Merge pull request #6 from Gold856/wpical

Fix build

.github/workflows/pregenerate.yml

@@ -39,4 +39,4 @@ jobs:
         with:
           name: pregenerated-files-fixes
           path: pregenerated-files-fixes.patch
-        if: ${{ failure() }}
+        if: ${{ failure() }}

CMakeLists.txt

@@ -76,6 +76,7 @@ cmake_dependent_option(
 )
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
+option(WITH_WPICAL "Build wpical" OFF)
 option(WITH_WPIMATH "Build wpimath" ON)
 cmake_dependent_option(
     WITH_WPIUNITS
@@ -142,6 +143,7 @@ if(WITH_DOCS)
     include(AddDoxygenDocs)
     add_doxygen_docs()
 endif()
+find_package(Ceres CONFIG)
 find_package(LIBSSH CONFIG 0.7.1)
 
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
@@ -314,7 +316,9 @@ if(WITH_GUI)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)
     add_subdirectory(sysid)
-    add_subdirectory(wpical)
+    if(Ceres_FOUND AND WITH_WPICAL)
+        add_subdirectory(wpical)
+    endif()
     if(LIBSSH_FOUND)
         add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
@@ -354,6 +358,6 @@ endif()
 if(WITH_SIMULATION_MODULES)
     add_subdirectory(simulation)
 endif()
-    
+
 configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake)
 install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)

shared/java/javastyle.gradle

@@ -48,7 +48,7 @@ spotless {
         target fileTree('.') {
             include '**/*.json'
             exclude '**/build/**', '**/build-*/**', '**/bin/**'
-            exclude '**/simgui-ds.json', '**/simgui-window.json', '**/simgui.json', '**/networktables.json', '**/*test.json', '**/canera calibration.json'
+            exclude '**/simgui-ds.json', '**/simgui-window.json', '**/simgui.json', '**/networktables.json', '**/*test.json', '**/camera calibration.json'
         }
         gson()
           .indentWithSpaces(2)

upstream_utils/mrcal_java.py

@@ -5,18 +5,24 @@
 
 from upstream_utils import Lib, walk_cwd_and_copy_if
 
+
 def delete_lines_by_range(file_path, start_line, end_line):
     # Read all lines from the file
-    with open(file_path, 'r') as file:
+    with open(file_path, "r") as file:
         lines = file.readlines()
-    
+
     # Filter out lines that are within the specified range
-    filtered_lines = [line for i, line in enumerate(lines, start=1) if not (start_line <= i <= end_line)]
-
+    filtered_lines = [
+        line
+        for i, line in enumerate(lines, start=1)
+        if not (start_line <= i <= end_line)
+    ]
+
     # Write the remaining lines back to the file
-    with open(file_path, 'w') as file:
+    with open(file_path, "w") as file:
         file.writelines(filtered_lines)
 
+
 def copy_upstream_src(wpilib_root):
     wpical = os.path.join(wpilib_root, "wpical")
 
@@ -33,28 +39,38 @@ def copy_upstream_src(wpilib_root):
         os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/include"),
     )
 
-    for f in files:
-        delete_lines_by_range(f, 24, 29)
-
     files = walk_cwd_and_copy_if(
         lambda dp, f: f.endswith("mrcal_wrapper.cpp"),
         os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/src"),
     )
 
-    for f in files:
-        delete_lines_by_range(f, 30, 41)
-
     for f in files:
         with open(f) as file:
             content = file.read()
             content = content.replace("#include <malloc.h>", "")
-            content = content.replace("// mrcal_point3_t *c_observations_point_pool = observations_point;", "mrcal_point3_t *c_observations_point_pool = observations_point;")
-            content = content.replace("// mrcal_observation_point_triangulated_t *observations_point_triangulated =", "mrcal_observation_point_triangulated_t *observations_point_triangulated = NULL;")
-            content = content.replace("// observations_point_triangulated,", "observations_point_triangulated,")
-            content = content.replace("// 0, // hard-coded to 0", "0, // hard-coded to 0")
-            content = content.replace("// observations_point_triangulated, -1,", "observations_point_triangulated, -1,")
-            content = content.replace("c_observations_board_pool, &mrcal_lensmodel, c_imagersizes,", "c_observations_board_pool, c_observations_point_pool, &mrcal_lensmodel, c_imagersizes,")
-            content = content.replace("calobject_warp, stats.Noutliers);", "calobject_warp, stats.Noutliers_board);")
+            content = content.replace(
+                "// mrcal_point3_t *c_observations_point_pool = observations_point;",
+                "mrcal_point3_t *c_observations_point_pool = observations_point;",
+            )
+            content = content.replace(
+                "// mrcal_observation_point_triangulated_t *observations_point_triangulated =",
+                "mrcal_observation_point_triangulated_t *observations_point_triangulated = NULL;",
+            )
+            content = content.replace(
+                "// observations_point_triangulated,",
+                "observations_point_triangulated,",
+            )
+            content = content.replace(
+                "// 0, // hard-coded to 0", "0, // hard-coded to 0"
+            )
+            content = content.replace(
+                "// observations_point_triangulated, -1,",
+                "observations_point_triangulated, -1,",
+            )
+            content = content.replace(
+                "c_observations_board_pool, &mrcal_lensmodel, c_imagersizes,",
+                "c_observations_board_pool, c_observations_point_pool, &mrcal_lensmodel, c_imagersizes,",
+            )
         with open(f, "w") as file:
             file.write(content)
 

