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Add Photonlib (#231)

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Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.
This commit is contained in:
Matt
2021-01-16 20:41:47 -08:00
committed by GitHub
parent 58b39f47aa
commit 2e1b3d0f83
79 changed files with 5867 additions and 142 deletions
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100
.github/workflows/main.yml vendored
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@@ -14,7 +14,7 @@ on:
jobs:
# This job builds the client (web view).
build-client:
photonclient-build:
# Let all steps run within the photon-client dir.
defaults:
@@ -49,7 +49,7 @@ jobs:
name: built-client
path: photon-client/dist/
build-server:
photon-build-all:
# The type of runner that the job will run on.
runs-on: ubuntu-latest
@@ -89,7 +89,7 @@ jobs:
with:
file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
build-offline-docs:
photonserver-build-offline-docs:
runs-on: ubuntu-latest
steps:
@@ -125,8 +125,8 @@ jobs:
name: built-docs
path: build/html
build-package:
needs: [build-client, build-server, build-offline-docs]
photon-build-package:
needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs]
# The type of runner that the job will run on.
runs-on: ubuntu-latest
@@ -177,7 +177,7 @@ jobs:
photon-server/build/libs/*.jar
if: github.event_name == 'push'
check-lint:
photonserver-check-lint:
# The type of runner that the job will run on.
runs-on: ubuntu-latest
@@ -195,9 +195,9 @@ jobs:
chmod +x gradlew
./gradlew spotlessCheck
release:
photon-release:
if: startsWith(github.ref, 'refs/tags/v')
needs: [build-package]
needs: [photon-build-package]
runs-on: ubuntu-latest
steps:
- uses: actions/download-artifact@v2
@@ -208,3 +208,87 @@ jobs:
files: '**/*'
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
# Building photonlib
photonlib-build-host:
strategy:
fail-fast: false
matrix:
include:
- os: windows-latest
artifact-name: Win64
- os: macos-latest
artifact-name: macOS
- os: ubuntu-latest
artifact-name: Linux
runs-on: ${{ matrix.os }}
name: "Photonlib - Build - ${{ matrix.artifact-name }}"
steps:
- uses: actions/checkout@v2
- uses: actions/setup-java@v1
with:
java-version: 11
- run: |
chmod +x gradlew
./gradlew photon-lib:build
- run: ./gradlew photonlib:publish
name: Publish
env:
ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
if: github.event_name == 'push'
photonlib-build-docker:
strategy:
fail-fast: false
matrix:
include:
- container: wpilib/roborio-cross-ubuntu:2020-18.04
artifact-name: Athena
- container: wpilib/raspbian-cross-ubuntu:10-18.04
artifact-name: Raspbian
- container: wpilib/aarch64-cross-ubuntu:bionic-18.04
artifact-name: Aarch64
runs-on: ubuntu-latest
container: ${{ matrix.container }}
name: "Photonlib - Build - ${{ matrix.artifact-name }}"
steps:
- uses: actions/checkout@v2
- uses: actions/setup-java@v1
with:
java-version: 11
- run: |
chmod +x gradlew
./gradlew photon-lib:build
- run: |
chmod +x gradlew
./gradlew photon-lib:publish
env:
ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
if: github.event_name == 'push'
photonlib-wpiformat:
name: "wpiformat"
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Fetch all history and metadata
run: |
git fetch --prune --unshallow
git checkout -b pr
git branch -f master origin/master
- name: Set up Python 3.8
uses: actions/setup-python@v2
with:
python-version: 3.8
- name: Install clang-format
run: sudo apt-get update -q && sudo apt-get install clang-format-10
- name: Install wpiformat
run: pip3 install wpiformat
- name: Run
run: |
ls -la
wpiformat -clang 10 -f photon-lib
- name: Check Output
run: git --no-pager diff --exit-code HEAD

3
.gitignore vendored
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@@ -131,3 +131,6 @@ photon-server/src/main/generated/native/include/org_photonvision_raspi_PicamJNI.
.gradle/*
photonvision_config
build/spotlessJava
build/*
build
photon-lib/src/main/java/org/photonvision/PhotonVersion.java

29
photon-core/build.gradle
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@@ -1,7 +1,12 @@
import java.time.LocalDateTime
import java.time.format.DateTimeFormatter
apply from: '../common.gradle'
apply from: 'versioningHelper.gradle'
apply from: '../versioningHelper.gradle'
dependencies {
implementation project(':photon-targeting')
implementation 'io.javalin:javalin:3.7.0'
implementation 'org.msgpack:msgpack-core:0.8.20'
@@ -17,3 +22,25 @@ dependencies {
// Zip
compile 'org.zeroturnaround:zt-zip:1.14'
}
task writeCurrentVersionJava {
String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
File versionFile = new File(java.nio.file.Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java")
.toAbsolutePath().toString())
versionFile.delete()
versionFile << "package org.photonvision;\n" +
"\n" +
"/*\n" +
" * Autogenerated file! Do not manually edit this file. This version is regenerated\n" +
" * any time the publish task is run, or when this file is deleted.\n" +
" */\n" +
"\n" +
"@SuppressWarnings(\"ALL\")\n" +
"public final class PhotonVersion {\n" +
" public static final String versionString = \"${versionString}\";\n" +
" public static final String buildDate = \"${date}\";\n" +
" public static final boolean isRelease = !versionString.startsWith(\"dev\");\n" +
"}"
}
build.dependsOn writeCurrentVersionJava

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photon-core/gradle/wrapper/gradle-wrapper.jar vendored
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6
photon-core/gradle/wrapper/gradle-wrapper.properties vendored
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@@ -1,6 +0,0 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-bin.zip
distributionSha256Sum=3239b5ed86c3838a37d983ac100573f64c1f3fd8e1eb6c89fa5f9529b5ec091d
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists

20
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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@@ -20,13 +20,17 @@ package org.photonvision.common.dataflow.networktables;
import edu.wpi.first.networktables.EntryNotification;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.Supplier;
import org.photonvision.common.dataflow.CVPipelineResultConsumer;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.pipeline.result.SimplePipelineResult;
import org.photonvision.vision.target.TrackedTarget;
public class NTDataPublisher implements CVPipelineResultConsumer {
@@ -163,7 +167,9 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
@Override
public void accept(CVPipelineResult result) {
var simplified = new SimplePipelineResult(result);
var simplified =
new PhotonPipelineResult(
result.getLatencyMillis(), simpleFromTrackedTargets(result.targets));
Packet packet = new Packet(simplified.getPacketSize());
simplified.populatePacket(packet);
@@ -201,4 +207,14 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
}
rootTable.getInstance().flush();
}
public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
var ret = new ArrayList<PhotonTrackedTarget>();
for (var t : targets) {
ret.add(
new PhotonTrackedTarget(
t.getYaw(), t.getPitch(), t.getArea(), t.getSkew(), t.getCameraToTarget()));
}
return ret;
}
}

3
photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
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@@ -27,7 +27,6 @@ import org.photonvision.common.dataflow.networktables.NTDataChangeListener;
import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.hardware.GPIO.CustomGPIO;
import org.photonvision.common.hardware.GPIO.pi.PigpioSocket;
import org.photonvision.common.hardware.VisionLED.VisionLEDMode;
import org.photonvision.common.hardware.metrics.MetricsBase;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
@@ -91,7 +90,7 @@ public class HardwareManager {
pigpioSocket);
ledModeEntry = NetworkTablesManager.getInstance().kRootTable.getEntry("ledMode");
ledModeEntry.setNumber(VisionLEDMode.VLM_DEFAULT.value);
ledModeEntry.setNumber(VisionLEDMode.kDefault.value);
ledModeListener =
visionLED == null
? null

58
photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
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@@ -40,7 +40,7 @@ public class VisionLED {
private final int brightnessMax;
private final PigpioSocket pigpioSocket;
private VisionLEDMode currentLedMode = VisionLEDMode.VLM_DEFAULT;
private VisionLEDMode currentLedMode = VisionLEDMode.kDefault;
private BooleanSupplier pipelineModeSupplier;
private int mappedBrightnessPercentage;
@@ -111,7 +111,7 @@ public class VisionLED {
}
public void setState(boolean on) {
setInternal(on ? VisionLEDMode.VLM_ON : VisionLEDMode.VLM_OFF, false);
setInternal(on ? VisionLEDMode.kOn : VisionLEDMode.kOff, false);
}
void onLedModeChange(EntryNotification entryNotification) {
@@ -120,20 +120,20 @@ public class VisionLED {
VisionLEDMode newLedMode;
switch (newLedModeRaw) {
case -1:
newLedMode = VisionLEDMode.VLM_DEFAULT;
newLedMode = VisionLEDMode.kDefault;
break;
case 0:
newLedMode = VisionLEDMode.VLM_OFF;
newLedMode = VisionLEDMode.kOff;
break;
case 1:
newLedMode = VisionLEDMode.VLM_ON;
newLedMode = VisionLEDMode.kOn;
break;
case 2:
newLedMode = VisionLEDMode.VLM_BLINK;
newLedMode = VisionLEDMode.kBlink;
break;
default:
logger.warn("User supplied invalid LED mode, falling back to Default");
newLedMode = VisionLEDMode.VLM_DEFAULT;
newLedMode = VisionLEDMode.kDefault;
break;
}
setInternal(newLedMode, true);
@@ -145,16 +145,16 @@ public class VisionLED {
if (fromNT) {
switch (newLedMode) {
case VLM_DEFAULT:
case kDefault:
setStateImpl(pipelineModeSupplier.getAsBoolean());
break;
case VLM_OFF:
case kOff:
setStateImpl(false);
break;
case VLM_ON:
case kOn:
setStateImpl(true);
break;
case VLM_BLINK:
case kBlink:
blinkImpl(85, -1);
break;
}
@@ -166,15 +166,15 @@ public class VisionLED {
+ newLedMode.toString()
+ "\"");
} else {
if (currentLedMode == VisionLEDMode.VLM_DEFAULT) {
if (currentLedMode == VisionLEDMode.kDefault) {
switch (newLedMode) {
case VLM_DEFAULT:
case kDefault:
setStateImpl(pipelineModeSupplier.getAsBoolean());
break;
case VLM_OFF:
case kOff:
setStateImpl(false);
break;
case VLM_ON:
case kOn:
setStateImpl(true);
break;
}
@@ -182,32 +182,4 @@ public class VisionLED {
logger.info("Changing LED internal state to " + newLedMode.toString());
}
}
public enum VisionLEDMode {
VLM_DEFAULT(-1),
VLM_OFF(0),
VLM_ON(1),
VLM_BLINK(2);
public final int value;
VisionLEDMode(int value) {
this.value = value;
}
@Override
public String toString() {
switch (this) {
case VLM_DEFAULT:
return "Default";
case VLM_OFF:
return "Off";
case VLM_ON:
return "On";
case VLM_BLINK:
return "Blink";
}
return "";
}
}
}

46
photon-core/versioningHelper.gradle
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@@ -1,46 +0,0 @@
import java.time.LocalDateTime
import java.time.format.DateTimeFormatter
import java.nio.file.Path
gradle.allprojects {
ext.getCurrentVersion = { ->
def stdout = new ByteArrayOutputStream()
String tagIsh
try {
exec {
commandLine 'git', 'describe', '--tags', '--exclude="Dev"'
standardOutput = stdout
}
tagIsh = stdout.toString().trim().toLowerCase()
} catch(Exception e) {
tagIsh = "dev-Unknown"
}
boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
if(isDev) tagIsh = "dev-" + tagIsh
println("Picked up version: " + tagIsh)
return tagIsh
}
ext.versionString = getCurrentVersion()
}
task writeCurrentVersionJava {
String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
File versionFile = new File(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java")
.toAbsolutePath().toString())
versionFile.delete()
versionFile << "package org.photonvision;\n" +
"\n" +
"/*\n" +
" * Autogenerated file! Do not manually edit this file. This version is regenerated\n" +
" * any time the publish task is run, or when this file is deleted.\n" +
" */\n" +
"\n" +
"@SuppressWarnings(\"ALL\")\n" +
"public final class PhotonVersion {\n" +
" public static final String versionString = \"${versionString}\";\n" +
" public static final String buildDate = \"${date}\";\n" +
" public static final boolean isRelease = !versionString.startsWith(\"dev\");\n" +
"}"
}
build.dependsOn writeCurrentVersionJava

