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Add sequence ID, capture, publish and recieve timestamp to PhotonPipelineResult (#1305)

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Closes #1304
This commit is contained in:
Matt
2024-05-10 14:04:34 -04:00
committed by GitHub
parent 70c2cdebe0
commit 113951100e
46 changed files with 513 additions and 363 deletions
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photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -44,6 +44,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.Timer;
import java.util.Optional;
import java.util.Set;
@@ -181,8 +182,7 @@ public class PhotonCamera implements AutoCloseable {
// Set the timestamp of the result.
// getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
ret.setTimestampSeconds(
(resultSubscriber.subscriber.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
ret.setRecieveTimestampMicros(RobotController.getFPGATime());
// Return result.
return ret;