
@@ -183,27 +181,16 @@ find_program(Quickbuf_EXECUTABLE
     DOC "The Quickbuf protoc plugin"
 )
 
-if (WITH_FLAT_INSTALL)
-set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
-set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
-set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
-set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
-set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
-set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
-set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
-set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
-else()
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
 set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
 set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
 set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
 set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
+set(WPIUNITS_DEP_REPLACE "find_dependency(wpiunits)")
 set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
 set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-endif()
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
@@ -291,9 +278,17 @@ if (WITH_NTCORE)
 endif()
 
 if (WITH_WPIMATH)
+    if (WITH_JAVA)
+        add_subdirectory(wpiunits)
+    endif()
     add_subdirectory(wpimath)
 endif()
 
+if (WITH_WPIUNITS AND NOT WITH_WPIMATH)
+    # In case of building wpiunits standalone
+    add_subdirectory(wpiunits)
+endif()
+
 if (WITH_GUI)
     add_subdirectory(fieldImages)
     add_subdirectory(imgui)
@@ -338,4 +333,4 @@ if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
 endif()
 
 configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION ${wpilib_config_dir})
+install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)

README-CMAKE.md

@@ -12,6 +12,7 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * halsim
 * wpigui
 * wpimath
+* wpiunits
 * wpilibNewCommands
 
 By default, all libraries except for the HAL and WPILib get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs.
@@ -44,6 +45,8 @@ The following build options are available:
   * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet and wpilib as well, irrespective of their specific options.
 * `WITH_WPIMATH` (ON Default)
   * This option will build the wpimath library. This option must be on to build wpilib.
+* `WITH_WPIUNITS` (ON Default)
+  * This option will build the wpiunits library. This option must be on to build the Java wpimath library and requires `WITH_JAVA` to also be on.
 * `WITH_WPILIB` (ON Default)
   * This option will build the hal and wpilibc/j during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
 * `WITH_EXAMPLES` (ON Default)

apriltag/CMakeLists.txt

@@ -44,7 +44,7 @@ if (WITH_JAVA)
   add_jar(apriltag_jar
     SOURCES ${JAVA_SOURCES}
     RESOURCES NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
-    INCLUDE_JARS wpimath_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
+    INCLUDE_JARS wpimath_jar wpiunits_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
     OUTPUT_NAME apriltag
     GENERATE_NATIVE_HEADERS apriltag_jni_headers)
 
@@ -108,15 +108,10 @@ target_include_directories(apriltag PUBLIC
 install(TARGETS apriltag EXPORT apriltag)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/apriltag")
 
-if (WITH_FLAT_INSTALL)
-    set (apriltag_config_dir ${wpilib_dest})
-else()
-    set (apriltag_config_dir share/apriltag)
-endif()
 
 configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION ${apriltag_config_dir})
-install(EXPORT apriltag DESTINATION ${apriltag_config_dir})
+install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION share/apriltag)
+install(EXPORT apriltag DESTINATION share/apriltag)
 
 if (WITH_TESTS)
     wpilib_add_test(apriltag src/test/native/cpp)

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetection.java

@@ -72,7 +72,7 @@ public double[] getHomography() {
    * @return Homography matrix
    */
   public Matrix<N3, N3> getHomographyMatrix() {
-    return new MatBuilder<>(Nat.N3(), Nat.N3()).fill(m_homography);
+    return MatBuilder.fill(Nat.N3(), Nat.N3(), m_homography);
   }
 
   /**

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2024.3.1"
+    implementation "edu.wpi.first:native-utils:2024.3.2"
 }

cameraserver/CMakeLists.txt

@@ -59,15 +59,9 @@ set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
 install(TARGETS cameraserver EXPORT cameraserver)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cameraserver")
 
-if (WITH_FLAT_INSTALL)
-    set (cameraserver_config_dir ${wpilib_dest})
-else()
-    set (cameraserver_config_dir share/cameraserver)
-endif()
-
 configure_file(cameraserver-config.cmake.in ${WPILIB_BINARY_DIR}/cameraserver-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
-install(EXPORT cameraserver DESTINATION ${cameraserver_config_dir})
+install(FILES ${WPILIB_BINARY_DIR}/cameraserver-config.cmake DESTINATION share/cameraserver)
+install(EXPORT cameraserver DESTINATION share/cameraserver)
 
 file(GLOB multiCameraServer_src multiCameraServer/src/main/native/cpp/*.cpp)
 add_executable(multiCameraServer ${multiCameraServer_src})

cscore/CMakeLists.txt

@@ -43,15 +43,9 @@ set_property(TARGET cscore PROPERTY FOLDER "libraries")
 install(TARGETS cscore EXPORT cscore)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cscore")
 
