Skip to content

Verify WPILib/OpenCV versions at runtime #1772

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mcm001 merged 4 commits into from
Feb 11, 2025
Merged

Verify WPILib/OpenCV versions at runtime #1772

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
0933c41
Add versions to PhotonVersion
mcm001 Feb 10, 2025
8c4db23
Hack into PhotonCamera
mcm001 Feb 10, 2025
707a1a9
Add test
mcm001 Feb 10, 2025
bac9899
Run lint
mcm001 Feb 10, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
72 changes: 72 additions & 0 deletions photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,13 @@
import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.util.WPILibVersion;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
import org.opencv.core.Core;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.common.networktables.PacketSubscriber;
import org.photonvision.targeting.PhotonPipelineResult;
Expand Down Expand Up @@ -157,6 +159,76 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {

// HACK - start a TimeSyncServer, if we haven't yet.
TimeSyncSingleton.load();

// HACK - check if things are compatible
verifyDependencies();
Copy link
Member

@spacey-sooty spacey-sooty Feb 11, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Do we want to do this in C++ and Python as well?

Copy link
Contributor Author

@mcm001 mcm001 Feb 11, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Ggezwp. Yeah. But this gets us 80% of the way there.

Copy link
Member

@spacey-sooty spacey-sooty Feb 11, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

lol, I'll open a follow up for you

}

public static void verifyDependencies() {
if (!WPILibVersion.Version.equals(PhotonVersion.wpilibTargetVersion)) {
String bfw =
"\n\n\n\n\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>> \n"
+ ">>> You are running an incompatible version \n"
+ ">>> of PhotonVision ! \n"
+ ">>> \n"
+ ">>> PhotonLib "
+ PhotonVersion.versionString
+ " is built for WPILib "
+ PhotonVersion.wpilibTargetVersion
+ "\n"
+ ">>> but you are using WPILib "
+ WPILibVersion.Version
+ ">>> \n"
+ ">>> This is neither tested nor supported. \n"
+ ">>> You MUST update PhotonVision, \n"
+ ">>> PhotonLib, or both. \n"
+ ">>> Verify the output of `./gradlew dependencies` \n"
+ ">>> \n"
+ ">>> Your code will now crash. \n"
+ ">>> We hope your day gets better. \n"
+ ">>> \n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n";

DriverStation.reportWarning(bfw, false);
DriverStation.reportError(bfw, false);
throw new UnsupportedOperationException(bfw);
}
if (!Core.VERSION.equals(PhotonVersion.opencvTargetVersion)) {
String bfw =
"\n\n\n\n\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>> \n"
+ ">>> You are running an incompatible version \n"
+ ">>> of PhotonVision ! \n"
+ ">>> \n"
+ ">>> PhotonLib "
+ PhotonVersion.versionString
+ " is built for OpenCV "
+ PhotonVersion.opencvTargetVersion
+ "\n"
+ ">>> but you are using OpenCV "
+ Core.VERSION
+ ">>> \n"
+ ">>> This is neither tested nor supported. \n"
+ ">>> You MUST update PhotonVision, \n"
+ ">>> PhotonLib, or both. \n"
+ ">>> Verify the output of `./gradlew dependencies` \n"
+ ">>> \n"
+ ">>> Your code will now crash. \n"
+ ">>> We hope your day gets better. \n"
+ ">>> \n"
+ ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n";

DriverStation.reportWarning(bfw, false);
DriverStation.reportError(bfw, false);
throw new UnsupportedOperationException(bfw);
}
}

/**
Expand Down
5 changes: 2 additions & 3 deletions photon-lib/src/main/native/include/PhotonVersion.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,13 +24,12 @@

#pragma once

#include <regex>
#include <string>

namespace photon {
namespace PhotonVersion {
extern const char* versionString;
extern const char* buildDate;
extern const bool isRelease;
extern const char* wpilibTargetVersion;
extern const char* opencvTargetVersion;
} // namespace PhotonVersion
} // namespace photon
7 changes: 7 additions & 0 deletions photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,8 @@

package org.photonvision;

import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;

import java.util.regex.Matcher;
import java.util.regex.Pattern;
import org.junit.jupiter.api.Assertions;
Expand Down Expand Up @@ -56,4 +58,9 @@ public void testVersion() {
Assertions.assertFalse(versionMatches("", "v2021.1.6"));
Assertions.assertFalse(versionMatches("v2021.1.6", ""));
}

@Test
public void testNominalDeps() {
assertDoesNotThrow(PhotonCamera::verifyDependencies);
}
}
4 changes: 4 additions & 0 deletions shared/PhotonVersion.cpp.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,5 +30,9 @@ namespace photon {
const char* versionString = "${version}";
const char* buildDate = "${date}";
const bool isRelease = strncmp(dev_, versionString, strlen(dev_)) != 0;

// Versions of dependant libraries
const char* wpilibTargetVersion = "${wpilibVersion}";
const char* opencvTargetVersion = "${opencvVersion}";
}
}
4 changes: 4 additions & 0 deletions shared/PhotonVersion.java.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,10 @@ public final class PhotonVersion {
public static final String buildDate = "${date}";
public static final boolean isRelease = !versionString.startsWith("dev");

// Versions of dependant libraries
public static final String wpilibTargetVersion = "${wpilibVersion}";
public static final String opencvTargetVersion = "${opencvVersion}";

public static final boolean versionMatches(String other) {
String c = versionString;
Pattern p = Pattern.compile("v[0-9]+.[0-9]+.[0-9]+");
Expand Down
6 changes: 5 additions & 1 deletion versioningHelper.gradle
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,11 @@ gradle.allprojects {
String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
File versionFileOut = new File(path.toAbsolutePath().toString())
versionFileOut.delete()
def read = versionFileIn.text.replace('${version}', version).replace('${date}', date)
def read = versionFileIn.text.replace('${version}', version)
.replace('${date}', date)
.replace('${wpilibVersion}', wpilibVersion)
// Note that OpenCV is usually {VERSION}-{some suffix}, we just want the first bit
.replace('${opencvVersion}', openCVversion.split("-").first())
if (!versionFileOut.parentFile.exists()) versionFileOut.parentFile.mkdirs()
if (!versionFileOut.exists()) versionFileOut.createNewFile()
versionFileOut.write(read)
Expand Down
Loading