Auto-generate packet dataclasses with Jinja (#1374)

photonlib-cpp-examples/aimattarget/build.gradle

@@ -13,6 +13,16 @@ repositories {
 
 apply from: "${rootDir}/../shared/examples_common.gradle"
 
+ext {
+    wpilibVersion = "2025.0.0-alpha-1"
+    wpimathVersion = wpilibVersion
+    openCVversion = "4.8.0-2"
+}
+
+wpi.getVersions().getOpencvVersion().convention(openCVversion);
+wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
+wpi.getVersions().getWpimathVersion().convention(wpimathVersion);
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
@@ -58,36 +68,21 @@ wpi.sim.addDriverstation()
 model {
     components {
         frcUserProgram(NativeExecutableSpec) {
-            // We don't need to build for roborio -- if we do, we need to install
-            // a roborio toolchain every time we build in CI
-            // Ideally, we'd be able to set the roborio toolchain as optional, but
-            // I can't figure out how to set that environment variable from build.gradle
-            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
-            // for now, commented out
-
-            // targetPlatform wpi.platforms.roborio
-
-            if (includeDesktopSupport) {
-                targetPlatform wpi.platforms.desktop
-            }
+            targetPlatform wpi.platforms.roborio
+            targetPlatform wpi.platforms.desktop
 
             sources.cpp {
                 source {
                     srcDir 'src/main/cpp'
-                    include '**/*.cpp', '**/*.cc'
                 }
                 exportedHeaders {
                     srcDir 'src/main/include'
                 }
             }
 
-            // Set deploy task to deploy this component
             deployArtifact.component = it
-
-            // Enable run tasks for this component
             wpi.cpp.enableExternalTasks(it)
 
-            // Enable simulation for this component
             wpi.sim.enable(it)
             // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
             wpi.cpp.vendor.cpp(it)
@@ -105,7 +100,6 @@ model {
                 }
             }
 
-            // Enable run tasks for this component
             wpi.cpp.enableExternalTasks(it)
 
             wpi.cpp.vendor.cpp(it)

photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp

@@ -26,6 +26,22 @@
 
 #include <photon/PhotonUtils.h>
 
+#include <frc/Timer.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <units/time.h>
+
+void Robot::RobotPeriodic() {
+  photon::PhotonCamera::SetVersionCheckEnabled(false);
+
+  auto start = frc::Timer::GetFPGATimestamp();
+  photon::PhotonPipelineResult result = camera.GetLatestResult();
+  auto end = frc::Timer::GetFPGATimestamp();
+
+  std::printf("DT is %.2f uS for %i targets\n",
+              units::microsecond_t(end - start).to<double>(),
+              result.GetTargets().size());
+}
+
 void Robot::TeleopPeriodic() {
   double forwardSpeed = -xboxController.GetRightY();
   double rotationSpeed;
@@ -33,7 +49,10 @@ void Robot::TeleopPeriodic() {
   if (xboxController.GetAButton()) {
     // Vision-alignment mode
     // Query the latest result from PhotonVision
+    auto start = frc::Timer::GetFPGATimestamp();
     photon::PhotonPipelineResult result = camera.GetLatestResult();
+    auto end = frc::Timer::GetFPGATimestamp();
+    frc::SmartDashboard::PutNumber("decode_dt", (end - start).to<double>());
 
     if (result.HasTargets()) {
       // Rotation speed is the output of the PID controller

photonlib-cpp-examples/aimattarget/src/main/include/Robot.h

@@ -37,10 +37,11 @@
 class Robot : public frc::TimedRobot {
  public:
   void TeleopPeriodic() override;
+  void RobotPeriodic() override;
 
  private:
   // Change this to match the name of your camera as shown in the web UI
-  photon::PhotonCamera camera{"YOUR_CAMERA_NAME_HERE"};
+  photon::PhotonCamera camera{"WPI2024"};
   // PID constants should be tuned per robot
   frc::PIDController controller{.1, 0, 0};
 

photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h

@@ -79,10 +79,10 @@ class Vision {
 
       // In sim only, add our vision estimate to the sim debug field
       if (frc::RobotBase::IsSimulation()) {
-        if (visionEst.has_value()) {
+        if (visionEst) {
           GetSimDebugField()
               .GetObject("VisionEstimation")
-              ->SetPose(visionEst.value().estimatedPose.ToPose2d());
+              ->SetPose(visionEst->estimatedPose.ToPose2d());
         } else {
           GetSimDebugField().GetObject("VisionEstimation")->SetPoses({});
         }
@@ -101,9 +101,9 @@ class Vision {
     for (const auto& tgt : targets) {
       auto tagPose =
           photonEstimator.GetFieldLayout().GetTagPose(tgt.GetFiducialId());
-      if (tagPose.has_value()) {
+      if (tagPose) {
         numTags++;
-        avgDist += tagPose.value().ToPose2d().Translation().Distance(
+        avgDist += tagPose->ToPose2d().Translation().Distance(
             estimatedPose.Translation());
       }
     }