Fix builds with newest libprotobuf/libabsl and protocol

cmake/FindSpinnaker.cmake

@@ -34,7 +34,7 @@ if (WITH_SPINNAKER)
             SPINNAKER_LIBS STREQUAL "SPINNAKER_LIBS-NOTFOUND" OR
             SPINNAKER_INCLUDE_DIRS STREQUAL "SPINNAKER_INCLUDE_DIRS-NOTFOUND"
     ))
-        add_definitions( -DSPINNAKER )
+        add_definitions( -DSPINNAKER_AVAILABLE )
         message(STATUS "Spinnaker found, activating Spinnaker support.")
     else()
         set(SPINNAKER_INCLUDE_DIRS "")

cmake/FindmvIMPACT.cmake

@@ -30,7 +30,7 @@ if (WITH_MVIMPACT)
             mvIMPACT_LIBS STREQUAL "mvIMPACT_LIBS-NOTFOUND" OR
             mvIMPACT_INCLUDE_DIRS STREQUAL "mvIMPACT_INCLUDE_DIRS-NOTFOUND"
     ))
-        add_definitions( -DMVIMPACT )
+        add_definitions( -DMVIMPACT_AVAILABLE )
         message(STATUS "mvIMPACT found, activating mvIMPACT support.")
     else()
         set(mvIMPACT_INCLUDE_DIRS "")

src/Perspective.cpp

@@ -89,7 +89,7 @@ void Perspective::geometryCheck(const int width, const int height, const double
 		}
 	}
 	fieldScale = fieldScaleSum / (float)n * resamplingFactor;
-	LOG("Field scale: " << minFieldScale << "mm/px < " << fieldScale << "mm/px < " << maxFieldScale << "mm/px");
+	VP_LOG("Field scale: " << minFieldScale << "mm/px < " << fieldScale << "mm/px < " << maxFieldScale << "mm/px");
 
 	//update visibleFieldExtent
 	Eigen::Vector2f center = model.image2field({0.0f, 0.0f}, (float)maxBotHeight).head<2>();
@@ -121,7 +121,7 @@ void Perspective::geometryCheck(const int width, const int height, const double
 	if(reprojectedFieldSize[1] % 2)
 		reprojectedFieldSize[1]++;
 
-	LOG("Visible field extent: " << visibleFieldExtent.transpose() << "mm (xmin,xmax,ymin,ymax) Field scale: " << fieldScale << "mm/px");
+	VP_LOG("Visible field extent: " << visibleFieldExtent.transpose() << "mm (xmin,xmax,ymin,ymax) Field scale: " << fieldScale << "mm/px");
 }
 
 Eigen::Vector2f Perspective::flat2field(const Eigen::Vector2f& pos) const {

src/Resources.cpp

@@ -230,7 +230,7 @@ void Resources::reloadConfigIfChanged() {
 	try {
 		YAML::Node config = YAML::LoadFile(configPath);
 		applyTunables(config);
-		LOG("Reloaded tunables from " << configPath);
+		VP_LOG("Reloaded tunables from " << configPath);
 	} catch(const YAML::Exception& e) {
 		WARN("Config reload failed, keeping previous values: " << e.what());
 	}

src/calib/Distortion.cpp

@@ -114,7 +114,7 @@ bool calibrateDistortion(const std::vector<std::vector<Eigen::Vector2f>>& linePo
 	lm.minimize(k);
 
 	if((k(1) < 0.0f || k(2) < 0.0f || k(1) >= model.size.x() || k(2) >= model.size.y())) {
-		LOG("Principal point outside of image, aborting calibration for this frame");
+		VP_LOG("Principal point outside of image, aborting calibration for this frame");
 		return false;
 	}
 

src/calib/GeomModel.cpp

@@ -497,7 +497,7 @@ void geometryCalibration(const Resources& r, const CLImage& rgba) {
 
 	const int halfLineWidth = halfLineWidthEstimation(r, gray);
 	diag.half_line_width = halfLineWidth;
-	LOG("Half line width: " << halfLineWidth);
+	VP_LOG("Half line width: " << halfLineWidth);
 
 	cv::Mat thresholded(gray.rows, gray.cols, CV_8UC1, 0.0);
 	thresholdImage(r, gray, halfLineWidth, thresholded);
@@ -520,12 +520,12 @@ void geometryCalibration(const Resources& r, const CLImage& rgba) {
 			lines.emplace_back(a, b);
 	}
 	diag.raw_line_segments = (int)lines.size();
-	LOG("Line segments: " << lines.size());
+	VP_LOG("Line segments: " << lines.size());
 
