Merge branch 'main' of https://github.com/DevonRD/photonvision

.github/workflows/photonvision-docs.yml

@@ -2,9 +2,9 @@ name: PhotonVision Sphinx Documentation Checks
 
 on:
   push:
-    branches: [ master ]
+    branches: [ main ]
   pull_request:
-    branches: [ master ]
+    branches: [ main ]
   merge_group:
 
 concurrency:

build.gradle

@@ -4,7 +4,7 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "6.24.0"
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.3' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
@@ -33,7 +33,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2025.1.1"
+    wpilibVersion = "2025.2.1"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
@@ -90,16 +90,6 @@ spotless {
         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'

docs/source/docs/advanced-installation/sw_install/windows-pc.md

@@ -12,7 +12,7 @@ Bonjour provides more stable networking when using Windows PCs. Install [Bonjour
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/v2025.1.1) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`:
+PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/v2025.2.1) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`:
 
 ```
 > ./gradlew run "-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk"

photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java

@@ -20,8 +20,14 @@
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSink;
 import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.networktables.BooleanSubscriber;
+import edu.wpi.first.util.PixelFormat;
+import edu.wpi.first.util.RawFrame;
+import org.opencv.core.Mat;
+import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.jni.CscoreExtras;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
@@ -36,6 +42,11 @@ public class USBFrameProvider extends CpuImageProcessor {
 
     private Runnable connectedCallback;
 
+    private long lastTime = 0;
+
+    // subscribers are lightweight, and I'm lazy
+    private final BooleanSubscriber useNewBehaviorSub;
+
     @SuppressWarnings("SpellCheckingInspection")
     public USBFrameProvider(
             UsbCamera camera, VisionSourceSettables visionSettables, Runnable connectedCallback) {
@@ -47,6 +58,11 @@ public USBFrameProvider(
         this.cvSink.setEnabled(true);
 
         this.settables = visionSettables;
+
+        var useNewBehaviorTopic =
+                NetworkTablesManager.getInstance().kRootTable.getBooleanTopic("use_new_cscore_frametime");
+
+        useNewBehaviorSub = useNewBehaviorTopic.subscribe(false);
         this.connectedCallback = connectedCallback;
     }
 
@@ -62,28 +78,66 @@ public boolean checkCameraConnected() {
         return connected;
     }
 
+    final double CSCORE_DEFAULT_FRAME_TIMEOUT = 1.0 / 4.0;
+
     @Override
     public CapturedFrame getInputMat() {
         if (!cameraPropertiesCached && camera.isConnected()) {
             onCameraConnected();
         }
 
-        // We allocate memory so we don't fill a Mat in use by another thread (memory
-        // model is easier)
-        var mat = new CVMat();
-        // This is from wpi::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS
-        // since
-        // Hal::initialize was called. Timeout is in seconds
-        // TODO - under the hood, this incurs an extra copy. We should avoid this, if we
-        // can.
-        long captureTimeNs = cvSink.grabFrame(mat.getMat(), 1.0) * 1000;
-
-        if (captureTimeNs == 0) {
-            var error = cvSink.getError();
-            logger.error("Error grabbing image: " + error);
+        if (!useNewBehaviorSub.get()) {
+            // We allocate memory so we don't fill a Mat in use by another thread (memory model is easier)
+            var mat = new CVMat();
+            // This is from wpi::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
+            // Hal::initialize was called
+            // TODO - under the hood, this incurs an extra copy. We should avoid this, if we
+            // can.
+            long captureTimeNs = cvSink.grabFrame(mat.getMat(), CSCORE_DEFAULT_FRAME_TIMEOUT) * 1000;
+
+            if (captureTimeNs == 0) {
+                var error = cvSink.getError();
+                logger.error("Error grabbing image: " + error);
+            }
+
+            return new CapturedFrame(mat, settables.getFrameStaticProperties(), captureTimeNs);
+        } else {
+            // We allocate memory so we don't fill a Mat in use by another thread (memory model is easier)
+            // TODO - consider a frame pool
+            // TODO - getCurrentVideoMode is a JNI call for us, but profiling indicates it's fast
+            var cameraMode = settables.getCurrentVideoMode();
+            var frame = new RawFrame();
+            frame.setInfo(
+                    cameraMode.width,
+                    cameraMode.height,
+                    // hard-coded 3 channel
+                    cameraMode.width * 3,
+                    PixelFormat.kBGR);
+
+            // This is from wpi::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
+            // Hal::initialize was called
+            long captureTimeUs =
+                    CscoreExtras.grabRawSinkFrameTimeoutLastTime(