167
photon-lib/.clang-format Normal file
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@@ -0,0 +1,167 @@
---
Language: Cpp
BasedOnStyle: Google
AccessModifierOffset: -1
AlignAfterOpenBracket: Align
AlignConsecutiveMacros: false
AlignConsecutiveAssignments: false
AlignConsecutiveDeclarations: false
AlignEscapedNewlines: Left
AlignOperands: true
AlignTrailingComments: true
AllowAllArgumentsOnNextLine: true
AllowAllConstructorInitializersOnNextLine: true
AllowAllParametersOfDeclarationOnNextLine: true
AllowShortBlocksOnASingleLine: Never
AllowShortCaseLabelsOnASingleLine: false
AllowShortFunctionsOnASingleLine: All
AllowShortLambdasOnASingleLine: All
AllowShortIfStatementsOnASingleLine: WithoutElse
AllowShortLoopsOnASingleLine: true
AlwaysBreakAfterDefinitionReturnType: None
AlwaysBreakAfterReturnType: None
AlwaysBreakBeforeMultilineStrings: true
AlwaysBreakTemplateDeclarations: Yes
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
AfterCaseLabel: false
AfterClass: false
AfterControlStatement: false
AfterEnum: false
AfterFunction: false
AfterNamespace: false
AfterObjCDeclaration: false
AfterStruct: false
AfterUnion: false
AfterExternBlock: false
BeforeCatch: false
BeforeElse: false
IndentBraces: false
SplitEmptyFunction: true
SplitEmptyRecord: true
SplitEmptyNamespace: true
BreakBeforeBinaryOperators: None
BreakBeforeBraces: Attach
BreakBeforeInheritanceComma: false
BreakInheritanceList: BeforeColon
BreakBeforeTernaryOperators: true
BreakConstructorInitializersBeforeComma: false
BreakConstructorInitializers: BeforeColon
BreakAfterJavaFieldAnnotations: false
BreakStringLiterals: true
ColumnLimit: 80
CommentPragmas: '^ IWYU pragma:'
CompactNamespaces: false
ConstructorInitializerAllOnOneLineOrOnePerLine: true
ConstructorInitializerIndentWidth: 4
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DeriveLineEnding: false
DerivePointerAlignment: false
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
FixNamespaceComments: true
ForEachMacros:
- foreach
- Q_FOREACH
- BOOST_FOREACH
IncludeBlocks: Regroup
IncludeCategories:
- Regex: '^<ext/.*\.h>'
Priority: 2
SortPriority: 0
- Regex: '^<.*\.h>'
Priority: 1
SortPriority: 0
- Regex: '^<.*'
Priority: 2
SortPriority: 0
- Regex: '.*'
Priority: 3
SortPriority: 0
IncludeIsMainRegex: '([-_](test|unittest))?$'
IncludeIsMainSourceRegex: ''
IndentCaseLabels: true
IndentGotoLabels: true
IndentPPDirectives: None
IndentWidth: 2
IndentWrappedFunctionNames: false
JavaScriptQuotes: Leave
JavaScriptWrapImports: true
KeepEmptyLinesAtTheStartOfBlocks: false
MacroBlockBegin: ''
MacroBlockEnd: ''
MaxEmptyLinesToKeep: 1
NamespaceIndentation: None
ObjCBinPackProtocolList: Never
ObjCBlockIndentWidth: 2
ObjCSpaceAfterProperty: false
ObjCSpaceBeforeProtocolList: true
PenaltyBreakAssignment: 2
PenaltyBreakBeforeFirstCallParameter: 1
PenaltyBreakComment: 300
PenaltyBreakFirstLessLess: 120
PenaltyBreakString: 1000
PenaltyBreakTemplateDeclaration: 10
PenaltyExcessCharacter: 1000000
PenaltyReturnTypeOnItsOwnLine: 200
PointerAlignment: Left
RawStringFormats:
- Language: Cpp
Delimiters:
- cc
- CC
- cpp
- Cpp
- CPP
- 'c++'
- 'C++'
CanonicalDelimiter: ''
BasedOnStyle: google
- Language: TextProto
Delimiters:
- pb
- PB
- proto
- PROTO
EnclosingFunctions:
- EqualsProto
- EquivToProto
- PARSE_PARTIAL_TEXT_PROTO
- PARSE_TEST_PROTO
- PARSE_TEXT_PROTO
- ParseTextOrDie
- ParseTextProtoOrDie
CanonicalDelimiter: ''
BasedOnStyle: google
ReflowComments: true
SortIncludes: false
SortUsingDeclarations: true
SpaceAfterCStyleCast: false
SpaceAfterLogicalNot: false
SpaceAfterTemplateKeyword: true
SpaceBeforeAssignmentOperators: true
SpaceBeforeCpp11BracedList: false
SpaceBeforeCtorInitializerColon: true
SpaceBeforeInheritanceColon: true
SpaceBeforeParens: ControlStatements
SpaceBeforeRangeBasedForLoopColon: true
SpaceInEmptyBlock: false
SpaceInEmptyParentheses: false
SpacesBeforeTrailingComments: 2
SpacesInAngles: false
SpacesInConditionalStatement: false
SpacesInContainerLiterals: true
SpacesInCStyleCastParentheses: false
SpacesInParentheses: false
SpacesInSquareBrackets: false
SpaceBeforeSquareBrackets: false
Standard: Auto
StatementMacros:
- Q_UNUSED
- QT_REQUIRE_VERSION
TabWidth: 8
UseCRLF: false
UseTab: Never
...

20
photon-lib/.styleguide Normal file
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@@ -0,0 +1,20 @@
cppHeaderFileInclude {
\.h$
\.hpp$
\.inc$
\.inl$
}
cppSrcFileInclude {
\.cpp$
}
includeProject {
^photonLib/
}
includeOtherLibs {
^frc/
^units/
^wpi/
}

16
photon-lib/.styleguide-license Normal file
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@@ -0,0 +1,16 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/

674
photon-lib/LICENSE Normal file
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@@ -0,0 +1,674 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
them if you wish), that you receive source code or can get it if you
want it, that you can change the software or use pieces of it in new
free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you
these rights or asking you to surrender the rights. Therefore, you have
certain responsibilities if you distribute copies of the software, or if
you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must pass on to the recipients the same
freedoms that you received. You must make sure that they, too, receive
or can get the source code. And you must show them these terms so they
know their rights.
Developers that use the GNU GPL protect your rights with two steps:
(1) assert copyright on the software, and (2) offer you this License
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For the developers' and authors' protection, the GPL clearly explains
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Some devices are designed to deny users access to install or run
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Finally, every program is threatened constantly by software patents.
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The precise terms and conditions for copying, distribution and
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To "modify" a work means to copy from or adapt all or part of the work
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A "covered work" means either the unmodified Program or a work based
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To "propagate" a work means to do anything with it that, without
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How to Apply These Terms to Your New Programs
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Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
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This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
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The hypothetical commands `show w' and `show c' should show the appropriate
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You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

3
photon-lib/README.md Normal file
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# PhotonLib
The vendor dependency for [PhotonVision](https://github.com/photonvision/photonvision). Just add the vendor JSON to your robot project and you're good!

129
photon-lib/build.gradle Normal file
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plugins {
id 'cpp'
id 'java'
id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
id 'google-test-test-suite'
id 'edu.wpi.first.NativeUtils' version '2020.10.1'
id 'edu.wpi.first.GradleJni' version '0.10.1'
id 'edu.wpi.first.GradleVsCode' version '0.12.0'
}
repositories {
mavenCentral()
maven { url "https://frcmaven.wpi.edu/artifactory/development" }
}
if (project.hasProperty('releaseMode')) {
wpilibRepositories.addAllReleaseRepositories(project)
} else {
wpilibRepositories.addAllDevelopmentRepositories(project)
}
apply from: '../versioningHelper.gradle'
ext {
pubVersion = versionString
wpilibVersion = '2020.3.2-99-g9f4de91'
}
// Apply C++ configuration
apply from: 'config.gradle'
test {
useJUnitPlatform()
}
// Apply Java configuration
dependencies {
// TODO C++
compile project(':photon-core')
compile project(':photon-targeting')
implementation 'edu.wpi.first.cscore:cscore-java:2020.+'
implementation 'edu.wpi.first.cameraserver:cameraserver-java:2020.+'
implementation 'edu.wpi.first.wpilibj:wpilibj-java:2020.+'
implementation 'edu.wpi.first.wpiutil:wpiutil-java:2020.+'
implementation 'edu.wpi.first.wpimath:wpimath-java:2020.+'
implementation 'edu.wpi.first.hal:hal-java:2020.+'
implementation 'edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2'
implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxaarch64bionic"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxraspbian"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxx86-64"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:osxx86-64"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:windowsx86-64"
testImplementation("org.junit.jupiter:junit-jupiter-api:5.6.2")
testImplementation("org.junit.jupiter:junit-jupiter-params:5.6.2")
testRuntimeOnly("org.junit.jupiter:junit-jupiter-engine:5.6.2")
}
// Set up exports properly
nativeUtils {
exportsConfigs {
// Main library is just default empty. This will export everything
Photon {
}
}
}
model {
components {
Photon(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs 'src/main/native/cpp'
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/native/include'
}
}
}
nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
}
}
testSuites {
cppTest(GoogleTestTestSuiteSpec) {
testing $.components.Photon
sources.cpp {
source {
srcDir 'src/test/native/cpp'
include '**/*.cpp'
}
}
nativeUtils.useRequiredLibrary(it, 'wpilib_executable_shared')
nativeUtils.useRequiredLibrary(it, 'googletest_static')
}
}
}
def photonlibFileInput = file("src/generate/photonlib.json.in")
ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")
task generateVendorJson() {
description = 'Generates the vendor JSON file'
group = 'PhotonVision'
outputs.file photonlibFileOutput
inputs.file photonlibFileInput
doLast {
println "Writing version ${pubVersion} to $photonlibFileOutput"
if (photonlibFileOutput.exists()) {
photonlibFileOutput.delete()
}
def read = photonlibFileInput.text.replace('${photon_version}', pubVersion)
photonlibFileOutput.write(read)
}
}
build.dependsOn generateVendorJson
apply from: 'publish.gradle'

62
photon-lib/clang-format.sh Normal file
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#!/bin/bash
################################################################################
# Part of the LLVM Project, under the Apache License v2.0 with LLVM Exceptions.
# See https://llvm.org/LICENSE.txt for license information.
# SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
################################################################################
#
# This script will install the llvm toolchain on the different
# Debian and Ubuntu versions
set -eux
# read optional command line argument
LLVM_VERSION=10
if [ "$#" -eq 1 ]; then
LLVM_VERSION=$1
fi
DISTRO=$(lsb_release -is)
VERSION=$(lsb_release -sr)
DIST_VERSION="${DISTRO}_${VERSION}"
if [[ $EUID -ne 0 ]]; then
echo "This script must be run as root!"
exit 1
fi
declare -A LLVM_VERSION_PATTERNS
LLVM_VERSION_PATTERNS[9]="-9"
LLVM_VERSION_PATTERNS[10]="-10"
LLVM_VERSION_PATTERNS[11]=""
if [ ! ${LLVM_VERSION_PATTERNS[$LLVM_VERSION]+_} ]; then
echo "This script does not support LLVM version $LLVM_VERSION"
exit 3
fi
LLVM_VERSION_STRING=${LLVM_VERSION_PATTERNS[$LLVM_VERSION]}
# find the right repository name for the distro and version
case "$DIST_VERSION" in
Debian_9* ) REPO_NAME="deb http://apt.llvm.org/stretch/ llvm-toolchain-stretch$LLVM_VERSION_STRING main" ;;
Debian_10* ) REPO_NAME="deb http://apt.llvm.org/buster/ llvm-toolchain-buster$LLVM_VERSION_STRING main" ;;
Debian_unstable ) REPO_NAME="deb http://apt.llvm.org/unstable/ llvm-toolchain$LLVM_VERSION_STRING main" ;;
Debian_testing ) REPO_NAME="deb http://apt.llvm.org/unstable/ llvm-toolchain$LLVM_VERSION_STRING main" ;;
Ubuntu_16.04 ) REPO_NAME="deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial$LLVM_VERSION_STRING main" ;;
Ubuntu_18.04 ) REPO_NAME="deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic$LLVM_VERSION_STRING main" ;;
Ubuntu_18.10 ) REPO_NAME="deb http://apt.llvm.org/cosmic/ llvm-toolchain-cosmic$LLVM_VERSION_STRING main" ;;
Ubuntu_19.04 ) REPO_NAME="deb http://apt.llvm.org/disco/ llvm-toolchain-disco$LLVM_VERSION_STRING main" ;;
Ubuntu_19.10 ) REPO_NAME="deb http://apt.llvm.org/eoan/ llvm-toolchain-eoan$LLVM_VERSION_STRING main" ;;
Ubuntu_20.04 ) REPO_NAME="deb http://apt.llvm.org/focal/ llvm-toolchain-focal$LLVM_VERSION_STRING main" ;;
* )
echo "Distribution '$DISTRO' in version '$VERSION' is not supported by this script (${DIST_VERSION})."
exit 2
esac
# install everything
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | apt-key add -
add-apt-repository "${REPO_NAME}"
apt-get update
apt-get install -y clang-format-$LLVM_VERSION