-if (WITH_FLAT_INSTALL)
-    set (cscore_config_dir ${wpilib_dest})
-else()
-    set (cscore_config_dir share/cscore)
-endif()
-
 configure_file(cscore-config.cmake.in ${WPILIB_BINARY_DIR}/cscore-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/cscore-config.cmake DESTINATION ${cscore_config_dir})
-install(EXPORT cscore DESTINATION ${cscore_config_dir})
+install(FILES ${WPILIB_BINARY_DIR}/cscore-config.cmake DESTINATION share/cscore)
+install(EXPORT cscore DESTINATION share/cscore)
 
 subdir_list(cscore_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
 foreach(example ${cscore_examples})

cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java

@@ -64,7 +64,7 @@ public static native int createCvSource(
 
   public static native void putSourceFrame(int source, long imageNativeObj);
 
-  public static native int createCvSink(String name);
+  public static native int createCvSink(String name, int pixelFormat);
 
   // public static native int createCvSinkCallback(String name,
   //                            void (*processFrame)(long time));

cscore/src/main/java/edu/wpi/first/cscore/CvSink.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import org.opencv.core.Mat;
 
 /**
@@ -16,9 +17,20 @@ public class CvSink extends ImageSink {
    * get each new image.
    *
    * @param name Source name (arbitrary unique identifier)
+   * @param pixelFormat Source pixel format
+   */
+  public CvSink(String name, PixelFormat pixelFormat) {
+    super(CameraServerCvJNI.createCvSink(name, pixelFormat.getValue()));
+  }
+
+  /**
+   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
+   * get each new image. Defaults to kBGR for pixelFormat
+   *
+   * @param name Source name (arbitrary unique identifier)
    */
   public CvSink(String name) {
-    super(CameraServerCvJNI.createCvSink(name));
+    this(name, PixelFormat.kBGR);
   }
 
   /// Create a sink for accepting OpenCV images in a separate thread.

cscore/src/main/native/cpp/CvSinkImpl.cpp

@@ -19,16 +19,18 @@
 using namespace cs;
 
 CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
-                       Notifier& notifier, Telemetry& telemetry)
-    : SinkImpl{name, logger, notifier, telemetry} {
+                       Notifier& notifier, Telemetry& telemetry,
+                       VideoMode::PixelFormat pixelFormat)
+    : SinkImpl{name, logger, notifier, telemetry}, m_pixelFormat{pixelFormat} {
   m_active = true;
   // m_thread = std::thread(&CvSinkImpl::ThreadMain, this);
 }
 
 CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
                        Notifier& notifier, Telemetry& telemetry,
+                       VideoMode::PixelFormat pixelFormat,
                        std::function<void(uint64_t time)> processFrame)
-    : SinkImpl{name, logger, notifier, telemetry} {}
+    : SinkImpl{name, logger, notifier, telemetry}, m_pixelFormat{pixelFormat} {}
 
 CvSinkImpl::~CvSinkImpl() {
   Stop();
@@ -65,7 +67,7 @@ uint64_t CvSinkImpl::GrabFrame(cv::Mat& image) {
     return 0;  // signal error
   }
 
-  if (!frame.GetCv(image)) {
+  if (!frame.GetCv(image, m_pixelFormat)) {
     // Shouldn't happen, but just in case...
     std::this_thread::sleep_for(std::chrono::milliseconds(20));
     return 0;
@@ -91,7 +93,7 @@ uint64_t CvSinkImpl::GrabFrame(cv::Mat& image, double timeout) {
     return 0;  // signal error
   }
 