+                            cvSink.getHandle(), frame.getNativeObj(), CSCORE_DEFAULT_FRAME_TIMEOUT, lastTime);
+            lastTime = captureTimeUs;
+
+            CVMat ret;
+
+            if (captureTimeUs == 0) {
+                var error = cvSink.getError();
+                logger.error("Error grabbing image: " + error);
+
+                frame.close();
+                ret = new CVMat();
+            } else {
+                // No error! yay
+                var mat = new Mat(CscoreExtras.wrapRawFrame(frame.getNativeObj()));
+
+                ret = new CVMat(mat, frame);
+            }
+
+            return new CapturedFrame(ret, settables.getFrameStaticProperties(), captureTimeUs * 1000);
         }
-
-        return new CapturedFrame(mat, settables.getFrameStaticProperties(), captureTimeNs);
     }
 
     @Override

photon-core/src/main/java/org/photonvision/vision/opencv/CVMat.java

@@ -17,6 +17,7 @@
 
 package org.photonvision.vision.opencv;
 
+import edu.wpi.first.util.RawFrame;
 import java.util.HashMap;
 import org.opencv.core.Mat;
 import org.photonvision.common.logging.LogGroup;
@@ -31,11 +32,16 @@ public class CVMat implements Releasable {
     private static boolean shouldPrint;
 
     private final Mat mat;
+    private final RawFrame backingFrame;
 
     public CVMat() {
         this(new Mat());
     }
 
+    public CVMat(Mat mat) {
+        this(mat, null);
+    }
+
     public void copyFrom(CVMat srcMat) {
         copyFrom(srcMat.getMat());
     }
@@ -56,8 +62,10 @@ private StringBuilder getStackTraceBuilder() {
         return traceStr;
     }
 
-    public CVMat(Mat mat) {
+    public CVMat(Mat mat, RawFrame frame) {
         this.mat = mat;
+        this.backingFrame = frame;
+
         allMatCounter++;
         allMats.put(mat, allMatCounter);
 
@@ -69,6 +77,8 @@ public CVMat(Mat mat) {
 
     @Override
     public void release() {
+        if (this.backingFrame != null) this.backingFrame.close();
+
         // If this mat is empty, all we can do is return
         if (mat.empty()) return;
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java

@@ -18,24 +18,34 @@
 package org.photonvision.vision.pipe.impl;
 
 import edu.wpi.first.math.filter.LinearFilter;
-import org.apache.commons.lang3.time.StopWatch;
+import edu.wpi.first.wpilibj.Timer;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class CalculateFPSPipe
         extends CVPipe<Void, Integer, CalculateFPSPipe.CalculateFPSPipeParams> {
     private final LinearFilter fpsFilter = LinearFilter.movingAverage(20);
-    StopWatch clock = new StopWatch();
+
+    // roll my own Timer, since this is so trivial
+    double lastTime = -1;
 
     @Override
     protected Integer process(Void in) {
-        if (!clock.isStarted()) {
-            clock.reset();
-            clock.start();
+        if (lastTime < 0) {
+            lastTime = Timer.getFPGATimestamp();
         }
-        clock.stop();
-        var fps = (int) fpsFilter.calculate(1000.0 / clock.getTime());
-        clock.reset();
-        clock.start();
+
+        var now = Timer.getFPGATimestamp();
+        var dtSeconds = now - lastTime;
+        lastTime = now;
+
+        // If < 1 uS between ticks, something is probably wrong
+        int fps;
+        if (dtSeconds < 1e-6) {
+            fps = 0;
+        } else {
+            fps = (int) fpsFilter.calculate(1 / dtSeconds);
+        }
+
         return fps;
     }
 

photon-lib/py/disableUsingDevBuilds.sh

@@ -0,0 +1 @@
+python3 -m pip config unset global.find-links

photon-lib/py/enableUsingDevBuilds.sh

@@ -0,0 +1 @@
+python3 -m pip config set global.find-links dist

photon-lib/py/photonlibpy/generated/MultiTargetPNPResultSerde.py

@@ -1,19 +1,26 @@
-###############################################################################
-## 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/>.
-###############################################################################
+#
+# MIT License
+#
+# Copyright (c) PhotonVision
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
 
 ###############################################################################
 ## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.

photon-lib/py/photonlibpy/generated/PhotonPipelineMetadataSerde.py

@@ -1,19 +1,26 @@
-###############################################################################
-## 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/>.
-###############################################################################
+#
+# MIT License
+#
+# Copyright (c) PhotonVision
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
 
 ###############################################################################
 ## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.

photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -1,19 +1,26 @@
-###############################################################################
-## 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/>.
-###############################################################################
+#
+# MIT License
+#
+# Copyright (c) PhotonVision
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
 
 ###############################################################################
 ## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.