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import org.gradle.internal.os.OperatingSystem
nativeUtils.addWpiNativeUtils()
nativeUtils.withRoboRIO()
nativeUtils.withRaspbian()
nativeUtils.withBionic()
nativeUtils {
wpi {
configureDependencies {
wpiVersion = "2020.+"
niLibVersion = "2020.10.1"
wpimathVersion = "2020.+"
opencvVersion = "3.4.7-2"
niLibVersion = "2020.10.1"
googleTestVersion = "1.9.0-3-437e100"
opencvVersion = "3.4.7-2"
googleTestVersion = "1.9.0-3-437e100"
}
}
}
nativeUtils.wpi.addWarnings()
nativeUtils.wpi.addWarningsAsErrors()
nativeUtils.setSinglePrintPerPlatform()
model {
// components {
// all {
// targetPlatform nativeUtils.wpi.platforms.roborio
// }
// }
// Uncomment this, and remove above lines to enable builds for all platforms
components {
all {
nativeUtils.useAllPlatforms(it)
}
}
binaries {
withType(NativeBinarySpec).all {
nativeUtils.usePlatformArguments(it)
}
}
}
ext.appendDebugPathToBinaries = { binaries->
binaries.withType(StaticLibraryBinarySpec) {
if (it.buildType.name.contains('debug')) {
def staticFileDir = it.staticLibraryFile.parentFile
def staticFileName = it.staticLibraryFile.name
def staticFileExtension = staticFileName.substring(staticFileName.lastIndexOf('.'))
staticFileName = staticFileName.substring(0, staticFileName.lastIndexOf('.'))
staticFileName = staticFileName + 'd' + staticFileExtension
def newStaticFile = new File(staticFileDir, staticFileName)
it.staticLibraryFile = newStaticFile
}
}
binaries.withType(SharedLibraryBinarySpec) {
if (it.buildType.name.contains('debug')) {
def sharedFileDir = it.sharedLibraryFile.parentFile
def sharedFileName = it.sharedLibraryFile.name
def sharedFileExtension = sharedFileName.substring(sharedFileName.lastIndexOf('.'))
sharedFileName = sharedFileName.substring(0, sharedFileName.lastIndexOf('.'))
sharedFileName = sharedFileName + 'd' + sharedFileExtension
def newSharedFile = new File(sharedFileDir, sharedFileName)
def sharedLinkFileDir = it.sharedLibraryLinkFile.parentFile
def sharedLinkFileName = it.sharedLibraryLinkFile.name
def sharedLinkFileExtension = sharedLinkFileName.substring(sharedLinkFileName.lastIndexOf('.'))
sharedLinkFileName = sharedLinkFileName.substring(0, sharedLinkFileName.lastIndexOf('.'))
sharedLinkFileName = sharedLinkFileName + 'd' + sharedLinkFileExtension
def newLinkFile = new File(sharedLinkFileDir, sharedLinkFileName)
it.sharedLibraryLinkFile = newLinkFile
it.sharedLibraryFile = newSharedFile
}
}
}
ext.createComponentZipTasks = { components, names, base, type, project, func ->
def stringNames = names.collect {it.toString()}
def configMap = [:]
components.each {
if (it in NativeLibrarySpec && stringNames.contains(it.name)) {
it.binaries.each {
if (!it.buildable) return
def target = nativeUtils.getPublishClassifier(it)
if (configMap.containsKey(target)) {
configMap.get(target).add(it)
} else {
configMap.put(target, [])
configMap.get(target).add(it)
}
}
}
}
def taskList = []
def outputsFolder = file("$project.buildDir/outputs")
configMap.each { key, value ->
def task = project.tasks.create(base + "-${key}", type) {
description = 'Creates component archive for platform ' + key
destinationDirectory = outputsFolder
classifier = key
archiveBaseName = '_M_' + base
duplicatesStrategy = 'exclude'
from(licenseFile) {
into '/'
}
func(it, value)
}
taskList.add(task)
project.build.dependsOn task
project.artifacts {
task
}
addTaskToCopyAllOutputs(task)
}
return taskList
}
ext.createAllCombined = { list, name, base, type, project ->
def outputsFolder = file("$project.buildDir/outputs")
def task = project.tasks.create(base + "-all", type) {
description = "Creates component archive for all classifiers"
destinationDirectory = outputsFolder
classifier = "all"
archiveBaseName = base
duplicatesStrategy = 'exclude'
list.each {
if (it.name.endsWith('debug')) return
from project.zipTree(it.archivePath)
dependsOn it
}
}
project.build.dependsOn task
project.artifacts {
task
}
return task
}
ext.includeStandardZipFormat = { task, value ->
value.each { binary ->
if (binary.buildable) {
if (binary instanceof SharedLibraryBinarySpec) {
task.dependsOn binary.tasks.link
task.from(new File(binary.sharedLibraryFile.absolutePath + ".debug")) {
into nativeUtils.getPlatformPath(binary) + '/shared'
}
def sharedPath = binary.sharedLibraryFile.absolutePath
sharedPath = sharedPath.substring(0, sharedPath.length() - 4)
task.from(new File(sharedPath + '.pdb')) {
into nativeUtils.getPlatformPath(binary) + '/shared'
}
task.from(binary.sharedLibraryFile) {
into nativeUtils.getPlatformPath(binary) + '/shared'
}
task.from(binary.sharedLibraryLinkFile) {
into nativeUtils.getPlatformPath(binary) + '/shared'
}
} else if (binary instanceof StaticLibraryBinarySpec) {
task.dependsOn binary.tasks.createStaticLib
task.from(binary.staticLibraryFile) {
into nativeUtils.getPlatformPath(binary) + '/static'
}
}
}
}
}

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apply plugin: 'maven-publish'
ext.licenseFile = files("$rootDir/LICENSE.txt")
def outputsFolder = file("$buildDir/outputs")
def allOutputsFolder = file("$buildDir/allOutputs")
def versionFile = file("$allOutputsFolder/version.txt")
task outputVersions() {
description = 'Prints the versions of wpilib to a file for use by the downstream packaging project'
group = 'Build'
outputs.files(versionFile)
doFirst {
buildDir.mkdir()
outputsFolder.mkdir()
allOutputsFolder.mkdir()
}
doLast {
versionFile.write pubVersion
}
}
task libraryBuild() {}
build.dependsOn outputVersions
task copyAllOutputs(type: Copy) {
destinationDir allOutputsFolder
}
build.dependsOn copyAllOutputs
copyAllOutputs.dependsOn outputVersions
ext.addTaskToCopyAllOutputs = { task ->
copyAllOutputs.dependsOn task
copyAllOutputs.inputs.file task.archivePath
copyAllOutputs.from task.archivePath
}
def artifactGroupId = 'org.photonvision'
def baseArtifactId = 'PhotonLib'
def zipBaseName = "_GROUP_org_photonvision_photonlib_ID_${baseArtifactId}-cpp_CLS"
def javaBaseName = "_GROUP_org_photonvision_photonlib_ID_${baseArtifactId}-java_CLS"
task cppHeadersZip(type: Zip) {
destinationDirectory = outputsFolder
archiveBaseName = zipBaseName
classifier = "headers"
from(licenseFile) {
into '/'
}
from('src/main/native/include/') {
into '/'
}
}
task cppSourceZip(type: Zip) {
destinationDirectory = outputsFolder
archiveBaseName = zipBaseName
classifier = "source"
from(licenseFile) {
into '/'
}
from('src/main/native/cpp') {
into '/'
}
}
build.dependsOn cppHeadersZip
addTaskToCopyAllOutputs(cppHeadersZip)
build.dependsOn cppSourceZip
addTaskToCopyAllOutputs(cppSourceZip)
task sourcesJar(type: Jar, dependsOn: classes) {
classifier = 'sources'
from sourceSets.main.allSource
}
task javadocJar(type: Jar, dependsOn: javadoc) {
classifier = 'javadoc'
from javadoc.destinationDir
}
task outputJar(type: Jar, dependsOn: classes) {
archiveBaseName = javaBaseName
destinationDirectory = outputsFolder
from sourceSets.main.output
}
task outputSourcesJar(type: Jar, dependsOn: classes) {
archiveBaseName = javaBaseName
destinationDirectory = outputsFolder
classifier = 'sources'
from sourceSets.main.allSource
}
task outputJavadocJar(type: Jar, dependsOn: javadoc) {
archiveBaseName = javaBaseName
destinationDirectory = outputsFolder
classifier = 'javadoc'
from javadoc.destinationDir
}
def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
artifacts {
archives sourcesJar
archives javadocJar
archives outputJar
archives outputSourcesJar
archives outputJavadocJar
}
addTaskToCopyAllOutputs(outputSourcesJar)
addTaskToCopyAllOutputs(outputJavadocJar)
addTaskToCopyAllOutputs(outputJar)
build.dependsOn outputSourcesJar
build.dependsOn outputJavadocJar
build.dependsOn outputJar
libraryBuild.dependsOn build
def releasesRepoUrl = "$buildDir/repos/releases"
publishing {
repositories {
maven {
url = releasesRepoUrl
}
maven {
url 'https://maven.photonvision.org/repository/internal'
credentials {
username 'ghactions'
password System.getenv("ARTIFACTORY_API_KEY")
}
}
}
}
task cleanReleaseRepo(type: Delete) {
delete releasesRepoUrl
}
tasks.matching {it != cleanReleaseRepo}.all {it.dependsOn cleanReleaseRepo}
model {
publishing {
def taskList = createComponentZipTasks($.components, ['Photon'], zipBaseName, Zip, project, includeStandardZipFormat)
publications {
cpp(MavenPublication) {
taskList.each {
artifact it
}
artifact cppHeadersZip
artifact cppSourceZip
artifactId = "${baseArtifactId}-cpp"
groupId artifactGroupId
version pubVersion
}
java(MavenPublication) {
artifact jar
artifact sourcesJar
artifact javadocJar
artifactId = "${baseArtifactId}-java"
groupId artifactGroupId
version pubVersion
}
vendorjson(MavenPublication) {
artifact vendorJson
artifactId = "${baseArtifactId}-json"
groupId = artifactGroupId
version "1.0"
}
}
}
}
publishToMavenLocal.dependsOn libraryBuild
publish.dependsOn libraryBuild

8
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pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
}
}
rootProject.name = 'photon-lib'

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{
"fileName": "photonlib.json",
"name": "photonlib",
"version": "${photon_version}",
"uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
"mavenUrls": [
"https://maven.photonvision.org/repository/internal"
],
"jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/lib/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "org.photonvision.lib",
"artifactId": "PhotonLib-cpp",
"version": "${photon_version}",
"libName": "Photon",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxx86-64"
]
}
],
"javaDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "PhotonLib-java",
"version": "${photon_version}"
},
{
"groupId": "org.photonvision",
"artifactId": "PhotonTargeting-java",
"version": "${photon_version}"
}
]
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "com_vendor_jni_VendorJNI.h"
#include "jni.h"
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
// Check to ensure the JNI version is valid
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return JNI_ERR;
// In here is also where you store things like class references
// if they are ever needed
return JNI_VERSION_1_6;
}
JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {}
/*
* Class: com_vendor_jni_VendorJNI
* Method: initialize
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_com_vendor_jni_VendorJNI_initialize
(JNIEnv*, jclass)
{
return 0;
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "driverheader.h"
extern "C" {
void c_doThing(void) {}
} // extern "C"

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
extern "C" {
void c_doThing(void);
} // extern "C"

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photon-lib/src/main/driver/symbols.txt Normal file
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JNI_OnLoad
JNI_OnUnload
Java_com_vendor_jni_VendorJNI_initialize
c_doThing

