PhotonVision/photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java

/*
 * MIT License
 *
 * Copyright (c) PhotonVision
 *
 * 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 frc.robot;

import static org.junit.jupiter.api.Assertions.fail;

import java.util.List;
import org.junit.jupiter.api.Test;
import org.photonvision.PhotonCamera;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.timesync.TimeSyncSingleton;
import org.wpilib.math.geometry.Pose3d;
import org.wpilib.math.geometry.Rotation2d;

public class JniLoadTest {
    @Test
    void smoketestTimeSync() {
        if (!TimeSyncSingleton.load()) {
            fail("Could not load TimeSync JNI????????");
        }
    }

    @Test
    void smoketestPhotonCameraSim() {
        // This will trigger a force load of OpenCV internally - good to smoketest
        var camera = new PhotonCamera("Hellowo");
        var cameraProp = new SimCameraProperties();
        cameraProp.setCalibration(320, 240, Rotation2d.fromDegrees(90));

        var sim = new PhotonCameraSim(camera, cameraProp);
        sim.enableDrawWireframe(true);
        sim.enableProcessedStream(true);
        sim.enableRawStream(true);

        sim.process(0, new Pose3d(), List.of());
    }
}