 	const std::vector<CVLines> compoundLines = groupLineSegments(r, lines);
 	const CVLines mergedLines = mergeLineSegments(compoundLines);
 	diag.merged_line_count = (int)mergedLines.size();
-	LOG("Lines: " << mergedLines.size());
+	VP_LOG("Lines: " << mergedLines.size());
 
 	std::vector<std::vector<Eigen::Vector2f>> mergedPixels(mergedLines.size());
 	{
@@ -568,7 +568,7 @@ void geometryCalibration(const Resources& r, const CLImage& rgba) {
 
 	model.updateDerived();
 	int error = modelError(r, model, linePixels);
-	LOG("Best model: " << model << " error " << (error/(float)linePixels.size()));
+	VP_LOG("Best model: " << model << " error " << (error/(float)linePixels.size()));
 
 	diag.focal_length = model.focalLength;
 	diag.position = model.pos;

src/driver/cameradriver.cpp

@@ -16,10 +16,10 @@
 #include "cameradriver.h"
 
 #include "driver/opencvdriver.h"
-#ifdef SPINNAKER
+#ifdef SPINNAKER_AVAILABLE
 #include "driver/spinnakerdriver.h"
 #endif
-#ifdef MVIMPACT
+#ifdef MVIMPACT_AVAILABLE
 #include "driver/mvimpactdriver.h"
 #endif
 
@@ -76,12 +76,12 @@ bool CameraConfig::autoGamma() const {
 
 
 std::unique_ptr<CameraDriver> openCamera(const CameraConfig& config) {
-#ifdef SPINNAKER
+#ifdef SPINNAKER_AVAILABLE
 	if(config.driverType == "SPINNAKER")
 		return std::make_unique<SpinnakerDriver>(config);
 #endif
 
-#ifdef MVIMPACT
+#ifdef MVIMPACT_AVAILABLE
 	if(config.driverType == "MVIMPACT")
 		return std::make_unique<MVImpactDriver>(config);
 #endif

src/driver/mvimpactdriver.cpp

@@ -13,7 +13,7 @@
      See the License for the specific language governing permissions and
      limitations under the License.
  */
-#ifdef MVIMPACT
+#ifdef MVIMPACT_AVAILABLE
 
 #include "mvimpactdriver.h"
 #include <mvIMPACT_CPP/mvIMPACT_acquire_GenICam.h>

src/driver/mvimpactdriver.h

@@ -14,7 +14,7 @@
      limitations under the License.
  */
 #pragma once
-#ifdef MVIMPACT
+#ifdef MVIMPACT_AVAILABLE
 
 #include "cameradriver.h"
 #include <mvIMPACT_CPP/mvIMPACT_acquire.h>

src/driver/spinnakerdriver.cpp

@@ -13,7 +13,7 @@
      See the License for the specific language governing permissions and
      limitations under the License.
  */
-#ifdef SPINNAKER
+#ifdef SPINNAKER_AVAILABLE
 
 #include "spinnakerdriver.h"
 
@@ -44,7 +44,7 @@ SpinnakerDriver::SpinnakerDriver(const CameraConfig& config) {
 		if (camList.GetSize() > config.hardwareId) {
 			pCam = camList.GetByIndex(config.hardwareId);
 			pCam->Init();
-			LOG("Opened " << pCam->DeviceModelName.GetValue() << " - " << pCam->DeviceSerialNumber.GetValue().c_str());
+			VP_LOG("Opened " << pCam->DeviceModelName.GetValue() << " - " << pCam->DeviceSerialNumber.GetValue().c_str());
 			camList.Clear();
 			break;
 		}

src/driver/spinnakerdriver.h

@@ -14,7 +14,7 @@
      limitations under the License.
  */
 #pragma once
-#ifdef SPINNAKER
+#ifdef SPINNAKER_AVAILABLE
 