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photon-lib/src/main/java/org/photonvision/PhotonCamera.java Normal file
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonPipelineResult;
/** Represents a camera that is connected to PhotonVision. */
public class PhotonCamera {
final NetworkTableEntry rawBytesEntry;
final NetworkTableEntry driverModeEntry;
final NetworkTableEntry inputSaveImgEntry;
final NetworkTableEntry outputSaveImgEntry;
final NetworkTableEntry pipelineIndexEntry;
final NetworkTableEntry ledModeEntry;
final NetworkTable mainTable = NetworkTableInstance.getDefault().getTable("photonvision");
boolean driverMode;
int pipelineIndex;
VisionLEDMode mode;
Packet packet = new Packet(1);
/**
* Constructs a PhotonCamera from a root table.
*
* @param rootTable The root table that the camera is broadcasting information over.
*/
public PhotonCamera(NetworkTable rootTable) {
rawBytesEntry = rootTable.getEntry("rawBytes");
driverModeEntry = rootTable.getEntry("driverMode");
inputSaveImgEntry = rootTable.getEntry("inputSaveImgCmd");
outputSaveImgEntry = rootTable.getEntry("outputSaveImgCmd");
pipelineIndexEntry = rootTable.getEntry("pipelineIndex");
ledModeEntry = mainTable.getEntry("ledMode");
driverMode = driverModeEntry.getBoolean(false);
pipelineIndex = pipelineIndexEntry.getNumber(0).intValue();
getLEDMode();
}
/**
* Constructs a PhotonCamera from the name of the camera.
*
* @param cameraName The nickname of the camera (found in the PhotonVision UI).
*/
public PhotonCamera(String cameraName) {
this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
}
/**
* Returns the latest pipeline result.
*
* @return The latest pipeline result.
*/
public PhotonPipelineResult getLatestResult() {
// Clear the packet.
packet.clear();
// Create latest result.
var ret = new PhotonPipelineResult();
// Populate packet and create result.
packet.setData(rawBytesEntry.getRaw(new byte[] {}));
if (packet.getSize() < 1) return ret;
ret.createFromPacket(packet);
// Return result.
return ret;
}
/**
* Returns whether the camera is in driver mode.
*
* @return Whether the camera is in driver mode.
*/
public boolean getDriverMode() {
return driverMode;
}
/**
* Toggles driver mode.
*
* @param driverMode Whether to set driver mode.
*/
public void setDriverMode(boolean driverMode) {
if (this.driverMode != driverMode) {
this.driverMode = driverMode;
driverModeEntry.setBoolean(this.driverMode);
}
}
/**
* Request the camera to save a new image file from the input camera stream with overlays. Images
* take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk
* space and eventually cause the system to stop working. Clear out images in
* /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
*/
public void takeInputSnapshot() {
inputSaveImgEntry.setBoolean(true);
}
/**
* Request the camera to save a new image file from the output stream with overlays. Images take
* up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space
* and eventually cause the system to stop working. Clear out images in
* /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
*/
public void takeOutputSnapshot() {
outputSaveImgEntry.setBoolean(true);
}
/**
* Returns the active pipeline index.
*
* @return The active pipeline index.
*/
public int getPipelineIndex() {
return pipelineIndex;
}
/**
* Allows the user to select the active pipeline index.
*
* @param index The active pipeline index.
*/
public void setPipelineIndex(int index) {
if (pipelineIndex != index) {
pipelineIndex = index;
pipelineIndexEntry.setNumber(pipelineIndex);
}
}
/**
* Returns the current LED mode.
*
* @return The current LED mode.
*/
public VisionLEDMode getLEDMode() {
int value = ledModeEntry.getNumber(-1).intValue();
switch (value) {
case 0:
mode = VisionLEDMode.kOff;
break;
case 1:
mode = VisionLEDMode.kOn;
break;
case 2:
mode = VisionLEDMode.kBlink;
break;
case -1:
default:
mode = VisionLEDMode.kDefault;
break;
}
return mode;
}
/**
* Sets the LED mode.
*
* @param led The mode to set to.
*/
public void setLED(VisionLEDMode led) {
if (led != mode) {
ledModeEntry.setNumber(led.value);
}
}
/**
* Returns whether the latest target result has targets.
*
* @return Whether the latest target result has targets.
*/
public boolean hasTargets() {
return getLatestResult().hasTargets();
}
}

