TexasTorque2022Vision

Compilation of computer vision code for external coprocessors on the Texas Torque 2022 robot. This does not include RoboRio interfacing code or limelight, as it doesnt have offboard source code.

Note this will be merged as a subcomponent of TexasTorque2022 monorepo, but is currently not as it was made before the competition code was started.

Configure Editor

This project is build with a Makefile utalizing the WPILib Raspbian Toolchain added to your $PATH. The project utalizes the C17 and C++17 standards, and is built with the toolchain's version of GCC 8 (arm-raspbian10-linux-gnueabihf-gcc and arm-raspbian10-linux-gnueabihf-g++, which shoul be in your $PATH). All of the headers to include and static libraries to be linked are bundled in the ./include and ./lib directories respectively.

To supress the include path errors, make sure your .vscode/c_cpp_properties.json is structured for your system and includes the "includePath" entry like below.

{
    "configurations": [
        {
            "name": "Mac",
            "includePath": [
                "${workspaceFolder}/**",
                "${workspaceFolder}/include"
            ],
            "defines": [],
            "macFrameworkPath": [],
            "compilerPath": "/usr/local/bin/gcc-11",
            "cStandard": "gnu17",
            "cppStandard": "gnu++17",
            "intelliSenseMode": "macos-gcc-x64"
        }
    ],
    "version": 4
}

./make.exe is a portable GNU Make binary for Windows, but you must used the Makefile-DOS, which has some limitations.

This project uses Clang-Format for, you guessed it, code formatting. Clang-Format has a VSCode plugin that I perfer to the command line utility, and it should download all software automatically. Dont try and format outside of ./src because it will run forever and waste your time.

Cross-Compile

Unix

Run make to run the Makefile. The Makefile builds all .c, .cc, (perfered C++ extension) and .cpp files in ./src.

Windows

Run ./make.exe -f Makefile-DOS to run the Windows Makefile. You will need to individually specify all the source files to compile in this Makefile.

Results

The resulting binary at ./bin/camera-binary is the binary to upload to WPILibPI. Do not try and run this locally, it is build for the ARM instruction set with Raspberry-Pi system libraries, not x86 or Apple ARM.

To clean up the build generated .o files, run make clean.

Licensing

This project is licensed under the WPILib License, I will manage licensing later. Currently this is Texas Torque internal software.