PhotonVision · gerth2 · Feb 12, 2023 · Jan 13, 2023 · Feb 10, 2023 · Feb 10, 2023
diff --git a/.gitignore b/.gitignore
@@ -153,3 +153,5 @@ photon-server/src/main/resources/nativelibraries/apriltag/*
 
 photonlib-java-examples/*/vendordeps/*
 photonlib-cpp-examples/*/vendordeps/*
+
+networktables.json
diff --git a/photon-server/lib/libphotonlibcamera.so b/photon-server/lib/libphotonlibcamera.so
diff --git a/photonlib-cpp-examples/aimandrange/build.gradle b/photonlib-cpp-examples/aimandrange/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2023.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

diff --git a/photonlib-cpp-examples/aimattarget/build.gradle b/photonlib-cpp-examples/aimattarget/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2023.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

diff --git a/photonlib-cpp-examples/apriltagExample/.gitignore b/photonlib-cpp-examples/apriltagExample/.gitignore
@@ -0,0 +1 @@
+vendordeps
diff --git a/photonlib-cpp-examples/apriltagExample/WPILib-License.md b/photonlib-cpp-examples/apriltagExample/WPILib-License.md
@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/photonlib-cpp-examples/apriltagExample/build.gradle b/photonlib-cpp-examples/apriltagExample/build.gradle
@@ -0,0 +1,116 @@
+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+
+    id "com.dorongold.task-tree" version "2.1.0"
+}
+
+repositories {
+    mavenLocal()
+    jcenter()
+}
+
+apply from: "${rootDir}/../shared/examples_common.gradle"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamOrDefault(5940)
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Set to true to run simulation in debug mode
+wpi.cpp.debugSimulation = false
+
+// Default enable simgui
+wpi.sim.addGui().defaultEnabled = true
+// Enable DS but not by default
+wpi.sim.addDriverstation()
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            // We don't need to build for roborio -- if we do, we need to install
+            // a roborio toolchain every time we build in CI
+            // Ideally, we'd be able to set the roborio toolchain as optional, but
+            // I can't figure out how to set that environment variable from build.gradle
+            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
+            // for now, commented out
+
+            // targetPlatform wpi.platforms.roborio
+
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                }
+            }
+
+            // Set deploy task to deploy this component
+            deployArtifact.component = it
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            // Enable simulation for this component
+            wpi.sim.enable(it)
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+            wpi.cpp.deps.googleTest(it)
+        }
+    }
+}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -153,3 +153,5 @@ photon-server/src/main/resources/nativelibraries/apriltag/*

		photonlib-java-examples//vendordeps/
		photonlib-cpp-examples//vendordeps/

		networktables.json