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Update to WPILib 2025.2.1 #235

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12 changes: 6 additions & 6 deletions deps/examples/cpp-multiCameraServer/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,9 @@
#include <networktables/NetworkTableInstance.h>
#include <vision/VisionPipeline.h>
#include <vision/VisionRunner.h>
#include <wpi/MemoryBuffer.h>
#include <wpi/StringExtras.h>
#include <wpi/json.h>
#include <wpi/raw_istream.h>

#include "cameraserver/CameraServer.h"

Expand Down Expand Up @@ -149,17 +149,17 @@ bool ReadSwitchedCameraConfig(const wpi::json& config) {

bool ReadConfig() {
// open config file
std::error_code ec;
wpi::raw_fd_istream is(configFile, ec);
if (ec) {
fmt::print(stderr, "could not open '{}': {}", configFile, ec.message());
auto fileBuffer = wpi::MemoryBuffer::GetFile(configFile);
if (!fileBuffer) {
fmt::print(stderr, "could not open '{}': {}", configFile,
fileBuffer.error().message());
return false;
}

// parse file
wpi::json j;
try {
j = wpi::json::parse(is);
j = wpi::json::parse((*fileBuffer)->GetCharBuffer());
} catch (const wpi::json::parse_error& e) {
ParseError("byte {}: {}", e.byte, e.what());
return false;
Expand Down
1 change: 1 addition & 0 deletions deps/tools/configServer/Makefile
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Expand Up @@ -6,6 +6,7 @@ IMG_VERSION?=$(shell git describe)
-I${ALLWPILIB}/wpiutil/src/main/native/include \
-I${ALLWPILIB}/wpinet/src/main/native/include \
-I${ALLWPILIB}/cscore/src/main/native/include \
-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/expected/include \
-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/llvm/include \
-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/sigslot/include \
-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/fmtlib/include \
Expand Down
14 changes: 7 additions & 7 deletions deps/tools/configServer/src/Application.cpp
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Expand Up @@ -70,13 +70,13 @@ void Application::Set(std::string_view appType,
onFail("could not write " EXEC_HOME "/runCamera");
return;
}
fmt::print(os, "#!/bin/sh\n");
fmt::print(os, "{} {}\n", TYPE_TAG, appType);
fmt::print(os, "echo \"Waiting 5 seconds...\"\n");
fmt::print(os, "sleep 5\n");
if (!appDir.empty()) fmt::print(os, "cd {}\n", appDir);
if (!appEnv.empty()) fmt::print(os, "{}\n", appEnv);
fmt::print(os, "exec {}\n", appCommand);
wpi::print(os, "#!/bin/sh\n");
wpi::print(os, "{} {}\n", TYPE_TAG, appType);
wpi::print(os, "echo \"Waiting 5 seconds...\"\n");
wpi::print(os, "sleep 5\n");
if (!appDir.empty()) wpi::print(os, "cd {}\n", appDir);
if (!appEnv.empty()) wpi::print(os, "{}\n", appEnv);
wpi::print(os, "exec {}\n", appCommand);
}

// terminate vision process so it reloads
Expand Down
76 changes: 38 additions & 38 deletions deps/tools/configServer/src/NetworkSettings.cpp
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Expand Up @@ -120,25 +120,25 @@ static std::string BuildDhcpcdSetting(
// write generated config
switch (mode) {
case NetworkSettings::kDhcp:
fmt::print(os, "\n"); // nothing required
wpi::print(os, "\n"); // nothing required
break;
case NetworkSettings::kStatic:
fmt::print(os, "interface {}\n", iface);
fmt::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
wpi::print(os, "interface {}\n", iface);
wpi::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
if (!gatewayOut.empty())
fmt::print(os, "static routers={}\n", gatewayOut.str());
wpi::print(os, "static routers={}\n", gatewayOut.str());
if (!dnsOut.empty())
fmt::print(os, "static domain_name_servers={}\n", dnsOut.str());
wpi::print(os, "static domain_name_servers={}\n", dnsOut.str());
break;
case NetworkSettings::kDhcpStatic:
fmt::print(os, "profile static_{}\n", iface);
fmt::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
wpi::print(os, "profile static_{}\n", iface);
wpi::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
if (!gatewayOut.empty())
fmt::print(os, "static routers={}\n", gatewayOut.str());
wpi::print(os, "static routers={}\n", gatewayOut.str());
if (!dnsOut.empty())
fmt::print(os, "static domain_name_servers={}\n", dnsOut.str());
fmt::print(os, "interface {}\n", iface);
fmt::print(os, "fallback static_{}\n", iface);
wpi::print(os, "static domain_name_servers={}\n", dnsOut.str());
wpi::print(os, "interface {}\n", iface);
wpi::print(os, "fallback static_{}\n", iface);
break;
}
return os.str();
Expand Down Expand Up @@ -210,16 +210,16 @@ void NetworkSettings::Set(Mode mode, std::string_view address,
onFail("could not write " DHCPCD_CONF);
return;
}
for (auto&& line : lines) fmt::print(os, "{}\n", line);
for (auto&& line : lines) wpi::print(os, "{}\n", line);

