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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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8
photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
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@@ -40,6 +40,7 @@
#include <utility>
#include <vector>
#include <frc/Timer.h>
#include <frc/apriltag/AprilTagFieldLayout.h>
#include <frc/apriltag/AprilTagFields.h>
#include <units/math.h>
@@ -369,7 +370,10 @@ class PhotonCameraSim {
multiTagResults = MultiTargetPNPResult{pnpResult, usedIds};
}
return PhotonPipelineResult{latency, detectableTgts, multiTagResults};
units::second_t now = frc::Timer::GetFPGATimestamp();
return PhotonPipelineResult{heartbeatCounter, now - latency, now,
detectableTgts, multiTagResults};
}
void SubmitProcessedFrame(const PhotonPipelineResult& result) {
SubmitProcessedFrame(result, wpi::Now());
@@ -426,7 +430,7 @@ class PhotonCameraSim {
PhotonCamera* cam;
NTTopicSet ts{};
uint64_t heartbeatCounter{0};
int64_t heartbeatCounter{0};
uint64_t nextNTEntryTime{wpi::Now()};