Merge pull request #71 from deltacv/dev

Merge dev into master for 3.3.2

EOCV-Sim/build.gradle

@@ -38,8 +38,14 @@ dependencies {
 
     implementation 'org.jetbrains.kotlin:kotlin-stdlib-jdk8'
 
+    implementation "org.eclipse.jdt:ecj:3.21.0"
+
     implementation "org.openpnp:opencv:$opencv_version"
+
     implementation 'com.github.sarxos:webcam-capture:0.3.12'
+    implementation 'com.github.sarxos:webcam-capture-driver-openimaj:0.3.12'
+    implementation 'com.github.sarxos:webcam-capture-driver-v4l4j:0.3.12'
+
     implementation "com.github.deltacv:AprilTagDesktop:$apriltag_plugin_version"
 
     implementation 'info.picocli:picocli:4.6.1'

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/EOCVSim.kt

@@ -23,6 +23,9 @@
 
 package com.github.serivesmejia.eocvsim
 
+import com.github.sarxos.webcam.Webcam
+import com.github.sarxos.webcam.ds.openimaj.OpenImajDriver
+import com.github.sarxos.webcam.ds.v4l4j.V4l4jDriver
 import com.github.serivesmejia.eocvsim.config.Config
 import com.github.serivesmejia.eocvsim.config.ConfigManager
 import com.github.serivesmejia.eocvsim.gui.DialogFactory
@@ -39,6 +42,7 @@ import com.github.serivesmejia.eocvsim.util.Log
 import com.github.serivesmejia.eocvsim.util.SysUtil
 import com.github.serivesmejia.eocvsim.util.event.EventHandler
 import com.github.serivesmejia.eocvsim.util.exception.MaxActiveContextsException
+import com.github.serivesmejia.eocvsim.util.exception.handling.CrashReport
 import com.github.serivesmejia.eocvsim.util.exception.handling.EOCVSimUncaughtExceptionHandler
 import com.github.serivesmejia.eocvsim.util.extension.plus
 import com.github.serivesmejia.eocvsim.util.fps.FpsLimiter
@@ -73,12 +77,14 @@ class EOCVSim(val params: Parameters = Parameters()) {
 
             try {
                 OpenCV.loadLocally()
-                Log.info(TAG, "Successfully loaded native lib")
+                Log.info(TAG, "Successfully loaded the OpenCV native lib")
             } catch (ex: Throwable) {
-                Log.error(TAG, "Failure loading native lib", ex)
-                Log.info(TAG, "Retrying with old method...")
+                Log.error(TAG, "Failure loading the OpenCV native lib", ex)
+                Log.error(TAG, "The sim will exit now as it's impossible to continue execution without OpenCV")
 
-                if (!SysUtil.loadCvNativeLib()) exitProcess(-1)
+                CrashReport(ex).saveCrashReport()
+
+                exitProcess(-1)
             }
 
             isNativeLibLoaded = true
@@ -148,6 +154,16 @@ class EOCVSim(val params: Parameters = Parameters()) {
 
         classpathScan.asyncScan()
 
+        try {
+            Webcam.setDriver(OpenImajDriver())
+            Log.info(TAG, "Using the OpenIMAJ webcam driver")
+        } catch(e: Exception) {
+            Log.warn(TAG, "The OpenIMAJ webcam driver failed to load", e)
+
+            Webcam.setDriver(V4l4jDriver())
+            Log.info(TAG, "Using the V4L4j webcam driver")
+        }
+
         configManager.init() //load config
 
         workspaceManager.init()

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/input/source/CameraSource.java

@@ -83,16 +83,27 @@ public boolean init() {
         initialized = true;
 
         if(webcamName != null) {
+            Webcam.resetDriver();
             List<Webcam> webcams = Webcam.getWebcams();
 
+            boolean foundWebcam = false;
+
             for(int i = 0 ; i < webcams.size() ; i++) {
                 String name = webcams.get(i).getName();
+                double similarity = StrUtil.similarity(name, webcamName);
 