// write marker
fmt::print(os, "{}\n", GEN_MARKER);
wpi::print(os, "{}\n", GEN_MARKER);

// write generated config
fmt::print(os, "{}\n", eth0);
fmt::print(os, "{}", wlan0);
wpi::print(os, "{}\n", eth0);
wpi::print(os, "{}", wlan0);
if (wifiAPMode == kAccessPoint) {
fmt::print(os, "nohook wpa_supplicant\n");
wpi::print(os, "nohook wpa_supplicant\n");
}
}
}
Expand All @@ -244,8 +244,8 @@ void NetworkSettings::Set(Mode mode, std::string_view address,
onFail("could not write " DNSMASQ_CONF);
return;
}
fmt::print(os, "interface=wlan0\n");
fmt::print(os, "dhcp-range={}.100,{}.200,{},5m\n", addr3part, addr3part,
wpi::print(os, "interface=wlan0\n");
wpi::print(os, "dhcp-range={}.100,{}.200,{},5m\n", addr3part, addr3part,
wifiMask);
} else {
// remove dnsmasq config file
Expand All @@ -262,20 +262,20 @@ void NetworkSettings::Set(Mode mode, std::string_view address,
onFail("could not write " HOSTAPD_CONF);
return;
}
fmt::print(os, "interface=wlan0\n");
fmt::print(os, "hw_mode=g\n");
fmt::print(os, "channel={}\n", wifiChannel);
fmt::print(os, "wmm_enabled=0\n");
fmt::print(os, "macaddr_acl=0\n");
fmt::print(os, "auth_algs=1\n");
fmt::print(os, "ignore_broadcast_ssid=0\n");
fmt::print(os, "ssid={}\n", wifiSsid);
wpi::print(os, "interface=wlan0\n");
wpi::print(os, "hw_mode=g\n");
wpi::print(os, "channel={}\n", wifiChannel);
wpi::print(os, "wmm_enabled=0\n");
wpi::print(os, "macaddr_acl=0\n");
wpi::print(os, "auth_algs=1\n");
wpi::print(os, "ignore_broadcast_ssid=0\n");
wpi::print(os, "ssid={}\n", wifiSsid);
if (!wifiWpa2.empty()) {
fmt::print(os, "wpa=2\n");
fmt::print(os, "wpa_key_mgmt=WPA-PSK\n");
fmt::print(os, "wpa_pairwise=TKIP\n");
fmt::print(os, "rsn_pairwise=CCMP\n");
fmt::print(os, "wpa_passphrase={}\n", wifiWpa2);
wpi::print(os, "wpa=2\n");
wpi::print(os, "wpa_key_mgmt=WPA-PSK\n");
wpi::print(os, "wpa_pairwise=TKIP\n");
wpi::print(os, "rsn_pairwise=CCMP\n");
wpi::print(os, "wpa_passphrase={}\n", wifiWpa2);
}
} else {
// remove hostapd config file
Expand Down Expand Up @@ -312,20 +312,20 @@ void NetworkSettings::Set(Mode mode, std::string_view address,
onFail("could not write " WPA_SUPPLICANT_CONF);
return;
}
for (auto&& line : lines) fmt::print(os, "{}\n", line);
for (auto&& line : lines) wpi::print(os, "{}\n", line);

// write marker
fmt::print(os, "{}\n", GEN_MARKER);
wpi::print(os, "{}\n", GEN_MARKER);

