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Auto-generate packet dataclasses with Jinja (#1374)

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Matt
2024-08-31 13:44:19 -04:00
committed by GitHub
parent c19d54c633
commit 169595e56e
140 changed files with 4445 additions and 2097 deletions
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26
photon-lib/py/photonlibpy/photonCamera.py
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@@ -3,9 +3,12 @@ from typing import List
import ntcore
from wpilib import RobotController, Timer
import wpilib
from photonlibpy.packet import Packet
from photonlibpy.photonPipelineResult import PhotonPipelineResult
from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION # type: ignore[import-untyped]
from .packet import Packet
from .targeting.photonPipelineResult import PhotonPipelineResult
from .version import PHOTONVISION_VERSION, PHOTONLIB_VERSION # type: ignore[import-untyped]
# magical import to make serde stuff work
import photonlibpy.generated # noqa
class VisionLEDMode(Enum):
@@ -100,11 +103,9 @@ class PhotonCamera:
else:
newResult = PhotonPipelineResult()
pkt = Packet(byteList)
newResult.populateFromPacket(pkt)
newResult = PhotonPipelineResult.photonStruct.unpack(pkt)
# NT4 allows us to correct the timestamp based on when the message was sent
newResult.setTimestampSeconds(
timestamp / 1e6 - newResult.getLatencyMillis() / 1e3
)
newResult.ntReceiveTimestampMicros = timestamp / 1e6
ret.append(newResult)
return ret
@@ -113,18 +114,17 @@ class PhotonCamera:
self._versionCheck()
now = RobotController.getFPGATime()
retVal = PhotonPipelineResult()
packetWithTimestamp = self._rawBytesEntry.getAtomic()
byteList = packetWithTimestamp.value
timestamp = packetWithTimestamp.time
packetWithTimestamp.time
if len(byteList) < 1:
return retVal
return PhotonPipelineResult()
else:
pkt = Packet(byteList)
retVal.populateFromPacket(pkt)
retVal = PhotonPipelineResult.photonStruct.unpack(pkt)
# We don't trust NT4 time, hack around
retVal.ntRecieveTimestampMicros = now
retVal.ntReceiveTimestampMicros = now
return retVal
def getDriverMode(self) -> bool:
@@ -233,6 +233,6 @@ class PhotonCamera:
wpilib.reportWarning(bfw)
errText = f"Photon version {PHOTONLIB_VERSION} does not match coprocessor version {versionString}. Please install photonlibpy version {PHOTONLIB_VERSION}."
errText = f"Photon version {PHOTONLIB_VERSION} does not match coprocessor version {versionString}. Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
wpilib.reportError(errText, True)
raise Exception(errText)