-                if(name.equals(webcamName) || StrUtil.similarity(name, webcamName) > 0.6) {
+                if(name.equals(webcamName) || similarity > 0.6) {
+                    System.out.println(name + " " + webcamName + " similarity " + similarity + " " + i);
                     webcamIndex = i;
+                    foundWebcam = true;
                     break;
                 }
             }
+
+            if(!foundWebcam) {
+                Log.error("CameraSource", "Could not find webcam " + webcamName);
+                return false;
+            }
         }
 
         camera = new VideoCapture();
@@ -235,7 +246,7 @@ public long getCaptureTimeNanos() {
     @Override
     public String toString() {
         if (size == null) size = new Size();
-        return "CameraSource(" + webcamIndex + ", " + (size != null ? size.toString() : "null") + ")";
+        return "CameraSource(" + webcamName + ", " + (size != null ? size.toString() : "null") + ")";
     }
 
 }

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/input/source/CameraSourceAdapter.java

@@ -18,11 +18,7 @@ public JsonElement serialize(CameraSource src, Type typeOfSrc, JsonSerialization
             obj.addProperty("webcamIndex", src.webcamIndex);
         }
 
-        JsonObject sizeObj = new JsonObject();
-        sizeObj.addProperty("width", src.size.width);
-        sizeObj.addProperty("height", src.size.width);
-
-        obj.add("size", sizeObj);
+        obj.add("size", context.serialize(src.size));
         obj.addProperty("createdOn", src.getCreationTime());
 
         return obj;

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/pipeline/compiler/PipelineCompiler.kt

@@ -24,10 +24,15 @@
 package com.github.serivesmejia.eocvsim.pipeline.compiler
 
 import com.github.serivesmejia.eocvsim.util.Log
+import com.github.serivesmejia.eocvsim.util.ReflectUtil
 import com.github.serivesmejia.eocvsim.util.SysUtil
 import com.github.serivesmejia.eocvsim.util.compiler.JarPacker
+import com.github.serivesmejia.eocvsim.util.compiler.compiler
+import org.eclipse.jdt.internal.compiler.tool.EclipseCompiler
 import java.io.File
 import java.io.PrintWriter
+import java.lang.reflect.Field
+import java.nio.charset.Charset
 import java.util.*
 import javax.tools.*
 
@@ -51,7 +56,7 @@ class PipelineCompiler(
             usable
         }
 
-        val COMPILER = ToolProvider.getSystemJavaCompiler()
+        val COMPILER = compiler
 
         val INDENT = "      "
         val TAG = "PipelineCompiler"
@@ -62,6 +67,7 @@ class PipelineCompiler(
     val latestDiagnostic: String
         get() {
             val diagnostic = StringBuilder()
+            diagnostic.appendLine("Using the ${COMPILER!!.name} compiler").appendLine()
             for((_, builder) in diagnosticBuilders) {
                 diagnostic.appendLine(builder)
                 diagnostic.appendLine("")
@@ -83,9 +89,9 @@ class PipelineCompiler(
     constructor(inputPath: File) : this(inputPath, SysUtil.filesUnder(inputPath, ".java"))
 
     fun compile(outputJar: File): PipelineCompileResult {
-        val javac = COMPILER
+        val javac = COMPILER!!.javaCompiler
 
-        val fileManager = PipelineStandardFileManager(javac.getStandardFileManager(this, null, null))
+        val fileManager = PipelineStandardFileManager(javac.getStandardFileManager(this, Locale.getDefault(), Charset.defaultCharset()))
         fileManager.sourcePath = Collections.singleton(sourcesInputPath)
 
         val javaFileObjects = fileManager.getJavaFileObjects(*sourceFiles.toTypedArray())
@@ -121,17 +127,45 @@ class PipelineCompiler(
     }
 