166
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
public final class PhotonUtils {
private PhotonUtils() {
// Utility class
}
/**
* Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates
* range to a target using the target's elevation. This method can produce more stable results
* than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method
* requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and
* for there to exist a height differential between goal and camera. The larger this differential,
* the more accurate the distance estimate will be.
*
* <p>Units can be converted using the {@link edu.wpi.first.wpilibj.util.Units} class.
*
* @param cameraHeightMeters The physical height of the camera off the floor in meters.
* @param targetHeightMeters The physical height of the target off the floor in meters. This
* should be the height of whatever is being targeted (i.e. if the targeting region is set to
* top, this should be the height of the top of the target).
* @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
* Positive values up.
* @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
* values up.
* @return The estimated distance to the target in meters.
*/
public static double calculateDistanceToTargetMeters(
double cameraHeightMeters,
double targetHeightMeters,
double cameraPitchRadians,
double targetPitchRadians) {
return (targetHeightMeters - cameraHeightMeters)
/ Math.tan(cameraPitchRadians + targetPitchRadians);
}
/**
* Estimate the {@link Translation2d} of the target relative to the camera.
*
* @param targetDistanceMeters The distance to the target in meters.
* @param yaw The observed yaw of the target.
* @return The target's camera-relative translation.
*/
public static Translation2d estimateCameraToTargetTranslation(
double targetDistanceMeters, Rotation2d yaw) {
return new Translation2d(
yaw.getCos() * targetDistanceMeters, yaw.getSin() * targetDistanceMeters);
}
/**
* Estimate the position of the robot in the field.
*
* @param cameraHeightMeters The physical height of the camera off the floor in meters.
* @param targetHeightMeters The physical height of the target off the floor in meters. This
* should be the height of whatever is being targeted (i.e. if the targeting region is set to
* top, this should be the height of the top of the target).
* @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
* Positive values up.
* @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
* values up.
* @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and
* Photon returns CW-positive.
* @param gyroAngle The current robot gyro angle, likely from odometry.
* @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
* @param cameraToRobot The position of the robot relative to the camera. If the camera was
* mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
* Transform2d(3 inches, 0 inches, 0 degrees).
* @return The position of the robot in the field.
*/
public static Pose2d estimateFieldToRobot(
double cameraHeightMeters,
double targetHeightMeters,
double cameraPitchRadians,
double targetPitchRadians,
Rotation2d targetYaw,
Rotation2d gyroAngle,
Pose2d fieldToTarget,
Transform2d cameraToRobot) {
return PhotonUtils.estimateFieldToRobot(
PhotonUtils.estimateCameraToTarget(
PhotonUtils.estimateCameraToTargetTranslation(
PhotonUtils.calculateDistanceToTargetMeters(
cameraHeightMeters, targetHeightMeters, cameraPitchRadians, targetPitchRadians),
targetYaw),
fieldToTarget,
gyroAngle),
fieldToTarget,
cameraToRobot);
}
/**
* Estimates a {@link Transform2d} that maps the camera position to the target position, using the
* robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system
* -- that is, it should read zero degrees when pointed towards the opposing alliance station, and
* increase as the robot rotates CCW.
*
* @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target
* relative to the camera.
* @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
* @param gyroAngle The current robot gyro angle, likely from odometry.
* @return A Transform2d that takes us from the camera to the target.
*/
public static Transform2d estimateCameraToTarget(
Translation2d cameraToTargetTranslation, Pose2d fieldToTarget, Rotation2d gyroAngle) {
// This pose maps our camera at the origin out to our target, in the robot
// reference frame
// The translation part of this Transform2d is from the above step, and the
// rotation uses our robot's
// gyro.
return new Transform2d(
cameraToTargetTranslation, gyroAngle.times(-1).minus(fieldToTarget.getRotation()));
}
/**
* Estimates the pose of the robot in the field coordinate system, given the position of the
* target relative to the camera, the target relative to the field, and the robot relative to the
* camera.
*
* @param cameraToTarget The position of the target relative to the camera.
* @param fieldToTarget The position of the target in the field.
* @param cameraToRobot The position of the robot relative to the camera. If the camera was
* mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
* Transform2d(3 inches, 0 inches, 0 degrees).
* @return The position of the robot in the field.
*/
public static Pose2d estimateFieldToRobot(
Transform2d cameraToTarget, Pose2d fieldToTarget, Transform2d cameraToRobot) {
return estimateFieldToCamera(cameraToTarget, fieldToTarget).transformBy(cameraToRobot);
}
/**
* Estimates the pose of the camera in the field coordinate system, given the position of the
* target relative to the camera, and the target relative to the field. This *only* tracks the
* position of the camera, not the position of the robot itself.
*
* @param cameraToTarget The position of the target relative to the camera.
* @param fieldToTarget The position of the target in the field.
* @return The position of the camera in the field.
*/
public static Pose2d estimateFieldToCamera(Transform2d cameraToTarget, Pose2d fieldToTarget) {
var targetToCamera = cameraToTarget.inverse();
return fieldToTarget.transformBy(targetToCamera);
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import edu.wpi.first.networktables.NetworkTable;
import java.util.Arrays;
import java.util.List;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
public class SimPhotonCamera extends PhotonCamera {
/**
* Constructs a Simulated PhotonCamera from a root table.
*
* @param rootTable The root table that the camera is broadcasting information over.
*/
public SimPhotonCamera(NetworkTable rootTable) {
super(rootTable);
}
/**
* Constructs a Simulated PhotonCamera from the name of the camera.
*
* @param cameraName The nickname of the camera (found in the PhotonVision UI).
*/
public SimPhotonCamera(String cameraName) {
super(cameraName);
}
/**
* Simulate one processed frame of vision data, putting one result to NT.
*
* @param latencyMillis
* @param targets Each target detected
*/
public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) {
submitProcessedFrame(latencyMillis, Arrays.asList(targets));
}
/**
* Simulate one processed frame of vision data, putting one result to NT.
*
* @param latencyMillis
* @param tgtList List of targets detected
*/
public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> tgtList) {
if (!getDriverMode()) {
PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, tgtList);
var newPacket = new Packet(newResult.getPacketSize());
newResult.populatePacket(newPacket);
rawBytesEntry.setRaw(newPacket.getData());
}
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.util.Units;
import java.util.ArrayList;
import org.photonvision.targeting.PhotonTrackedTarget;
public class SimVisionSystem {
SimPhotonCamera cam;
double camDiagFOVDegrees;
double camHorizFOVDegrees;
double camVertFOVDegrees;
double cameraHeightOffGroundMeters;
double maxLEDRangeMeters;
double camPitchDegrees;
int cameraResWidth;
int cameraResHeight;
double minTargetArea;
Transform2d cameraToRobot;
ArrayList<SimVisionTarget> tgtList;
/**
* Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
* running Photonvision, detecting one or more targets scattered around the field. This assumes a
* fairly simple and distortionless pinhole camera model.
*
* @param camName Name of the photonvision camera to create. Align it with the settings you use in
* the PhotonVision GUI.
* @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
* manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
* page.
* @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
* as whatever is configured in the PhotonVision Setting page.
* @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
* position
* @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
* @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
* make it visible. Set to 9000 or more if your vision system does not rely on LED's.
* @param cameraResWidth Width of your camera's image sensor in pixels
* @param cameraResHeight Height of your camera's image sensor in pixels
* @param minTargetArea Minimum area that that the target should be before it's recognized as a
* target by the camera. Match this with your contour filtering settings in the PhotonVision
* GUI.
*/
public SimVisionSystem(
String camName,
double camDiagFOVDegrees,
double camPitchDegrees,
Transform2d cameraToRobot,
double cameraHeightOffGroundMeters,
double maxLEDRangeMeters,
int cameraResWidth,
int cameraResHeight,
double minTargetArea) {
this.camDiagFOVDegrees = camDiagFOVDegrees;
this.camPitchDegrees = camPitchDegrees;
this.cameraToRobot = cameraToRobot;
this.cameraHeightOffGroundMeters = cameraHeightOffGroundMeters;
this.maxLEDRangeMeters = maxLEDRangeMeters;
this.cameraResWidth = cameraResWidth;
this.cameraResHeight = cameraResHeight;
this.minTargetArea = minTargetArea;
// Calculate horizontal/vertical FOV by similar triangles
double hypotPixels = Math.hypot(cameraResWidth, cameraResHeight);
this.camHorizFOVDegrees = camDiagFOVDegrees * cameraResWidth / hypotPixels;
this.camVertFOVDegrees = camDiagFOVDegrees * cameraResHeight / hypotPixels;
cam = new SimPhotonCamera(camName);
tgtList = new ArrayList<SimVisionTarget>();
}
/**
* Add a target on the field which your vision system is designed to detect. The photoncamera from
* this system will report the location of the robot relative to the subste of these targets which
* are visible from the given robot position.
*
* @param tgt
*/
public void addSimVisionTarget(SimVisionTarget tgt) {
tgtList.add(tgt);
}
/**
* Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
* turret or some other mobile platform.
*
* @param newCameraToRobot New Tranform from the robot to the camera
* @param newCamHeightMeters New height of the camera off the floor
* @param newCamPitchDegrees New pitch of the camera axis back from horizontal
*/
public void moveCamera(
Transform2d newCameraToRobot, double newCamHeightMeters, double newCamPitchDegrees) {
this.cameraToRobot = newCameraToRobot;
this.cameraHeightOffGroundMeters = newCamHeightMeters;
this.camPitchDegrees = newCamPitchDegrees;
}
/**
* Periodic update. Call this once per frame of image data you wish to process and send to
* NetworkTables
*
* @param robotPoseMeters current pose of the robot on the field. Will be used to calcualte which
* targets are actually in view, where they are at relative to the robot, and relevant
* PhotonVision parameters.
*/
public void processFrame(Pose2d robotPoseMeters) {
Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse());
ArrayList<PhotonTrackedTarget> visibleTgtList = new ArrayList<>(tgtList.size());
tgtList.forEach(
(tgt) -> {
var camToTargetTrans = new Transform2d(cameraPos, tgt.targetPos);
double distAlongGroundMeters = camToTargetTrans.getTranslation().getNorm();
double distVerticalMeters =
tgt.targetHeightAboveGroundMeters - this.cameraHeightOffGroundMeters;
double distMeters = Math.hypot(distAlongGroundMeters, distVerticalMeters);
double area = tgt.tgtAreaMeters2 / getM2PerPx(distAlongGroundMeters);
// 2D yaw mode considers the target as a point, and should ignore target rotation.
// Photon reports it in the correct robot reference frame.
// IE: targets to the left of the image should report negative yaw.
double yawDegrees =
-1.0
* Units.radiansToDegrees(
Math.atan2(
camToTargetTrans.getTranslation().getY(),
camToTargetTrans.getTranslation().getX()));
double pitchDegrees =
Units.radiansToDegrees(Math.atan2(distVerticalMeters, distAlongGroundMeters))
- this.camPitchDegrees;
if (camCanSeeTarget(distMeters, yawDegrees, pitchDegrees, area)) {
visibleTgtList.add(
new PhotonTrackedTarget(yawDegrees, pitchDegrees, area, 0.0, camToTargetTrans));
}
});
cam.submitProcessedFrame(0.0, visibleTgtList);
}
double getM2PerPx(double dist) {
double widthMPerPx =
2 * dist * Math.tan(Units.degreesToRadians(this.camHorizFOVDegrees) / 2) / cameraResWidth;
double heightMPerPx =
2 * dist * Math.tan(Units.degreesToRadians(this.camVertFOVDegrees) / 2) / cameraResHeight;
return widthMPerPx * heightMPerPx;
}
boolean camCanSeeTarget(double distMeters, double yaw, double pitch, double area) {
boolean inRange = (distMeters < this.maxLEDRangeMeters);
boolean inHorizAngle = Math.abs(yaw) < (this.camHorizFOVDegrees / 2);
boolean inVertAngle = Math.abs(pitch) < (this.camVertFOVDegrees / 2);
boolean targetBigEnough = area > this.minTargetArea;
return (inRange && inHorizAngle && inVertAngle && targetBigEnough);
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import edu.wpi.first.wpilibj.geometry.Pose2d;
public class SimVisionTarget {
Pose2d targetPos;
double targetWidthMeters;
double targetHeightMeters;
double targetHeightAboveGroundMeters;
double targetInfill_pct;
double tgtAreaMeters2;
/**
* Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
*
* @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on
* the middle of the field facing the target, the Y axis points to your left, and the X axis
* points away from you.
* @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
* @param targetWidthMeters Width of the outter bounding box of the target in meters.
* @param targetHeightMeters Pair Height of the outter bounding box of the target in meters.
*/
public SimVisionTarget(
Pose2d targetPos,
double targetHeightAboveGroundMeters,
double targetWidthMeters,
double targetHeightMeters) {
this.targetPos = targetPos;
this.targetHeightAboveGroundMeters = targetHeightAboveGroundMeters;
this.targetWidthMeters = targetWidthMeters;
this.targetHeightMeters = targetHeightMeters;
this.tgtAreaMeters2 = targetWidthMeters * targetHeightMeters;
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "photonlib/PhotonCamera.h"
#include "photonlib/Packet.h"
namespace photonlib {
PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
: rawBytesEntry(rootTable->GetEntry("rawBytes")),
driverModeEntry(rootTable->GetEntry("driverMode")),
inputSaveImgEntry(rootTable->GetEntry("inputSaveImgCmd")),
outputSaveImgEntry(rootTable->GetEntry("outputSaveImgCmd")),
pipelineIndexEntry(rootTable->GetEntry("pipelineIndex")),
ledModeEntry(mainTable->GetEntry("ledMode")) {
driverMode = driverModeEntry.GetBoolean(false);
pipelineIndex = static_cast<int>(pipelineIndexEntry.GetDouble(0.0));
mode = GetLEDMode();
}
PhotonCamera::PhotonCamera(const std::string& cameraName)
: PhotonCamera(nt::NetworkTableInstance::GetDefault()
.GetTable("photonvision")
->GetSubTable(cameraName)) {}
PhotonPipelineResult PhotonCamera::GetLatestResult() const {
// Clear the current packet.
packet.Clear();
// Create the new result;
PhotonPipelineResult result;
// Fill the packet with latest data and populate result.
std::string value = rawBytesEntry.GetValue()->GetRaw();
std::vector<char> bytes{value.begin(), value.end()};
photonlib::Packet packet{bytes};
packet >> result;
return result;
}
void PhotonCamera::SetDriverMode(bool driverMode) {
if (this->driverMode != driverMode) {
this->driverMode = driverMode;
driverModeEntry.SetBoolean(this->driverMode);
}
}
void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.SetBoolean(true); }
void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.SetBoolean(true); }
bool PhotonCamera::GetDriverMode() const { return driverMode; }
void PhotonCamera::SetPipelineIndex(int index) {
if (index != pipelineIndex) {
pipelineIndex = index;
pipelineIndexEntry.SetDouble(static_cast<double>(pipelineIndex));
}
}
int PhotonCamera::GetPipelineIndex() const { return pipelineIndex; }
LEDMode PhotonCamera::GetLEDMode() const {
mode = static_cast<LEDMode>(static_cast<int>(ledModeEntry.GetDouble(-1.0)));
return mode;
}
void PhotonCamera::SetLEDMode(LEDMode led) {
if (led != mode) {
mode = led;
ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
}
}
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "photonlib/PhotonPipelineResult.h"
namespace photonlib {
PhotonPipelineResult::PhotonPipelineResult(
units::second_t latency, wpi::ArrayRef<PhotonTrackedTarget> targets)
: latency(latency),
targets(targets.data(), targets.data() + targets.size()) {
hasTargets = targets.size() != 0;
}
bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
return latency == other.latency && hasTargets == other.hasTargets &&
targets == other.targets;
}
bool PhotonPipelineResult::operator!=(const PhotonPipelineResult& other) const {
return !operator==(other);
}
Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
// Encode latency, existence of targets, and number of targets.
packet << result.latency.to<double>() * 1000 << result.hasTargets
<< static_cast<int8_t>(result.targets.size());
// Encode the information of each target.
for (auto& target : result.targets) packet << target;
// Return the packet
return packet;
}
Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
// Decode latency, existence of targets, and number of targets.
int8_t targetCount = 0;
double latencyMillis = 0;
packet >> latencyMillis >> result.hasTargets >> targetCount;
result.latency = units::second_t(latencyMillis / 1000.0);
result.targets.clear();
// Decode the information of each target.
for (int i = 0; i < targetCount; ++i) {
PhotonTrackedTarget target;
packet >> target;
result.targets.push_back(target);
}
return packet;
}
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "photonlib/PhotonTrackedTarget.h"
#include <iostream>
#include <frc/geometry/Translation2d.h>
namespace photonlib {
PhotonTrackedTarget::PhotonTrackedTarget(double yaw, double pitch, double area,
double skew,
const frc::Transform2d& pose)
: yaw(yaw), pitch(pitch), area(area), skew(skew), cameraToTarget(pose) {}
bool PhotonTrackedTarget::operator==(const PhotonTrackedTarget& other) const {
return other.yaw == yaw && other.pitch == pitch && other.area == area &&
other.skew == skew && other.cameraToTarget == cameraToTarget;
}
bool PhotonTrackedTarget::operator!=(const PhotonTrackedTarget& other) const {
return !operator==(other);
}
Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
return packet << target.yaw << target.pitch << target.area << target.skew
<< target.cameraToTarget.Translation().X().to<double>()
<< target.cameraToTarget.Translation().Y().to<double>()
<< target.cameraToTarget.Rotation().Degrees().to<double>();
}
Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
packet >> target.yaw >> target.pitch >> target.area >> target.skew;
double x = 0;
double y = 0;
double rot = 0;
packet >> x >> y >> rot;
target.cameraToTarget =
frc::Transform2d(frc::Translation2d(units::meter_t(x), units::meter_t(y)),
units::degree_t(rot));
return packet;
}
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "photonlib/SimPhotonCamera.h"
namespace photonlib {
SimPhotonCamera::SimPhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