wpical/CMakeLists.txt

@@ -9,6 +9,13 @@ configure_file(src/main/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
 generate_resources(src/main/native/resources generated/main/cpp WPIcal wpical wpical_resources_src)
 
 file(GLOB wpical_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
+file(
+    GLOB_RECURSE wpical_thirdparty_src
+    src/main/native/thirdparty/libdogleg/src/*.cpp
+    src/main/native/thirdparty/mrcal/src/*.c
+    src/main/native/thirdparty/mrcal/src/*.cpp
+    src/main/native/thirdparty/mrcal_java/src/*.cpp
+)
 
 if(WIN32)
     set(wpical_rc src/main/native/win/wpical.rc)
@@ -18,13 +25,72 @@ elseif(APPLE)
     set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
 endif()
 
-add_executable(wpical ${wpical_src} ${wpical_resources_src} ${wpical_rc} ${APP_ICON_MACOSX})
+add_executable(
+    wpical
+    ${wpical_src}
+    ${wpical_thirdparty_src}
+    ${wpical_resources_src}
+    ${wpical_rc}
+    ${APP_ICON_MACOSX}
+)
 wpilib_link_macos_gui(wpical)
 wpilib_target_warnings(wpical)
-target_include_directories(wpical PRIVATE src/main/native/include)
+target_include_directories(
+    wpical
+    PRIVATE
+        src/main/native/include
+        src/main/native/thirdparty/libdogleg/include
+        src/main/native/thirdparty/mrcal/include
+        src/main/native/thirdparty/mrcal_java/include
+)
+
+if(MSVC)
+    set(compile_flags
+        /wd4047
+        /wd4098
+        /wd4267
+        /wd4068
+        /wd4101
+        /wd4200
+        /wd4576
+        /wd4715
+    )
+elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    set(compile_flags
+        -Wno-format-nonliteral
+        -Wno-unused-variable
+        -Wno-missing-field-initializers
+        -Wno-gnu-anonymous-struct
+        -Wno-c99-extensions
+        -Wno-zero-length-array
+        -Wno-nested-anon-types
+        -Wno-sign-compare
+        -Wno-unused-function
+        -Wno-missing-braces
+        -Wno-null-conversion
+        -Wno-unused-but-set-variable
+    )
+else()
+    set(compile_flags
+        -Wno-format-nonliteral
+        -Wno-unused-variable
+        -Wno-unused-function
+        -Wno-sign-compare
+        -Wno-missing-field-initializers
+    )
+endif()
+target_compile_options(wpical PRIVATE ${compile_flags})
 
 find_package(OpenCV REQUIRED)
-target_link_libraries(wpical apriltaglib ${OpenCV_LIBS} wpiutil wpimath)
+find_package(Ceres CONFIG REQUIRED)
+target_link_libraries(
+    wpical
+    apriltag
+    ${OpenCV_LIBS}
+    wpigui
+    wpiutil
+    Ceres::ceres
+)
 
 if(WIN32)
     set_target_properties(wpical PROPERTIES WIN32_EXECUTABLE YES)
@@ -35,11 +101,29 @@ endif()
 if(WITH_TESTS)
     wpilib_add_test(wpical src/test/native/cpp)
     wpilib_link_macos_gui(wpical_test)
-    target_sources(wpical_test PRIVATE ${sysid_src})
-    target_compile_definitions(wpical_test PRIVATE RUNNING_WPICAL_TEST)
+    target_sources(wpical_test PRIVATE ${wpical_src} ${wpical_thirdparty_src})
+    target_compile_definitions(wpical_test PRIVATE RUNNING_WPICAL_TESTS)
+
     if(MSVC)
         target_compile_options(wpical_test PRIVATE /utf-8)
     endif()
-    target_include_directories(wpical_test PRIVATE src/main/native/cpp src/main/native/include)
-    target_link_libraries(wpical_test googletest)
+
+    target_compile_options(wpical_test PRIVATE ${compile_flags})
+    target_include_directories(
+        wpical_test
+        PRIVATE
+            src/main/native/include
+            src/main/native/thirdparty/libdogleg/include
+            src/main/native/thirdparty/mrcal/include
+            src/main/native/thirdparty/mrcal_java/include
+    )
+    target_link_libraries(
+        wpical_test
+        googletest
+        apriltag
+        ${OpenCV_LIBS}
+        wpigui
+        wpiutil
+        Ceres::ceres
+    )
 endif()