     override fun report(diagnostic: Diagnostic<out JavaFileObject>) {
+        // kinda stupid but eclipse compiler wraps exceptions in a "ExceptionDiagnostic" which is protected
+        // and we can't access the exception directly in any way, so we have to use reflection. ExceptionDiagnostic
+        // only returns the exception message, so we have to get the exception and rethrow it to get the full information on what went wrong
+        if(diagnostic::class.java.typeName == "org.eclipse.jdt.internal.compiler.tool.ExceptionDiagnostic") {
+            val eField = ReflectUtil.getDeclaredFieldDeep(diagnostic::class.java, "exception")!!
+            eField.isAccessible = true
+
+            val value = eField.get(diagnostic)
+
+            if(value is Exception)
+                throw value
+        }
+
         val locale = Locale.getDefault()
-        val relativeFile = SysUtil.getRelativePath(sourcesInputPath, File(diagnostic.source.name))
+        val source = diagnostic.source
+
+        val builder = if(source != null) {
+            val relativeFile = SysUtil.getRelativePath(sourcesInputPath, File(source.name))
 
-        val builder = diagnosticBuilders[relativeFile.path] ?: StringBuilder()
+            val builder = diagnosticBuilders[relativeFile.path] ?: StringBuilder()
+
+            if (!diagnosticBuilders.containsKey(relativeFile.path)) {
+                builder.appendLine("> ${relativeFile.path}")
+                diagnosticBuilders[relativeFile.path] = builder
+            }
+            builder
+        } else {
+            val builder = diagnosticBuilders["other"] ?: StringBuilder()
+
+            if (!diagnosticBuilders.containsKey("other")) {
+                builder.appendLine("> Other")
+                diagnosticBuilders["other"] = builder
+            }
 
-        if(!diagnosticBuilders.containsKey(relativeFile.path)) {
-            builder.appendLine("> ${relativeFile.path}")
-            diagnosticBuilders[relativeFile.path] = builder
+            builder
         }
 
         val formattedMessage = diagnostic.getMessage(locale).replace("\n", "\n$INDENT")
+        diagnostic.source
 
         builder.appendLine(String.format(locale, "$INDENT(%d:%d): %s: %s",
             diagnostic.lineNumber, diagnostic.columnNumber, diagnostic.kind, formattedMessage

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/util/ReflectUtil.java

@@ -25,11 +25,25 @@
 
 import java.lang.annotation.Annotation;
 import java.lang.invoke.MethodType;
+import java.lang.reflect.Field;
 import java.lang.reflect.ParameterizedType;
 import java.lang.reflect.Type;
 
 public class ReflectUtil {
 
+    public static Field getDeclaredFieldDeep(Class<?> clazz, String fieldName) {
+        Field field = null;
+
+        while (clazz != null && field == null) {
+            try {
+                field = clazz.getDeclaredField(fieldName);
+            } catch (Exception ignored) { }
+            clazz = clazz.getSuperclass();
+        }
+
+        return field;
+    }
+
     public static boolean hasSuperclass(Class<?> clazz, Class<?> superClass) {
         try {
             clazz.asSubclass(superClass);

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/util/compiler/CompilerProvider.kt

@@ -0,0 +1,44 @@
+/*
+ * Copyright (c) 2021 Sebastian Erives
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+package com.github.serivesmejia.eocvsim.util.compiler
+
+import org.eclipse.jdt.internal.compiler.tool.EclipseCompiler
+import javax.tools.JavaCompiler
+import javax.tools.ToolProvider
+
+val compiler by lazy {
+    val toolProviderCompiler = ToolProvider.getSystemJavaCompiler()
+
+    try {
+        if (toolProviderCompiler == null) {
+            Compiler("Eclipse", EclipseCompiler())
+        } else {
+            Compiler("JDK", toolProviderCompiler)
+        }
+    } catch(e: Exception) {
+        null
+    }
+}
+
+data class Compiler(val name: String, val javaCompiler: JavaCompiler)

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/util/compiler/DelegatingStandardFileManager.kt