// write generated config
fmt::print(os, "network={\n");
fmt::print(os, " ssid=\"{}\"\n", wifiSsid);
wpi::print(os, "network={\n");
wpi::print(os, " ssid=\"{}\"\n", wifiSsid);
if (!wifiWpa2.empty()) {
fmt::print(os, " psk=\"{}\"\n", wifiWpa2);
wpi::print(os, " psk=\"{}\"\n", wifiWpa2);
} else {
fmt::print(os, " key_mgmt=NONE\n");
wpi::print(os, " key_mgmt=NONE\n");
}
fmt::print(os, "}\n");
wpi::print(os, "}\n");
}
}

Expand Down
38 changes: 18 additions & 20 deletions deps/tools/configServer/src/RomiStatus.cpp
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Expand Up @@ -57,14 +57,14 @@ void RomiStatus::RunSvc(const char* cmd,
if (fd == -1) {
wpi::raw_svector_ostream os(r->err);
if (errno == ENXIO)
fmt::print(os, "unable to control service: supervise not running");
wpi::print(os, "unable to control service: supervise not running");
else
fmt::print(os, "unable to control service: {}", std::strerror(errno));
wpi::print(os, "unable to control service: {}", std::strerror(errno));
} else {
fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) & ~O_NONBLOCK);
if (write(fd, r->cmd, std::strlen(r->cmd)) == -1) {
wpi::raw_svector_ostream os(r->err);
fmt::print(os, "error writing command: {}", std::strerror(errno));
wpi::print(os, "error writing command: {}", std::strerror(errno));
}
close(fd);
}
Expand Down Expand Up @@ -111,29 +111,29 @@ void RomiStatus::UpdateStatus() {
int fd = open(SERVICE "/supervise/ok", O_WRONLY | O_NDELAY);
if (fd == -1) {
if (errno == ENXIO)
fmt::print(os, "supervise not running");
wpi::print(os, "supervise not running");
else
fmt::print(os, "unable to open supervise/ok: {}", std::strerror(errno));
wpi::print(os, "unable to open supervise/ok: {}", std::strerror(errno));
return;
}
close(fd);

// read the status data
fd = open(SERVICE "/supervise/status", O_RDONLY | O_NDELAY);
if (fd == -1) {
fmt::print(os, "unable to open supervise/status: {}",
wpi::print(os, "unable to open supervise/status: {}",
std::strerror(errno));
return;
}
uint8_t status[18];
int nr = read(fd, status, sizeof status);
close(fd);
if (nr < static_cast<int>(sizeof status)) {
fmt::print(os, "unable to read supervise/status: ");
wpi::print(os, "unable to read supervise/status: ");
if (nr == -1)
fmt::print(os, "{}", std::strerror(errno));
wpi::print(os, "{}", std::strerror(errno));
else
fmt::print(os, "bad format");
wpi::print(os, "bad format");
return;
}

Expand Down Expand Up @@ -163,13 +163,13 @@ void RomiStatus::UpdateStatus() {

// convert to status string
if (pid)
fmt::print(os, "up (pid {}) ", pid);
wpi::print(os, "up (pid {}) ", pid);
else
fmt::print(os, "down ");
fmt::print(os, "{} seconds", when);
if (pid && paused) fmt::print(os, ", paused");
if (!pid && want == 'u') fmt::print(os, ", want up");
if (pid && want == 'd') fmt::print(os, ", want down");
wpi::print(os, "down ");
wpi::print(os, "{} seconds", when);
if (pid && paused) wpi::print(os, ", paused");
if (!pid && want == 'u') wpi::print(os, ", want up");
if (pid && want == 'd') wpi::print(os, ", want down");

if (pid) r->enabled = true;
});
Expand Down Expand Up @@ -237,19 +237,17 @@ void RomiStatus::UpdateConfig(std::function<void(std::string_view)> onFail) {
wpi::json RomiStatus::ReadRomiConfigFile(
std::function<void(std::string_view)> onFail) {
// Read config file
std::error_code ec;
std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
wpi::MemoryBuffer::GetFile(ROMI_JSON, ec);
auto fileBuffer = wpi::MemoryBuffer::GetFile(ROMI_JSON);

if (fileBuffer == nullptr || ec) {
if (!fileBuffer) {
onFail("Could not read romi config file");
fmt::print(stderr, "could not read {}\n", ROMI_JSON);
return wpi::json();
}