wpical/build.gradle

@@ -97,11 +97,9 @@ nativeUtils.platformConfigs.each {
         it.cppCompiler.args.remove("-pedantic")
         it.cppCompiler.args.add("-Wno-unused-variable")
         it.cppCompiler.args.add("-Wno-unused-function")
-        it.cppCompiler.args.add("-Wno-deprecated-enum-enum-conversion")
         it.cppCompiler.args.add("-Wno-sign-compare")
         it.cppCompiler.args.remove("-permissive")
         it.cppCompiler.args.add("-fpermissive")
-        it.cppCompiler.args.add("-Wno-uninitialized")
         it.cppCompiler.args.add("-Wno-missing-braces")
         it.cppCompiler.args.add("-Wno-null-conversion")
         it.cppCompiler.args.add("-Wno-unused-but-set-variable")
@@ -111,17 +109,15 @@ nativeUtils.platformConfigs.each {
         it.cCompiler.args.add("-Wno-unused-variable")
         it.cCompiler.args.add("-Wno-unused-function")
         it.cCompiler.args.add("-Wno-sign-compare")
-        it.cCompiler.args.add("-Wno-deprecated-declarations")
         it.cppCompiler.args.add("-Wno-missing-field-initializers")
         it.cppCompiler.args.remove("-pedantic")
         it.cppCompiler.args.add("-Wno-unused-variable")
         it.cppCompiler.args.add("-Wno-unused-function")
-        it.cppCompiler.args.add("-Wno-deprecated-enum-enum-conversion")
         it.cppCompiler.args.add("-Wno-sign-compare")
         it.cppCompiler.args.add("-Wno-deprecated-declarations")
+        it.cppCompiler.args.add("-Wno-deprecated-enum-enum-conversion")
         it.cppCompiler.args.remove("-permissive")
         it.cppCompiler.args.add("-fpermissive")
-        it.cppCompiler.args.add("-Wno-maybe-uninitialized")
     }
 }
 def testResources = "\"$rootDir/wpical/src/main/native/resources\"".replace("\\", "/")
@@ -172,16 +168,12 @@ model {
                 } else {
                     it.cppCompiler.define('GLOG_DEPRECATED', '[[deprecated]]')
                 }
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) {
-                    it.linker.args << '/alternatename:__imp___std_init_once_complete=__imp_InitOnceComplete'
-                    it.linker.args << '/alternatename:__imp___std_init_once_begin_initialize=__imp_InitOnceBeginInitialize'
-                }
                 if (it.targetPlatform.operatingSystem.isWindows()) {
                     // Comdlg32.lib is needed for GetSaveFileNameA
                     // dbghelp.lib is needed for glog functions
                     it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib' << 'Comdlg32.lib' << 'dbghelp.lib'
                 } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
-                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
                 } else {
                     it.linker.args << '-lX11' << "-lgfortran"
                     if (it.targetPlatform.name.startsWith('linuxarm')) {
@@ -223,6 +215,11 @@ model {
                 nativeUtils.useRequiredLibrary(it, 'opencv_static')
                 it.cppCompiler.define('PROJECT_ROOT_PATH', testResources)
                 it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) {
+                    // https://developercommunity.visualstudio.com/t/-imp-std-init-once-complete-unresolved-external-sy/1684365#T-N10041864
+                    it.linker.args << '/alternatename:__imp___std_init_once_complete=__imp_InitOnceComplete'
+                    it.linker.args << '/alternatename:__imp___std_init_once_begin_initialize=__imp_InitOnceBeginInitialize'
+                }
                 if (it.targetPlatform.operatingSystem.isWindows()) {
                     it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)')
                 } else {
@@ -234,9 +231,10 @@ model {
                     it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
                     // Comdlg32.lib is needed for GetSaveFileNameA
                     // dbghelp.lib is needed for glog functions
+                    // advapi32.lib is needed for __imp_RegDeleteKeyA and other __imp_Reg functions for icvLoadWindowPos and the save variant
                     it.linker.args << 'advapi32.lib' << 'Comdlg32.lib' << 'dbghelp.lib'
                 } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
-                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
                 } else {
                     it.linker.args << '-lX11' << '-lgfortran'
                     if (it.targetPlatform.name.startsWith('linuxarm')) {