: PhotonCamera(rootTable) {}
SimPhotonCamera::SimPhotonCamera(const std::string& cameraName)
: PhotonCamera(cameraName) {}
void SimPhotonCamera::SubmitProcessedFrame(
units::second_t latency, wpi::ArrayRef<PhotonTrackedTarget> tgtList) {
if (!GetDriverMode()) {
// Clear the current packet.
simPacket.Clear();
// Create the new result and pump it into the packet
simPacket << PhotonPipelineResult(latency, tgtList);
rawBytesEntry.SetRaw(
wpi::StringRef(simPacket.GetData().data(), simPacket.GetData().size()));
}
}
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "photonlib/SimVisionSystem.h"
#include <cmath>
#include <units/angle.h>
#include <units/length.h>
namespace photonlib {
SimVisionSystem::SimVisionSystem(const std::string& name,
units::degree_t camDiagFOV,
units::degree_t camPitch,
frc::Transform2d cameraToRobot,
units::meter_t cameraHeightOffGround,
units::meter_t maxLEDRange, int cameraResWidth,
int cameraResHeight, double minTargetArea)
: camDiagFOV(camDiagFOV),
camPitch(camPitch),
cameraToRobot(cameraToRobot),
cameraHeightOffGround(cameraHeightOffGround),
maxLEDRange(maxLEDRange),
cameraResWidth(cameraResWidth),
cameraResHeight(cameraResHeight),
minTargetArea(minTargetArea) {
double hypotPixels = std::hypot(cameraResWidth, cameraResHeight);
camHorizFOV = camDiagFOV * cameraResWidth / hypotPixels;
camVertFOV = camDiagFOV * cameraResHeight / hypotPixels;
cam = SimPhotonCamera(name);
tgtList.clear();
}
void SimVisionSystem::AddSimVisionTarget(SimVisionTarget tgt) {
tgtList.push_back(tgt);
}
void SimVisionSystem::MoveCamera(frc::Transform2d newCameraToRobot,
units::meter_t newCamHeight,
units::degree_t newCamPitch) {
cameraToRobot = newCameraToRobot;
cameraHeightOffGround = newCamHeight;
camPitch = newCamPitch;
}
void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
frc::Pose2d cameraPos = robotPose.TransformBy(cameraToRobot.Inverse());
std::vector<PhotonTrackedTarget> visibleTgtList = {};
for (auto&& tgt : tgtList) {
frc::Transform2d camToTargetTrans =
frc::Transform2d(cameraPos, tgt.targetPos);
units::meter_t distAlongGround = camToTargetTrans.Translation().Norm();
units::meter_t distVertical =
tgt.targetHeightAboveGround - cameraHeightOffGround;
units::meter_t distHypot =
units::math::hypot(distAlongGround, distVertical);
double area = tgt.tgtArea.to<double>() / GetM2PerPx(distAlongGround);
// 2D yaw mode considers the target as a point, and should ignore target
// rotation.
// Photon reports it in the correct robot reference frame.
// IE: targets to the left of the image should report negative yaw.
units::degree_t yawAngle =
-1.0 * units::math::atan2(camToTargetTrans.Translation().Y(),
camToTargetTrans.Translation().X());
units::degree_t pitchAngle =
units::math::atan2(distVertical, distAlongGround) - camPitch;
if (CamCanSeeTarget(distHypot, yawAngle, pitchAngle, area)) {
PhotonTrackedTarget newTgt =
PhotonTrackedTarget(yawAngle.to<double>(), pitchAngle.to<double>(),
area, 0.0, camToTargetTrans);
visibleTgtList.push_back(newTgt);
}
}
units::second_t procDelay(0.0); // Future - tie this to something meaningful
cam.SubmitProcessedFrame(
procDelay, wpi::MutableArrayRef<PhotonTrackedTarget>(visibleTgtList));
}
double SimVisionSystem::GetM2PerPx(units::meter_t dist) {
double heightMPerPx = 2 * dist.to<double>() *
units::math::tan(camVertFOV / 2) / cameraResHeight;
double widthMPerPx = 2 * dist.to<double>() *
units::math::tan(camHorizFOV / 2) / cameraResWidth;
return widthMPerPx * heightMPerPx;
}
bool SimVisionSystem::CamCanSeeTarget(units::meter_t distHypot,
units::degree_t yaw,
units::degree_t pitch, double area) {
bool inRange = (distHypot < maxLEDRange);
bool inHorizAngle = units::math::abs(yaw) < (camHorizFOV / 2);
bool inVertAngle = units::math::abs(pitch) < (camVertFOV / 2);
bool targetBigEnough = area > minTargetArea;
return (inRange && inHorizAngle && inVertAngle && targetBigEnough);
}
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "photonlib/SimVisionTarget.h"
namespace photonlib {
SimVisionTarget::SimVisionTarget(frc::Pose2d& targetPos,
units::meter_t targetHeightAboveGround,
units::meter_t targetWidth,
units::meter_t targetHeight)
: targetPos(targetPos),
targetHeightAboveGround(targetHeightAboveGround),
targetWidth(targetWidth),
targetHeight(targetHeight) {
tgtArea = targetWidth * targetHeight;
}
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <algorithm>
#include <string>
#include <vector>
#include <wpi/Endian.h>
namespace photonlib {
/**
* A packet that holds byte-packed data to be sent over NetworkTables.
*/
class Packet {
public:
/**
* Constructs an empty packet.
*/
Packet() = default;
/**
* Constructs a packet with the given data.
* @param data The packet data.
*/
explicit Packet(std::vector<char> data) : packetData(data) {}
/**
* Clears the packet and resets the read and write positions.
*/
void Clear() {
packetData.clear();
readPos = 0;
writePos = 0;
}
/**
* Returns the packet data.
* @return The packet data.
*/
const std::vector<char>& GetData() { return packetData; }
/**
* Returns the number of bytes in the data.
* @return The number of bytes in the data.
*/
size_t GetDataSize() const { return packetData.size(); }
/**
* Adds a value to the data buffer. This should only be used with PODs.
* @tparam T The data type.
* @param src The data source.
* @return A reference to the current object.
*/
template <typename T>
Packet& operator<<(T src) {
packetData.resize(packetData.size() + sizeof(T));
std::memcpy(packetData.data() + writePos, &src, sizeof(T));
if constexpr (wpi::support::endian::system_endianness() ==
wpi::support::endianness::little) {
// Reverse to big endian for network conventions.
std::reverse(packetData.data() + writePos,
packetData.data() + writePos + sizeof(T));
}
writePos += sizeof(T);
return *this;
}
/**
* Extracts a value to the provided destination.
* @tparam T The type of value to extract.
* @param value The value to extract.
* @return A reference to the current object.
*/
template <typename T>
Packet& operator>>(T& value) {
std::memcpy(&value, packetData.data() + readPos, sizeof(T));
if constexpr (wpi::support::endian::system_endianness() ==
wpi::support::endianness::little) {
// Reverse to little endian for host.
char& raw = reinterpret_cast<char&>(value);
std::reverse(&raw, &raw + sizeof(T));
}
readPos += sizeof(T);
return *this;
}
bool operator==(const Packet& right) const {
return packetData == right.packetData;
}
bool operator!=(const Packet& right) const { return !operator==(right); }
private:
// Data stored in the packet
std::vector<char> packetData;
size_t readPos = 0;
size_t writePos = 0;
};
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <memory>
#include <string>
#include "photonlib/PhotonPipelineResult.h"
namespace photonlib {
enum LEDMode : int { kDefault = -1, kOff = 0, kOn = 1, kBlink = 2 };
/**
* Represents a camera that is connected to PhotonVision.ß
*/
class PhotonCamera {
public:
/**
* Constructs a PhotonCamera from a root table.
* @param rootTable The root table that the camera is broadcasting information
* over.
*/
explicit PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable);
/**
* Constructs a PhotonCamera from the name of the camera.
* @param cameraName The nickname of the camera (found in the PhotonVision
* UI).
*/
explicit PhotonCamera(const std::string& cameraName);
/**
* Returns the latest pipeline result.
* @return The latest pipeline result.
*/
PhotonPipelineResult GetLatestResult() const;
/**
* Toggles driver mode.
* @param driverMode Whether to set driver mode.
*/
void SetDriverMode(bool driverMode);
/**
* Returns whether the camera is in driver mode.
* @return Whether the camera is in driver mode.
*/
bool GetDriverMode() const;
/**
* Request the camera to save a new image file from the input
* camera stream with overlays.
* Images take up space in the filesystem of the PhotonCamera.
* Calling it frequently will fill up disk space and eventually
* cause the system to stop working.
* Clear out images in /opt/photonvision/photonvision_config/imgSaves
* frequently to prevent issues.
*/
void TakeInputSnapshot(void);
/**
* Request the camera to save a new image file from the output
* stream with overlays.
* Images take up space in the filesystem of the PhotonCamera.
* Calling it frequently will fill up disk space and eventually
* cause the system to stop working.
* Clear out images in /opt/photonvision/photonvision_config/imgSaves
* frequently to prevent issues.
*/
void TakeOutputSnapshot(void);
/**
* Allows the user to select the active pipeline index.
* @param index The active pipeline index.
*/
void SetPipelineIndex(int index);
/**
* Returns the active pipeline index.
* @return The active pipeline index.
*/
int GetPipelineIndex() const;
/**
* Returns the current LED mode.
* @return The current LED mode.
*/
LEDMode GetLEDMode() const;
/**
* Sets the LED mode.
* @param led The mode to set to.
*/
void SetLEDMode(LEDMode led);
/**
* Returns whether the latest target result has targets.
* @return Whether the latest target result has targets.
*/
bool HasTargets() const { return GetLatestResult().HasTargets(); }
private:
std::shared_ptr<nt::NetworkTable> mainTable =
nt::NetworkTableInstance::GetDefault().GetTable("photonvision");
protected:
nt::NetworkTableEntry rawBytesEntry;
nt::NetworkTableEntry driverModeEntry;
nt::NetworkTableEntry inputSaveImgEntry;
nt::NetworkTableEntry outputSaveImgEntry;
nt::NetworkTableEntry pipelineIndexEntry;
nt::NetworkTableEntry ledModeEntry;
mutable Packet packet;
bool driverMode;
double pipelineIndex;
mutable LEDMode mode;
};
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <string>
#include <frc/DriverStation.h>
#include <units/time.h>
#include <wpi/ArrayRef.h>
#include <wpi/SmallVector.h>
#include "photonlib/Packet.h"
#include "photonlib/PhotonTrackedTarget.h"
namespace photonlib {
/**
* Represents a pipeline result from a PhotonCamera.
*/
class PhotonPipelineResult {
public:
/**
* Constructs an empty pipeline result.
*/
PhotonPipelineResult() = default;
/**
* Constructs a pipeline result.
* @param latency The latency in the pipeline.
* @param targets The list of targets identified by the pipeline.
*/
PhotonPipelineResult(units::second_t latency,
wpi::ArrayRef<PhotonTrackedTarget> targets);
/**
* Returns the best target in this pipeline result. If there are no targets,
* this method will return an empty target with all values set to zero. The
* best target is determined by the target sort mode in the PhotonVision UI.
*
* @return The best target of the pipeline result.
*/
PhotonTrackedTarget GetBestTarget() const {
if (!HasTargets() && !HAS_WARNED) {
::frc::DriverStation::ReportError(
"This PhotonPipelineResult object has no targets associated with it! "
"Please check hasTargets() before calling this method. For more "
"information, please review the PhotonLib documentation at "
"http://docs.photonvision.org");
HAS_WARNED = true;
}
return hasTargets ? targets[0] : PhotonTrackedTarget();
}
/**
* Returns the latency in the pipeline.
* @return The latency in the pipeline.
*/
units::second_t GetLatency() const { return latency; }
/**
* Returns whether the pipeline has targets.
* @return Whether the pipeline has targets.
*/
bool HasTargets() const { return hasTargets; }
/**
* Returns a reference to the vector of targets.
* @return A reference to the vector of targets.
*/
const wpi::ArrayRef<PhotonTrackedTarget> GetTargets() const {
return targets;
}
bool operator==(const PhotonPipelineResult& other) const;
bool operator!=(const PhotonPipelineResult& other) const;
friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
private:
units::second_t latency;
bool hasTargets;
wpi::SmallVector<PhotonTrackedTarget, 10> targets;
inline static bool HAS_WARNED = false;
};
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <cstddef>
#include <string>
#include <vector>
#include <frc/geometry/Transform2d.h>
#include "photonlib/Packet.h"
namespace photonlib {
/**
* Represents a tracked target within a pipeline.
*/
class PhotonTrackedTarget {
public:
/**
* Constructs an empty target.
*/
PhotonTrackedTarget() = default;
/**
* Constructs a target.
* @param yaw The yaw of the target.
* @param pitch The pitch of the target.
* @param area The area of the target.
* @param skew The skew of the target.
* @param pose The camera-relative pose of the target.
*/
PhotonTrackedTarget(double yaw, double pitch, double area, double skew,
const frc::Transform2d& pose);
/**
* Returns the target yaw (positive-left).
* @return The target yaw.
*/
double GetYaw() const { return yaw; }
/**
* Returns the target pitch (positive-up)
* @return The target pitch.
*/
double GetPitch() const { return pitch; }
/**
* Returns the target area (0-100).
* @return The target area.
*/
double GetArea() const { return area; }
/**
* Returns the target skew (counter-clockwise positive).
* @return The target skew.
*/
double GetSkew() const { return skew; }
/**
* Returns the pose of the target relative to the robot.
* @return The pose of the target relative to the robot.
*/
frc::Transform2d GetCameraRelativePose() const { return cameraToTarget; }
bool operator==(const PhotonTrackedTarget& other) const;
bool operator!=(const PhotonTrackedTarget& other) const;
friend Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target);
friend Packet& operator>>(Packet& packet, PhotonTrackedTarget& target);
private:
double yaw = 0;
double pitch = 0;
double area = 0;
double skew = 0;
frc::Transform2d cameraToTarget;
};
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/geometry/Transform2d.h>
#include <frc/geometry/Translation2d.h>
#include <units/angle.h>
#include <units/length.h>
#include <units/math.h>
namespace photonlib {
class PhotonUtils {
public:
/**
* Algorithm from
* https://docs.limelightvision.io/en/latest/cs_estimating_distance.html
* Estimates range to a target using the target's elevation. This method can
* produce more stable results than SolvePNP when well tuned, if the full 6d
* robot pose is not required.
*
* @param cameraHeight The height of the camera off the floor.
* @param targetHeight The height of the target off the floor.
* @param cameraPitch The pitch of the camera from the horizontal plane.
* Positive valueBytes up.
* @param targetPitch The pitch of the target in the camera's lens. Positive
* values up.
* @return The estimated distance to the target.
*/
static units::meter_t CalculateDistanceToTarget(units::meter_t cameraHeight,
units::meter_t targetHeight,
units::radian_t cameraPitch,
units::radian_t targetPitch) {
return (targetHeight - cameraHeight) /
units::math::tan(cameraPitch + targetPitch);
}
/**
* Estimate the Translation2d of the target relative to the camera.
*
* @param targetDistance The distance to the target.
* @param yaw The observed yaw of the target.
*
* @return The target's camera-relative translation.
*/
static frc::Translation2d EstimateCameraToTargetTranslation(
units::meter_t targetDistance, const frc::Rotation2d& yaw) {
return {targetDistance * yaw.Cos(), targetDistance * yaw.Sin()};
}
/**
* Estimate the position of the robot in the field.
*
* @param cameraHeightMeters The physical height of the camera off the floor
* in meters.
* @param targetHeightMeters The physical height of the target off the floor
* in meters. This should be the height of whatever is being targeted (i.e. if
* the targeting region is set to top, this should be the height of the top of
* the target).
* @param cameraPitchRadians The pitch of the camera from the horizontal plane
* in radians. Positive values up.
* @param targetPitchRadians The pitch of the target in the camera's lens in
* radians. Positive values up.
* @param targetYaw The observed yaw of the target. Note that this
* *must* be CCW-positive, and Photon returns
* CW-positive.
* @param gyroAngle The current robot gyro angle, likely from
* odometry.
* @param fieldToTarget A frc::Pose2d representing the target position in
* the field coordinate system.
* @param cameraToRobot The position of the robot relative to the camera.
* If the camera was mounted 3 inches behind the
* "origin" (usually physical center) of the robot,
* this would be frc::Transform2d(3 inches, 0
* inches, 0 degrees).
* @return The position of the robot in the field.
*/
static frc::Pose2d EstimateFieldToRobot(
units::meter_t cameraHeight, units::meter_t targetHeight,
units::radian_t cameraPitch, units::radian_t targetPitch,
const frc::Rotation2d& targetYaw, const frc::Rotation2d& gyroAngle,
const frc::Pose2d& fieldToTarget, const frc::Transform2d& cameraToRobot) {
return EstimateFieldToRobot(
EstimateCameraToTarget(
EstimateCameraToTargetTranslation(
CalculateDistanceToTarget(cameraHeight, targetHeight,
cameraPitch, targetPitch),
targetYaw),
fieldToTarget, gyroAngle),
fieldToTarget, cameraToRobot);
}
/**
* Estimates a {@link frc::Transform2d} that maps the camera position to the
* target position, using the robot's gyro. Note that the gyro angle provided
* *must* line up with the field coordinate system -- that is, it should read
* zero degrees when pointed towards the opposing alliance station, and
* increase as the robot rotates CCW.
*
* @param cameraToTargetTranslation A Translation2d that encodes the x/y
* position of the target relative to the
* camera.
* @param fieldToTarget A frc::Pose2d representing the target
* position in the field coordinate system.
* @param gyroAngle The current robot gyro angle, likely from
* odometry.
* @return A frc::Transform2d that takes us from the camera to the target.
*/
static frc::Transform2d EstimateCameraToTarget(
const frc::Translation2d& cameraToTargetTranslation,
const frc::Pose2d& fieldToTarget, const frc::Rotation2d& gyroAngle) {
// This pose maps our camera at the origin out to our target, in the robot
// reference frame
// The translation part of this frc::Transform2d is from the above step, and
// the rotation uses our robot's gyro.
return frc::Transform2d(cameraToTargetTranslation,
-gyroAngle - fieldToTarget.Rotation());
}
/**
* Estimates the pose of the robot in the field coordinate system, given the
* position of the target relative to the camera, the target relative to the
* field, and the robot relative to the camera.
*
* @param cameraToTarget The position of the target relative to the camera.
* @param fieldToTarget The position of the target in the field.
* @param cameraToRobot The position of the robot relative to the camera. If
* the camera was mounted 3 inches behind the "origin"
* (usually physical center) of the robot, this would be
* frc::Transform2d(3 inches, 0 inches, 0 degrees).
* @return The position of the robot in the field.
*/
static frc::Pose2d EstimateFieldToRobot(
const frc::Transform2d& cameraToTarget, const frc::Pose2d& fieldToTarget,
const frc::Transform2d& cameraToRobot) {
return EstimateFieldToCamera(cameraToTarget, fieldToTarget)
.TransformBy(cameraToRobot);
}
/**
* Estimates the pose of the camera in the field coordinate system, given the
* position of the target relative to the camera, and the target relative to
* the field. This *only* tracks the position of the camera, not the position
* of the robot itself.
*
* @param cameraToTarget The position of the target relative to the camera.
* @param fieldToTarget The position of the target in the field.
* @return The position of the camera in the field.
*/
static frc::Pose2d EstimateFieldToCamera(
const frc::Transform2d& cameraToTarget,
const frc::Pose2d& fieldToTarget) {
auto targetToCamera = cameraToTarget.Inverse();
return fieldToTarget.TransformBy(targetToCamera);
}
};
} // namespace photonlib

