Update networktables to ntcore 2019.2.1 (#916)

* Update networktables to ntcore 2019.2.1

Removes dependency on old networktables
Increase update rate to 100Hz (from 10Hz) to keep latencies low
Call flush after entire pipeline runs to keep all published values synchronized as much as possible

* Use WPILib docker image on azure

Author: SamCarlberg

README.md

@@ -22,13 +22,13 @@ As a result, many teams with minimal computer vision knowledge successfully used
  - Extensible!
  - Deploys and runs headless.
  - Supports various network protocols
-   - [Network Tables](https://github.com/PeterJohnson/ntcore)
+   - [Network Tables](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore/)
    - [Robot Operating System (ROS)](http://www.ros.org/)
    - HTTP
  - OS Support:
      - Windows
      - OSX
-     - Linux
+     - Linux (minimum Ubuntu 18.04 or libc version 2.27+)
      - Embedded Linux ARM (NI RoboRIO)
 
 
@@ -41,7 +41,8 @@ As a result, many teams with minimal computer vision knowledge successfully used
 Check out the release notes and [the wiki](https://github.com/WPIRoboticsProjects/GRIP/wiki) for more information.
 
 Note for Linux users: GRIP requires GTK2 to be installed. Most Ubuntu-based distributions include it,
-but some other distros such as Arch may require it to be manually installed. 
+but some other distros such as Arch may require it to be manually installed. GRIP also requires libc version 2.27
+or higher; for Ubuntu-based distributions, this requires Ubuntu 18.04 or newer.
 
 ## Building GRIP From Source
 

azure-pipelines.yml

@@ -6,29 +6,26 @@
 trigger:
   - master
 
+resources:
+  containers:
+    - container: wpilib2019
+      image: wpilib/roborio-cross-ubuntu:2019-18.04
+
 jobs:
   - job: Linux
     pool:
       vmImage: 'Ubuntu 16.04'
 
+    container: wpilib2019
+
     steps:
-      - script: |
-          mkdir build
-          $ProgressPreference = 'SilentlyContinue'
-          wget "https://download.java.net/java/GA/jdk11/9/GPL/openjdk-11.0.2_linux-x64_bin.tar.gz" -O "build/jdk.tar.gz"
-        displayName: 'Download JDK'
       - script: |
           $ProgressPreference = 'SilentlyContinue'
+          mkdir build
           wget "https://download.java.net/java/early_access/jpackage/30/openjdk-13-jpackage+30_linux-x64_bin.tar.gz" -O "build/jdk-13.tar.gz"
           sudo mkdir /opt/java
           sudo tar -xzvf build/jdk-13.tar.gz -C /opt/java
         displayName: 'Download JDK 13'
-      - task: JavaToolInstaller@0
-        inputs:
-          jdkSourceOption: localDirectory
-          jdkFile: 'build/jdk.tar.gz'
-          jdkDestinationDirectory: 'build/jdkinst'
-          jdkArchitectureOption: x64
       - task: Gradle@2
         inputs:
           workingDirectory: ''

core/core.gradle.kts

@@ -54,8 +54,9 @@ dependencies {
     api(group = "org.ros.rosjava_bootstrap", name = "message_generation", version = "+")
     api(group = "org.ros.rosjava_messages", name = "std_msgs", version = "+")
     api(group = "org.ros.rosjava_messages", name = "grip_msgs", version = "0.0.1")
-    api(group = "edu.wpi.first.wpilib.networktables.java", name = "NetworkTables", version = "3.1.2", classifier = "desktop")
-    api(group = "edu.wpi.first.wpilib.networktables.java", name = "NetworkTables", version = "3.1.2", classifier = "arm")
+    api(group = "edu.wpi.first.ntcore", name = "ntcore-java", version = "2019.2.1")
+    implementation(group = "edu.wpi.first.ntcore", name = "ntcore-jni", version = "2019.2.1", classifier = "all")
+    implementation(group = "edu.wpi.first.wpiutil", name = "wpiutil-java", version = "2019.2.1")
 }
 
 tasks.withType<Jar>().configureEach {

core/src/main/java/edu/wpi/grip/core/operations/network/GripNetworkModule.java

@@ -11,6 +11,8 @@
 import com.google.inject.AbstractModule;
 import com.google.inject.name.Names;
 
+import edu.wpi.first.networktables.NetworkTableInstance;
+
 /**
  * Defines any concrete implementation mappings between network managers and their real
  * counterparts. This module should not be used in tests as networking protocols can define "Static
@@ -39,5 +41,8 @@ protected void configure() {
     bind(MapNetworkReceiverFactory.class)
         .annotatedWith(Names.named("ntManager"))
         .to(NTManager.class);
+
+    bind(NetworkTableInstance.class)
+        .toProvider(NetworkTableInstance::getDefault);
   }
 }