 #include "cameradriver.h"
 #include "Spinnaker.h"

src/log.h

@@ -16,6 +16,6 @@
 #pragma once
 #include <iostream>
 
-#define LOG(data) std::cout << "[" << __FILE__ << ":" << __LINE__ << "] " << data << std::endl
+#define VP_LOG(data) std::cout << "[" << __FILE__ << ":" << __LINE__ << "] " << data << std::endl
 #define WARN(data) std::cerr << "[" << __FILE__ << ":" << __LINE__ << "] " << data << std::endl
 #define FATAL(data) { WARN(data); exit(1); }

src/main.cpp

@@ -362,7 +362,7 @@ int main(int argc, char* argv[]) {
 
 #if BENCHMARK
 			detection->set_t_sent(startTime + processingTime);
-			LOG("time " << processingTime * 1000.0 << " ms " << matches.size() << " blobs " << detection->balls().size() << " balls " << (detection->robots_yellow_size() + detection->robots_blue_size()) << " bots");
+			VP_LOG("time " << processingTime * 1000.0 << " ms " << matches.size() << " blobs " << detection->balls().size() << " balls " << (detection->robots_yellow_size() + detection->robots_blue_size()) << " bots");
 			r.openCl->printRuntimes();
 #else
 			detection->set_t_sent(r.camera->getTime());
@@ -372,7 +372,7 @@ int main(int argc, char* argv[]) {
 			r.openCl->clearEvents();
 
 			if(processingTime > r.camera->expectedFrametime())
-				LOG("frame time overrun: " << processingTime * 1000.0 << " ms " << matches.size() << " blobs " << detection->balls().size() << " balls " << (detection->robots_yellow_size() + detection->robots_blue_size()) << " bots");
+				VP_LOG("frame time overrun: " << processingTime * 1000.0 << " ms " << matches.size() << " blobs " << detection->balls().size() << " balls " << (detection->robots_yellow_size() + detection->robots_blue_size()) << " bots");
 
 			if(r.rawFeed) {
 				r.streamQuad(channels);
@@ -417,11 +417,11 @@ int main(int argc, char* argv[]) {
 				r.snapshotWriter->offer(r.quad2rgba(channels), "img/" + std::to_string(r.camId) + ".raw.jpg");
 				lastDebugSaveTime = realStartTime;
 				if(frameId == 100)
-					LOG("Saved sample image");
+					VP_LOG("Saved sample image");
 			}
 		}
 	}
 
-	LOG("Stopping vision_processor");
+	VP_LOG("Stopping vision_processor");
 	return 0;
 }

src/opencl.cpp

@@ -57,7 +57,7 @@ bool OpenCL::searchDevice(const std::vector<cl::Platform>& platforms, cl_device_
 
 		for(cl::Device& d : devices) {
 			device = d;
-			LOG("Using device: " << platform.getInfo<CL_PLATFORM_NAME>() << " » " << device.getInfo<CL_DEVICE_NAME>());
+			VP_LOG("Using device: " << platform.getInfo<CL_PLATFORM_NAME>() << " » " << device.getInfo<CL_DEVICE_NAME>());
 			return true;
 		}
 	}

src/rtpstreamer.cpp

@@ -97,7 +97,7 @@ void RTPStreamer::allocResources() {
 		FATAL("Failed to find suitable encoder.");
 	}
 
-	LOG("Using codec: " << codec->long_name);
+	VP_LOG("Using codec: " << codec->long_name);
 
 	fmtCtx  = avformat_alloc_context();
 	auto* avFormat = (AVOutputFormat*)av_guess_format("rtp", nullptr, nullptr);

src/udpsocket.cpp

@@ -124,7 +124,7 @@ void VisionSocket::geometryCheck() {
 			ballRadius = geometry.field().ball_radius();
 
 		geometryVersion++;
-		LOG("New geometry received");
+		VP_LOG("New geometry received");
 	}
 	geometryMutex.unlock();
 }
@@ -319,11 +319,11 @@ void GCSocket::parse(char *data, int length) {
 
 	if(botHeights.find(referee.yellow().name()) != botHeights.end() && botHeights[referee.yellow().name()] != yellowBotHeight) {
 		yellowBotHeight = botHeights[referee.yellow().name()];
-		LOG("Updated yellow bot height to " << yellowBotHeight << "mm");
+		VP_LOG("Updated yellow bot height to " << yellowBotHeight << "mm");
 	}
 
 	if(botHeights.find(referee.blue().name()) != botHeights.end() && botHeights[referee.blue().name()] != blueBotHeight) {
 		blueBotHeight = botHeights[referee.blue().name()];
-		LOG("Updated blue bot height to " << blueBotHeight << "mm");
+		VP_LOG("Updated blue bot height to " << blueBotHeight << "mm");
 	}
 }