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

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <string>
#include <vector>
#include <frc/geometry/Translation2d.h>
#include <units/angle.h>
#include <units/area.h>
#include <units/length.h>
#include <units/time.h>
#include <wpi/ArrayRef.h>
#include <wpi/SmallVector.h>
#include "photonlib/SimPhotonCamera.h"
#include "photonlib/SimVisionTarget.h"
namespace photonlib {
/**
* Represents a camera that is connected to PhotonVision.
*/
class SimVisionSystem {
public:
explicit SimVisionSystem(const std::string& name, units::degree_t camDiagFOV,
units::degree_t camPitch,
frc::Transform2d cameraToRobot,
units::meter_t cameraHeightOffGround,
units::meter_t maxLEDRange, int cameraResWidth,
int cameraResHeight, double minTargetArea);
void AddSimVisionTarget(SimVisionTarget tgt);
void MoveCamera(frc::Transform2d newcameraToRobot,
units::meter_t newCamHeight, units::degree_t newCamPitch);
void ProcessFrame(frc::Pose2d robotPose);
private:
units::degree_t camDiagFOV;
units::degree_t camPitch;
frc::Transform2d cameraToRobot;
units::meter_t cameraHeightOffGround;
units::meter_t maxLEDRange;
int cameraResWidth;
int cameraResHeight;
double minTargetArea;
units::degree_t camHorizFOV;
units::degree_t camVertFOV;
std::vector<SimVisionTarget> tgtList = {};
double GetM2PerPx(units::meter_t dist);
bool CamCanSeeTarget(units::meter_t distHypot, units::degree_t yaw,
units::degree_t pitch, double area);
public:
SimPhotonCamera cam = photonlib::SimPhotonCamera("Default");
};
} // namespace photonlib

45
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <frc/geometry/Pose2d.h>
#include <units/area.h>
#include <units/length.h>
namespace photonlib {
/**
* Represents a target on the field which the vision processing system could
* detect.
*/
class SimVisionTarget {
public:
explicit SimVisionTarget(frc::Pose2d& targetPos,
units::meter_t targetHeightAboveGround,
units::meter_t targetWidth,
units::meter_t targetHeight);
frc::Pose2d targetPos;
units::meter_t targetHeightAboveGround;
units::meter_t targetWidth;
units::meter_t targetHeight;
double targetInfill_pct;
units::square_meter_t tgtArea;
};
} // namespace photonlib

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import java.util.ArrayList;
import java.util.List;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
class PacketTest {
@Test
void testSimpleTrackedTarget() {
var target =
new PhotonTrackedTarget(
3.0, 4.0, 9.0, -5.0, new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)));
var p = new Packet(PhotonTrackedTarget.PACK_SIZE_BYTES);
target.populatePacket(p);
var b = new PhotonTrackedTarget();
b.createFromPacket(p);
Assertions.assertEquals(target, b);
}
@Test
void testSimplePipelineResult() {
var result = new PhotonPipelineResult(1, new ArrayList<>());
var p = new Packet(result.getPacketSize());
result.populatePacket(p);
var b = new PhotonPipelineResult();
b.createFromPacket(p);
Assertions.assertEquals(result, b);
var result2 =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5))),
new PhotonTrackedTarget(
3.0,
-4.0,
9.1,
6.7,
new Transform2d(new Translation2d(1, 5), new Rotation2d(1.5)))));
var p2 = new Packet(result2.getPacketSize());
result2.populatePacket(p2);
var b2 = new PhotonPipelineResult();
b2.createFromPacket(p2);
Assertions.assertEquals(result2, b2);
}
@Test
void testBytePackFromCpp() {
byte[] bytePack = {
64, 8, 0, 0, 0, 0, 0, 0, 64, 16, 0, 0, 0, 0, 0, 0, 64, 34, 0, 0, 0, 0, 0, 0, -64, 20, 0, 0, 0,
0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0, 0, 0, 64, 85, 124, 101, 19, -54, -47,
122
};
var t = new PhotonTrackedTarget();
t.createFromPacket(new Packet(bytePack));
var target =
new PhotonTrackedTarget(
3.0, 4.0, 9.0, -5.0, new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)));
Assertions.assertEquals(t, target);
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.PhotonPipelineResult;
class PhotonCameraTest {
@Test
public void testEmpty() {
Assertions.assertDoesNotThrow(
() -> {
var packet = new Packet(1);
var ret = new PhotonPipelineResult();
packet.setData(new byte[0]);
if (packet.getSize() < 1) {
return;
}
ret.createFromPacket(packet);
});
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.util.Units;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
class PhotonUtilTest {
@Test
public void testDistance() {
var camHeight = 1;
var targetHeight = 3;
var camPitch = Units.degreesToRadians(0);
var targetPitch = Units.degreesToRadians(30);
var dist =
PhotonUtils.calculateDistanceToTargetMeters(camHeight, targetHeight, camPitch, targetPitch);
Assertions.assertEquals(3.464, dist, 0.01);
camHeight = 1;
targetHeight = 2;
camPitch = Units.degreesToRadians(20);
targetPitch = Units.degreesToRadians(-10);
dist =
PhotonUtils.calculateDistanceToTargetMeters(camHeight, targetHeight, camPitch, targetPitch);
Assertions.assertEquals(5.671, dist, 0.01);
}
@Test
public void testTransform() {
var camHeight = 1;
var tgtHeight = 3;
var camPitch = 0;
var tgtPitch = Units.degreesToRadians(30);
var tgtYaw = new Rotation2d();
var gyroAngle = new Rotation2d();
var fieldToTarget = new Pose2d();
var cameraToRobot = new Transform2d();
var fieldToRobot =
PhotonUtils.estimateFieldToRobot(
PhotonUtils.estimateCameraToTarget(
PhotonUtils.estimateCameraToTargetTranslation(
PhotonUtils.calculateDistanceToTargetMeters(
camHeight, tgtHeight, camPitch, tgtPitch),
tgtYaw),
fieldToTarget,
gyroAngle),
fieldToTarget,
cameraToRobot);
Assertions.assertEquals(-3.464, fieldToRobot.getX(), 0.1);
Assertions.assertEquals(0, fieldToRobot.getY(), 0.1);
Assertions.assertEquals(0, fieldToRobot.getRotation().getDegrees(), 0.1);
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.util.Units;
import java.util.List;
import java.util.stream.Stream;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.junit.jupiter.params.provider.ValueSource;
import org.photonvision.targeting.PhotonTrackedTarget;
class SimVisionSystemTest {
@Test
public void testEmpty() {
Assertions.assertDoesNotThrow(
() -> {
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(new Pose2d(), 0.0, 1.0, 1.0));
for (int loopIdx = 0; loopIdx < 100; loopIdx++) {
sysUnderTest.processFrame(new Pose2d());
}
});
}
@ParameterizedTest
@ValueSource(doubles = {5, 10, 15, 20, 25, 30})
public void testDistanceAligned(double dist) {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 1.0, 1.0));
final var robotPose = new Pose2d(new Translation2d(35 - dist, 0), new Rotation2d());
sysUnderTest.processFrame(robotPose);
var result = sysUnderTest.cam.getLatestResult();
assertTrue(result.hasTargets());
assertEquals(result.getBestTarget().getCameraToTarget().getTranslation().getNorm(), dist);
}
@Test
public void testVisibilityCupidShuffle() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3.0));
// To the right, to the right
var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(-70));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
// To the right, to the right
robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(-95));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
// To the left, to the left
robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(90));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
// To the left, to the left
robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(65));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
// now kick, now kick
robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
// now kick, now kick
robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(-5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
// now walk it by yourself
robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(-179));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
// now walk it by yourself
sysUnderTest.moveCamera(
new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180)), 0, 1.0);
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
}
@Test
public void testNotVisibleVert1() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3.0));
var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
sysUnderTest.moveCamera(new Transform2d(), 5000, 1.0); // vooop selfie stick
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
}
@Test
public void testNotVisibleVert2() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 45.0, new Transform2d(), 1, 99999, 1234, 1234, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 3.0, 0.5, 0.5));
var robotPose = new Pose2d(new Translation2d(32, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
// Pitched back camera should mean target goes out of view below the robot as distance increases
robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
}
@Test
public void testNotVisibleTgtSize() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 20.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 0.25, 0.1));
var robotPose = new Pose2d(new Translation2d(32, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
}
@Test
public void testNotVisibleTooFarForLEDs() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 10, 640, 480, 1.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 0.25, 0.1));
var robotPose = new Pose2d(new Translation2d(28, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
}
@ParameterizedTest
@ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23})
public void testYawAngles(double testYaw) {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d(Math.PI / 4));
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 0.5, 0.5));
var robotPose = new Pose2d(new Translation2d(32, 0), Rotation2d.fromDegrees(testYaw));
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
assertTrue(res.hasTargets());
var tgt = res.getBestTarget();
assertEquals(tgt.getYaw(), testYaw, 0.0001);
}
@ParameterizedTest
@ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23, 20.21, -19.999})
public void testCameraPitch(double testPitch) {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d(Math.PI / 4));
final var robotPose = new Pose2d(new Translation2d(30, 0), new Rotation2d(0));
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 0.0, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 0.5, 0.5));
sysUnderTest.moveCamera(new Transform2d(), 0.0, testPitch);
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
assertTrue(res.hasTargets());
var tgt = res.getBestTarget();
// If the camera is pitched down by 10 degrees, the target should appear
// in the upper part of the image (ie, pitch positive). Therefor,
// pass/fail involves -1.0.
assertEquals(tgt.getPitch(), -1.0 * testPitch, 0.0001);
}
private static Stream<Arguments> distCalCParamProvider() {
// Arbitrary and fairly random assortment of distances, camera pitches, and heights
return Stream.of(
Arguments.of(5, 35, 0),
Arguments.of(6, 35, 1),
Arguments.of(10, 35, 0),
Arguments.of(15, 35, 2),
Arguments.of(19.95, 35, 0),
Arguments.of(20, 35, 0),
Arguments.of(5, 42, 1),
Arguments.of(6, 42, 0),
Arguments.of(10, 42, 2),
Arguments.of(15, 42, 0.5),
Arguments.of(19.42, 35, 0),
Arguments.of(20, 42, 0),
Arguments.of(5, 55, 2),
Arguments.of(6, 55, 0),
Arguments.of(10, 54, 2.2),
Arguments.of(15, 53, 0),
Arguments.of(19.52, 35, 1.1),
Arguments.of(20, 51, 2.87),
Arguments.of(20, 55, 3));
}
@ParameterizedTest
@MethodSource("distCalCParamProvider")
public void testDistanceCalc(double testDist, double testPitch, double testHeight) {
// Assume dist along ground and tgt height the same. Iterate over other parameters.
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d(Math.PI / 42));
final var robotPose = new Pose2d(new Translation2d(35 - testDist, 0), new Rotation2d(0));
var sysUnderTest =
new SimVisionSystem(
"absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysohowsyourdaygoingihopegoodhaveagreatrestofyourlife!",
160.0,
testPitch,
new Transform2d(),
testHeight,
99999,
640,
480,
0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, testDist, 0.5, 0.5));
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
assertTrue(res.hasTargets());
var tgt = res.getBestTarget();
assertEquals(tgt.getYaw(), 0.0, 0.0001);
double distMeas =
PhotonUtils.calculateDistanceToTargetMeters(
testHeight,
testDist,
Units.degreesToRadians(testPitch),
Units.degreesToRadians(tgt.getPitch()));
assertEquals(distMeas, testDist, 0.001);
}
@Test
public void testMultipleTargets() {
final var targetPoseL = new Pose2d(new Translation2d(35, 2), new Rotation2d());
final var targetPoseC = new Pose2d(new Translation2d(35, 0), new Rotation2d());
final var targetPoseR = new Pose2d(new Translation2d(35, -2), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 160.0, 0.0, new Transform2d(), 5.0, 99999, 640, 480, 20.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 0.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseC, 1.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseR, 2.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 3.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseC, 4.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseR, 5.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 6.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseC, 7.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 8.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseR, 9.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 10.0, 0.25, 0.1));
var robotPose = new Pose2d(new Translation2d(30, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
assertTrue(res.hasTargets());
List<PhotonTrackedTarget> tgtList;
tgtList = res.getTargets();
assertEquals(tgtList.size(), 11);
}
}