@@ -26,6 +26,7 @@
 package com.github.serivesmejia.eocvsim.util.compiler
 
 import java.io.File
+import java.util.*
 import javax.tools.ForwardingJavaFileManager
 import javax.tools.JavaFileManager
 import javax.tools.JavaFileObject
@@ -36,21 +37,21 @@ open class DelegatingStandardFileManager(
 ) : ForwardingJavaFileManager<StandardJavaFileManager>(delegate), StandardJavaFileManager {
 
     override fun getJavaFileObjectsFromFiles(files: MutableIterable<File>): MutableIterable<JavaFileObject> =
-        delegate.getJavaFileObjectsFromFiles(files)
+        delegate.getJavaFileObjectsFromFiles(files) ?: Collections.emptyList()
 
     override fun getJavaFileObjects(vararg files: File): MutableIterable<JavaFileObject> =
-        delegate.getJavaFileObjects(*files)
+        delegate.getJavaFileObjects(*files) ?: Collections.emptyList()
 
     override fun getJavaFileObjects(vararg names: String): MutableIterable<JavaFileObject> =
-        delegate.getJavaFileObjects(*names)
+        delegate.getJavaFileObjects(*names) ?: Collections.emptyList()
 
     override fun getJavaFileObjectsFromStrings(names: MutableIterable<String>): MutableIterable<JavaFileObject> =
-        delegate.getJavaFileObjectsFromStrings(names)
+        delegate.getJavaFileObjectsFromStrings(names) ?: Collections.emptyList()
 
     override fun setLocation(location: JavaFileManager.Location, files: MutableIterable<File>) =
         delegate.setLocation(location, files)
 
     override fun getLocation(location: JavaFileManager.Location): MutableIterable<File> =
-        delegate.getLocation(location)
+        delegate.getLocation(location) ?: Collections.emptyList()
 
 }

README.md

@@ -20,10 +20,11 @@ transfer it onto your robot!
 
 Since OpenCV in Java uses a native library, which is platform specific, the simulator is currently limited to the following platforms:
 
-* Windows x64 (tested)
-* Windows x32 (untested)
-* MacOS x64 (tested)
-* Linux x64 (tested for Ubuntu 20.04)<br/>
+* Windows x86_64 (tested)
+* Windows x86 (untested)
+* MacOS x86_64 (tested)
+* Linux x86_64 (tested for Ubuntu 20.04)
+* Linux ARMv7 & ARMv8 (partially tested in Raspbian but not officially endorsed)<br/>
 
 ## Downloading and documentation
 
@@ -38,7 +39,7 @@ Follow the steps in [this page](https://deltacv.gitbook.io/eocv-sim/basics/downl
    }
    
    dependencies {
-      implementation 'com.github.deltacv:EOCV-Sim:3.2.0' //add the EOCV-Sim dependency
+      implementation 'com.github.deltacv:EOCV-Sim:3.3.2' //add the EOCV-Sim dependency
    }
    ```
 
@@ -59,7 +60,7 @@ Follow the steps in [this page](https://deltacv.gitbook.io/eocv-sim/basics/downl
     <dependency>
 	    <groupId>com.github.deltacv</groupId>
 	    <artifactId>EOCV-Sim</artifactId>
-	    <version>3.2.0</version>
+	    <version>3.3.2</version>
 	</dependency>
    ```
 
@@ -70,6 +71,16 @@ For bug reporting or feature requesting, use the [issues tab](https://github.com
 
 ### Formerly, EOCV-Sim was hosted on a [personal account repo](https://github.com/serivesmejia/EOCV-Sim/). Released prior to 3.0.0 can be found there for historic purposes.
 
+### [v3.3.2 - Better compiler support](https://github.com/deltacv/EOCV-Sim/releases/tag/v3.3.1)
+
+   - This is the 13th release for EOCV-Sim
+
+      - Changelog:
+        - Provides support for compiling in any Java virtual machine by using the Eclipse ecj compiler if a JDK compiler isn't found.
+        - Provided a fallback webcam driver in case OpenIMAJ fails to load.
+      - Bug fixes:
+        - Fixes camera source sizes serialization where the height was replaced by the width
+        
 ### [v3.3.1 - Common module hotfix](https://github.com/deltacv/EOCV-Sim/releases/tag/v3.3.0)
 
    - This is the 12th release for EOCV-Sim

build.gradle

@@ -28,7 +28,7 @@ buildscript {
 
 allprojects {
     group 'com.github.deltacv'
-    version '3.3.1'
+    version '3.3.2'
 
     ext {
         standardVersion = version