wpi::json j;
try {
j = wpi::json::parse(fileBuffer->GetCharBuffer());
j = wpi::json::parse((*fileBuffer)->GetCharBuffer());
} catch(const wpi::json::parse_error& e) {
onFail("Parse error in config file");
fmt::print(stderr, "Parse error in {}: byte {}: {}\n", ROMI_JSON, e.byte,
Expand Down
8 changes: 3 additions & 5 deletions deps/tools/configServer/src/VisionSettings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,18 +41,16 @@ void VisionSettings::Set(const wpi::json& data,
void VisionSettings::UpdateStatus() { status(GetStatusJson()); }

wpi::json VisionSettings::GetStatusJson() {
std::error_code ec;
std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
wpi::MemoryBuffer::GetFile(FRC_JSON, ec);
auto fileBuffer = wpi::MemoryBuffer::GetFile(FRC_JSON);

if (fileBuffer == nullptr || ec) {
if (!fileBuffer) {
fmt::print(stderr, "could not read {}\n", FRC_JSON);
return wpi::json();
}

try {
wpi::json j = {{"type", "visionSettings"},
{"settings", wpi::json::parse(fileBuffer->GetCharBuffer())}};
{"settings", wpi::json::parse((*fileBuffer)->GetCharBuffer())}};
return j;
} catch (wpi::json::exception& e) {
fmt::print(stderr, "could not parse {}\n", FRC_JSON);
Expand Down
30 changes: 15 additions & 15 deletions deps/tools/configServer/src/VisionStatus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,14 +142,14 @@ void VisionStatus::RunSvc(const char* cmd,
if (fd == -1) {
wpi::raw_svector_ostream os(r->err);
if (errno == ENXIO)
fmt::print(os, "unable to control service: supervise not running");
wpi::print(os, "unable to control service: supervise not running");
else
fmt::print(os, "unable to control service: {}", std::strerror(errno));
wpi::print(os, "unable to control service: {}", std::strerror(errno));
} else {
fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) & ~O_NONBLOCK);
if (write(fd, r->cmd, std::strlen(r->cmd)) == -1) {
wpi::raw_svector_ostream os(r->err);
fmt::print(os, "error writing command: {}", std::strerror(errno));
wpi::print(os, "error writing command: {}", std::strerror(errno));
}
close(fd);
}
Expand Down Expand Up @@ -196,29 +196,29 @@ void VisionStatus::UpdateStatus() {
int fd = open(SERVICE "/supervise/ok", O_WRONLY | O_NDELAY);
if (fd == -1) {
if (errno == ENXIO)
fmt::print(os, "supervise not running");
wpi::print(os, "supervise not running");
else
fmt::print(os, "unable to open supervise/ok: {}", std::strerror(errno));
wpi::print(os, "unable to open supervise/ok: {}", std::strerror(errno));
return;
}
close(fd);

// read the status data
fd = open(SERVICE "/supervise/status", O_RDONLY | O_NDELAY);
if (fd == -1) {
fmt::print(os, "unable to open supervise/status: {}",
wpi::print(os, "unable to open supervise/status: {}",
std::strerror(errno));
return;
}
uint8_t status[18];
int nr = read(fd, status, sizeof status);
close(fd);
if (nr < static_cast<int>(sizeof status)) {
fmt::print(os, "unable to read supervise/status: ");
wpi::print(os, "unable to read supervise/status: ");
if (nr == -1)
fmt::print(os, std::strerror(errno));
wpi::print(os, std::strerror(errno));
else
fmt::print(os, "bad format");
wpi::print(os, "bad format");
return;
}

Expand Down Expand Up @@ -248,13 +248,13 @@ void VisionStatus::UpdateStatus() {

// convert to status string
if (pid)
fmt::print(os, "up (pid {}) ", pid);
wpi::print(os, "up (pid {}) ", pid);
else
fmt::print(os, "down ");
fmt::print(os, "{} seconds", when);
if (pid && paused) fmt::print(os, ", paused");
if (!pid && want == 'u') fmt::print(os, ", want up");
if (pid && want == 'd') fmt::print(os, ", want down");
wpi::print(os, "down ");
wpi::print(os, "{} seconds", when);
if (pid && paused) wpi::print(os, ", paused");
if (!pid && want == 'u') wpi::print(os, ", want up");
if (pid && want == 'd') wpi::print(os, ", want down");

if (pid) r->enabled = true;
});
Expand Down
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