mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-21 01:01:41 +00:00
66 lines
1.9 KiB
C
66 lines
1.9 KiB
C
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <memory>
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#include <string>
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#include <units/time.h>
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#include <wpi/ArrayRef.h>
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#include <wpi/SmallVector.h>
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#include "photonlib/Packet.h"
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#include "photonlib/PhotonCamera.h"
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namespace photonlib {
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/**
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* Represents a camera that is connected to PhotonVision.ß
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*/
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class SimPhotonCamera : public PhotonCamera {
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public:
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/**
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* Constructs a Simulated PhotonCamera from a root table.
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*
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* @param rootTable The root table that the camera is broadcasting information
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* over.
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*/
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explicit SimPhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable);
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/**
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* Constructs a Simulated PhotonCamera from the name of the camera.
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*
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* @param cameraName The nickname of the camera (found in the PhotonVision
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* UI).
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*/
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explicit SimPhotonCamera(const std::string& cameraName);
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/**
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* Simulate one processed frame of vision data, putting one result to NT.
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* @param latency Latency of frame processing
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* @param tgtList Set of targets detected
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*/
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void SubmitProcessedFrame(units::second_t latency,
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wpi::ArrayRef<PhotonTrackedTarget> tgtList);
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private:
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mutable Packet simPacket;
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};
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} // namespace photonlib
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