Bump wpilib to latest dev

.github/workflows/build.yml

@@ -149,7 +149,7 @@ jobs:
       - run: git fetch --tags --force
       - run: |
           chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
+          ./gradlew photon-targeting:build photon-lib:build --max-workers 1
       - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
         env:
@@ -180,7 +180,7 @@ jobs:
       - name: Build PhotonLib
         run: |
           chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
+          ./gradlew photon-targeting:build photon-lib:build --max-workers 1
       - name: Publish
         run: |
           chmod +x gradlew

build.gradle

@@ -24,7 +24,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.3.2"
+    wpilibVersion = "2024.3.2-139-gfbfef85"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"

photon-core/src/main/java/edu/wpi/first/util/RuntimeDetector.java

@@ -0,0 +1,207 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package edu.wpi.first.util;
+
+import java.io.File;
+
+/**
+ * A utility class for detecting and providing platform-specific such as OS and CPU architecture.
+ */
+public final class RuntimeDetector {
+    private static String filePrefix;
+    private static String fileExtension;
+    private static String filePath;
+
+    private static synchronized void computePlatform() {
+        if (fileExtension != null && filePath != null && filePrefix != null) {
+            return;
+        }
+
+        boolean intel32 = is32BitIntel();
+        boolean intel64 = is64BitIntel();
+        boolean arm64 = isArm64();
+
+        if (isWindows()) {
+            filePrefix = "";
+            fileExtension = ".dll";
+            if (intel32) {
+                filePath = "/windows/x86/";
+            } else {
+                filePath = "/windows/x86-64/";
+            }
+        } else if (isMac()) {
+            filePrefix = "lib";
+            fileExtension = ".dylib";
+            filePath = "/osx/universal/";
+        } else if (isLinux()) {
+            filePrefix = "lib";
+            fileExtension = ".so";
+            if (intel32) {
+                filePath = "/linux/x86/";
+            } else if (intel64) {
+                filePath = "/linux/x86-64/";
+            } else if (isAthena()) {
+                filePath = "/linux/athena/";
+            } else if (isArm32()) {
+                filePath = "/linux/arm32/";
+            } else if (arm64) {
+                filePath = "/linux/arm64/";
+            } else {
+                filePath = "/linux/nativearm/";
+            }
+        } else {
+            throw new IllegalStateException("Failed to determine OS");
+        }
+    }
+
+    /**
+     * Get the file prefix for the current system.
+     *
+     * @return The file prefix.
+     */
+    public static synchronized String getFilePrefix() {
+        computePlatform();
+
+        return filePrefix;
+    }
+
+    /**
+     * Get the file extension for the current system.
+     *
+     * @return The file extension.
+     */
+    public static synchronized String getFileExtension() {
+        computePlatform();
+
+        return fileExtension;
+    }
+
+    /**
+     * Get the platform path for the current system.
+     *
+     * @return The platform path.
+     */
+    public static synchronized String getPlatformPath() {
+        computePlatform();
+
+        return filePath;
+    }
+
+    /**
+     * Get the path to the requested resource.
+     *
+     * @param libName Library name.
+     * @return The path to the requested resource.
+     */
+    public static synchronized String getLibraryResource(String libName) {
+        computePlatform();
+
+        return filePath + filePrefix + libName + fileExtension;
+    }
+
+    /**
+     * Get the path to the hash to the requested resource.
+     *
+     * @param libName Library name.
+     * @return The path to the hash to the requested resource.
+     */
+    public static synchronized String getHashLibraryResource(String libName) {
+        computePlatform();
+
+        return filePath + libName + ".hash";
+    }
+
+    /**
+     * Check if hardware platform is Athena.
+     *
+     * @return True if hardware platform is Athena.
+     */
+    public static boolean isAthena() {
+        File runRobotFile = new File("/usr/local/frc/bin/frcRunRobot.sh");
+        return runRobotFile.exists();
+    }
+
+    /**
+     * Check if OS is Arm32.
+     *
+     * @return True if OS is Arm32.
+     */
+    public static boolean isArm32() {
+        String arch = System.getProperty("os.arch");
+        return "arm".equals(arch) || "arm32".equals(arch);
+    }
+
+    /**
+     * Check if architecture is Arm64.
+     *
+     * @return if architecture is Arm64.
+     */
+    public static boolean isArm64() {
+        String arch = System.getProperty("os.arch");
+        return "aarch64".equals(arch) || "arm64".equals(arch);
+    }
+
+    /**
+     * Check if OS is Linux.
+     *
+     * @return if OS is Linux.
+     */
+    public static boolean isLinux() {
+        return System.getProperty("os.name").startsWith("Linux");
+    }
+
+    /**
+     * Check if OS is Windows.
+     *
+     * @return if OS is Windows.
+     */
+    public static boolean isWindows() {
+        return System.getProperty("os.name").startsWith("Windows");
+    }
+
+    /**
+     * Check if OS is Mac.
+     *
+     * @return if OS is Mac.
+     */
+    public static boolean isMac() {
+        return System.getProperty("os.name").startsWith("Mac");
+    }
+
+    /**
+     * Check if OS is 32bit Intel.
+     *
+     * @return if OS is 32bit Intel.
+     */
+    public static boolean is32BitIntel() {
+        String arch = System.getProperty("os.arch");
+        return "x86".equals(arch) || "i386".equals(arch);
+    }
+
+    /**
+     * Check if OS is 64bit Intel.
+     *
+     * @return if OS is 64bit Intel.
+     */
+    public static boolean is64BitIntel() {
+        String arch = System.getProperty("os.arch");
+        return "amd64".equals(arch) || "x86_64".equals(arch);
+    }
+
+    private RuntimeDetector() {}
+}

photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java

@@ -198,7 +198,7 @@ public void load() {
         if (atfl == null) {
             logger.info("Loading default apriltags for 2024 field...");
             try {
-                atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
+                atfl = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
             } catch (UncheckedIOException e) {
                 logger.error("Error loading WPILib field", e);
                 atfl = null;

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -294,7 +294,7 @@ public void load() {
             } catch (IOException e) {
                 logger.error("Could not deserialize apriltag layout! Loading defaults");
                 try {
-                    atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
+                    atfl = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
                 } catch (UncheckedIOException e2) {
                     logger.error("Error loading WPILib field", e);
                     atfl = null;

photon-core/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -19,8 +19,8 @@
 
 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;
@@ -48,7 +48,7 @@ public static boolean loadLibraries() {
         WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
         WPIMathJNI.Helper.setExtractOnStaticLoad(false);
         CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
+        OpenCvLoader.Helper.setExtractOnStaticLoad(false);
         JNIWrapper.Helper.setExtractOnStaticLoad(false);
         WPINetJNI.Helper.setExtractOnStaticLoad(false);
         AprilTagJNI.Helper.setExtractOnStaticLoad(false);

photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h

@@ -440,7 +440,7 @@ class PhotonCameraSim {
   double minTargetAreaPercent;
 
   frc::AprilTagFieldLayout tagLayout{
-      frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};
+      frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
 
   cs::CvSource videoSimRaw;
   cv::Mat videoSimFrameRaw{};

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.CameraServerCvJNI;
+import edu.wpi.first.cscore.OpenCvLoader;
 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 {
-        CameraServerCvJNI.forceLoad();
+        OpenCvLoader.forceLoad();
 
         // NT live for debug purposes
         NetworkTableInstance.getDefault().startServer();

photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h

@@ -18,11 +18,10 @@
 #pragma once
 
 #include <algorithm>
+#include <bit>
 #include <string>
 #include <vector>
 
-#include <wpi/Endian.h>
-
 namespace photon {
 
 /**
@@ -73,8 +72,7 @@ class Packet {
     packetData.resize(packetData.size() + sizeof(T));
     std::memcpy(packetData.data() + writePos, &src, sizeof(T));
 
-    if constexpr (wpi::support::endian::system_endianness() ==
-                  wpi::support::endianness::little) {
+    if constexpr (std::endian::native == std::endian::little) {
       // Reverse to big endian for network conventions.
       std::reverse(packetData.data() + writePos,
                    packetData.data() + writePos + sizeof(T));
@@ -95,8 +93,7 @@ class Packet {
     if (!packetData.empty()) {
       std::memcpy(&value, packetData.data() + readPos, sizeof(T));
 
-      if constexpr (wpi::support::endian::system_endianness() ==
-                    wpi::support::endianness::little) {
+      if constexpr (std::endian::native == std::endian::little) {
         // Reverse to little endian for host.
         uint8_t& raw = reinterpret_cast<uint8_t&>(value);
         std::reverse(&raw, &raw + sizeof(T));

photon-targeting/src/test/java/org/photonvision/PacketTest.java

@@ -160,6 +160,8 @@ void trackedTargetSerde() {
                         9.0,
                         -5.0,
                         -1,
+                        -1,
+                        -1f,
                         new Transform3d(),
                         new Transform3d(),
                         -1,
@@ -198,6 +200,8 @@ void pipelineResultSerde() {
                                         9.0,
                                         4.0,
                                         2,
+                                        -1,
+                                        -1f,
                                         new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
                                         new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
                                         0.25,
@@ -217,6 +221,8 @@ void pipelineResultSerde() {
                                         9.1,
                                         6.7,
                                         3,
+                                        -1,
+                                        -1f,
                                         new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
                                         new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
                                         0.25,
@@ -247,6 +253,8 @@ void pipelineResultSerde() {
                                         9.0,
                                         4.0,
                                         2,
+                                        -1,
+                                        -1f,
                                         new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
                                         new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
                                         0.25,
@@ -266,6 +274,8 @@ void pipelineResultSerde() {
                                         9.1,
                                         6.7,
                                         3,
+                                        -1,
+                                        -1f,
                                         new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
                                         new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
                                         0.25,
@@ -303,6 +313,8 @@ public void testMultiTargetSerde() {
                                         9.0,
                                         4.0,
                                         2,
+                                        -1,
+                                        -1f,
                                         new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
                                         new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
                                         0.25,
@@ -322,6 +334,8 @@ public void testMultiTargetSerde() {
                                         9.1,
                                         6.7,
                                         3,
+                                        -1,
+                                        -1f,
                                         new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
                                         new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
                                         0.25,