-  if (!frame.GetCv(image)) {
+  if (!frame.GetCv(image, m_pixelFormat)) {
     // Shouldn't happen, but just in case...
     std::this_thread::sleep_for(std::chrono::milliseconds(20));
     return 0;
@@ -127,20 +129,23 @@ void CvSinkImpl::ThreadMain() {
 
 namespace cs {
 
-CS_Sink CreateCvSink(std::string_view name, CS_Status* status) {
+CS_Sink CreateCvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
+                     CS_Status* status) {
   auto& inst = Instance::GetInstance();
   return inst.CreateSink(
       CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry));
+                                               inst.telemetry, pixelFormat));
 }
 
 CS_Sink CreateCvSinkCallback(std::string_view name,
+                             VideoMode::PixelFormat pixelFormat,
                              std::function<void(uint64_t time)> processFrame,
                              CS_Status* status) {
   auto& inst = Instance::GetInstance();
   return inst.CreateSink(
-      CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry, processFrame));
+      CS_SINK_CV,
+      std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
+                                   inst.telemetry, pixelFormat, processFrame));
 }
 
 static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
@@ -206,15 +211,19 @@ void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
 
 extern "C" {
 
-CS_Sink CS_CreateCvSink(const char* name, CS_Status* status) {
-  return cs::CreateCvSink(name, status);
+CS_Sink CS_CreateCvSink(const char* name, enum CS_PixelFormat pixelFormat,
+                        CS_Status* status) {
+  return cs::CreateCvSink(
+      name, static_cast<VideoMode::PixelFormat>(pixelFormat), status);
 }
 
-CS_Sink CS_CreateCvSinkCallback(const char* name, void* data,
+CS_Sink CS_CreateCvSinkCallback(const char* name,
+                                enum CS_PixelFormat pixelFormat, void* data,
                                 void (*processFrame)(void* data, uint64_t time),
                                 CS_Status* status) {
   return cs::CreateCvSinkCallback(
-      name, [=](uint64_t time) { processFrame(data, time); }, status);
+      name, static_cast<VideoMode::PixelFormat>(pixelFormat),
+      [=](uint64_t time) { processFrame(data, time); }, status);
 }
 
 void CS_SetSinkDescription(CS_Sink sink, const char* description,

cscore/src/main/native/cpp/CvSinkImpl.h

@@ -25,9 +25,9 @@ class SourceImpl;
 class CvSinkImpl : public SinkImpl {
  public:
   CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry);
+             Telemetry& telemetry, VideoMode::PixelFormat pixelFormat);
   CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry,
+             Telemetry& telemetry, VideoMode::PixelFormat pixelFormat,
              std::function<void(uint64_t time)> processFrame);
   ~CvSinkImpl() override;
 
@@ -42,6 +42,7 @@ class CvSinkImpl : public SinkImpl {
   std::atomic_bool m_active;  // set to false to terminate threads
   std::thread m_thread;
   std::function<void(uint64_t time)> m_processFrame;
+  VideoMode::PixelFormat m_pixelFormat;
 };
 
 }  // namespace cs

cscore/src/main/native/cpp/Frame.cpp

@@ -709,8 +709,9 @@ Image* Frame::GetImageImpl(int width, int height,
   return ConvertImpl(cur, pixelFormat, requiredJpegQuality, defaultJpegQuality);
 }
 
-bool Frame::GetCv(cv::Mat& image, int width, int height) {
-  Image* rawImage = GetImage(width, height, VideoMode::kBGR);
+bool Frame::GetCv(cv::Mat& image, int width, int height,
+                  VideoMode::PixelFormat pixelFormat) {
+  Image* rawImage = GetImage(width, height, pixelFormat);
   if (!rawImage) {
     return false;
   }

cscore/src/main/native/cpp/Frame.h

@@ -219,10 +219,11 @@ class Frame {
                         defaultQuality);
   }
 
-  bool GetCv(cv::Mat& image) {
-    return GetCv(image, GetOriginalWidth(), GetOriginalHeight());
+  bool GetCv(cv::Mat& image, VideoMode::PixelFormat pixelFormat) {
+    return GetCv(image, GetOriginalWidth(), GetOriginalHeight(), pixelFormat);
   }
-  bool GetCv(cv::Mat& image, int width, int height);
+  bool GetCv(cv::Mat& image, int width, int height,
+             VideoMode::PixelFormat pixelFormat);
 
  private:
   Image* ConvertImpl(Image* image, VideoMode::PixelFormat pixelFormat,