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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include <iostream>
#include <units/angle.h>
#include "gtest/gtest.h"
#include "photonlib/PhotonPipelineResult.h"
#include "photonlib/PhotonTrackedTarget.h"
TEST(PacketTest, PhotonTrackedTarget) {
photonlib::PhotonTrackedTarget target{
3.0, 4.0, 9.0, -5.0,
frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)};
photonlib::Packet p;
p << target;
photonlib::PhotonTrackedTarget b;
p >> b;
for (auto& c : p.GetData()) {
std::cout << static_cast<int>(c) << ",";
}
EXPECT_EQ(target, b);
}
TEST(PacketTest, PhotonPipelineResult) {
photonlib::PhotonPipelineResult result{1_s, {}};
photonlib::Packet p;
p << result;
photonlib::PhotonPipelineResult b;
p >> b;
EXPECT_EQ(result, b);
wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0,
frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)},
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7,
frc::Transform2d(frc::Translation2d(1_m, 5_m), 1.5_rad)}};
photonlib::PhotonPipelineResult result2{2_s, targets};
photonlib::Packet p2;
p2 << result2;
photonlib::PhotonPipelineResult b2;
p2 >> b2;
EXPECT_EQ(result2, b2);
}
TEST(PacketTest, BytePackFromJava) {
std::vector<signed char> bytePack{
64, 8, 0, 0, 0, 0, 0, 0, 64, 16, 0, 0, 0, 0,
0, 0, 64, 34, 0, 0, 0, 0, 0, 0, -64, 20, 0, 0,
0, 0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 64, 0,
0, 0, 0, 0, 0, 0, 64, 85, 124, 101, 19, -54, -47, 122};
std::vector<char> bytes;
for (auto a : bytePack) bytes.emplace_back(static_cast<char>(a));
photonlib::Packet packet{bytes};
photonlib::PhotonTrackedTarget res;
packet >> res;
photonlib::PhotonTrackedTarget target{
3.0, 4.0, 9.0, -5.0,
frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)};
EXPECT_EQ(res, target);
}

21
photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp Normal file
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@@ -0,0 +1,21 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "gtest/gtest.h"
#include "photonlib/PhotonUtils.h"
TEST(PhotonUtilsTest, TestInclude) {}

401
photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp Normal file
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@@ -0,0 +1,401 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <units/angle.h>
#include <units/length.h>
#include "gtest/gtest.h"
#include "photonlib/PhotonCamera.h"
#include "photonlib/PhotonUtils.h"
#include "photonlib/SimVisionSystem.h"
TEST(SimVisionSystemTest, testEmpty) {
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
for (int loopIdx = 0; loopIdx < 100; loopIdx++) {
sysUnderTest.ProcessFrame(frc::Pose2d());
}
}
class SimVisionSystemTestDistParam : public testing::TestWithParam<double> {};
INSTANTIATE_TEST_SUITE_P(SimVisionSystemTestDistParamInst,
SimVisionSystemTestDistParam,
testing::Values(5, 10, 15, 20, 25, 30));
TEST_P(SimVisionSystemTestDistParam, testDistanceAligned) {
double dist = GetParam();
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 0.0_m, 1.0_m, 1.0_m));
auto robotPose = frc::Pose2d(
frc::Translation2d(units::meter_t(35.0 - dist), 0_m), frc::Rotation2d());
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
ASSERT_EQ(result.GetBestTarget()
.GetCameraRelativePose()
.Translation()
.Norm()
.to<double>(),
dist);
}
TEST(SimVisionSystemTest, testVisibilityCupidShuffle) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 0.0_m, 3.0_m, 3.0_m));
// To the right, to the right
auto robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(-70.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// To the right, to the right
robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(-95.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// To the left, to the left
robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(90.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// To the left, to the left
robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(65.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// now kick, now kick
robotPose =
frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
// now kick, now kick
robotPose =
frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m), frc::Rotation2d(-5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
// now walk it by yourself
robotPose = frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m),
frc::Rotation2d(-179.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// now walk it by yourself
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(180_deg)), 0.0_m,
1.0_deg);
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
}
TEST(SimVisionSystemTest, testNotVisibleVert1) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 1.0_m, 3.0_m, 2.0_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(0_deg)), 5000.0_m,
1.0_deg);
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
TEST(SimVisionSystemTest, testNotVisibleVert2) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 45.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
1234, 1234, 0.5);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 3.0_m, 0.5_m, 0.5_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(32.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
robotPose =
frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
TEST(SimVisionSystemTest, testNotVisibleTgtSize) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 20.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 1.10_m, 0.25_m, 0.1_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(32.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
robotPose =
frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
TEST(SimVisionSystemTest, testNotVisibleTooFarForLEDs) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 10.0_m,
640, 480, 1.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 1.10_m, 0.25_m, 0.1_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(28.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
robotPose =
frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
class SimVisionSystemTestYawParam : public testing::TestWithParam<double> {};
INSTANTIATE_TEST_SUITE_P(SimVisionSystemTestYawParamInst,
SimVisionSystemTestYawParam,
testing::Values(-10, -5, -0, -1, -2, 5, 7, 10.23));
TEST_P(SimVisionSystemTestYawParam, testYawAngles) {
double testYaw = GetParam(); // Nope, Chuck testYaw
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 0.0_m, 0.5_m, 0.5_m));
auto robotPose = frc::Pose2d(frc::Translation2d(32_m, 0.0_m),
frc::Rotation2d(units::degree_t(testYaw)));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgt = result.GetBestTarget();
EXPECT_DOUBLE_EQ(tgt.GetYaw(), testYaw);
}
class SimVisionSystemTestCameraPitchParam
: public testing::TestWithParam<double> {};
INSTANTIATE_TEST_SUITE_P(SimVisionSystemTestCameraPitchParamInst,
SimVisionSystemTestCameraPitchParam,
testing::Values(-10, -5, -0, -1, -2, 5, 7, 10.23,
20.21, -19.999));
TEST_P(SimVisionSystemTestCameraPitchParam, testCameraPitch) {
double testPitch = GetParam();
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
auto robotPose =
frc::Pose2d(frc::Translation2d(30_m, 0.0_m), frc::Rotation2d(0.0_deg));
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 0.0_m, 0.5_m, 0.5_m));
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d()), 0.0_m,
units::degree_t(testPitch));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgt = result.GetBestTarget();
// If the camera is pitched down by 10 degrees, the target should appear
// in the upper part of the image (ie, pitch positive). Therefor,
// pass/fail involves -1.0.
EXPECT_DOUBLE_EQ(tgt.GetPitch(), -1.0 * testPitch);
}
class SimVisionSystemTestDistCalcParam
: public testing::TestWithParam<std::tuple<double, double, double>> {};
INSTANTIATE_TEST_SUITE_P(
SimVisionSystemTestDistCalcParamInst, SimVisionSystemTestDistCalcParam,
testing::Values(std::tuple<double, double, double>(5, 35, 0),
std::tuple<double, double, double>(6, 35, 1),
std::tuple<double, double, double>(10, 35, 0),
std::tuple<double, double, double>(15, 35, 2),
std::tuple<double, double, double>(19.95, 35, 0),
std::tuple<double, double, double>(20, 35, 0),
std::tuple<double, double, double>(5, 42, 1),
std::tuple<double, double, double>(6, 42, 0),
std::tuple<double, double, double>(10, 42, 2),
std::tuple<double, double, double>(15, 42, 0.5),
std::tuple<double, double, double>(19.42, 35, 0),
std::tuple<double, double, double>(20, 42, 0),
std::tuple<double, double, double>(5, 55, 2),
std::tuple<double, double, double>(6, 55, 0),
std::tuple<double, double, double>(10, 54, 2.2),
std::tuple<double, double, double>(15, 53, 0),
std::tuple<double, double, double>(19.52, 35, 1.1),
std::tuple<double, double, double>(20, 51, 2.87),
std::tuple<double, double, double>(20, 55, 3)));
TEST_P(SimVisionSystemTestDistCalcParam, testDistanceCalc) {
std::tuple<double, double, double> testArgs = GetParam();
double testDist = std::get<0>(testArgs);
double testPitch = std::get<1>(testArgs);
double testHeight = std::get<2>(testArgs);
auto targetPose = frc::Pose2d(frc::Translation2d(35_m, 0_m),
frc::Rotation2d(units::radian_t(3.14159 / 42)));
auto robotPose =
frc::Pose2d(frc::Translation2d(units::meter_t(35 - testDist), 0.0_m),
frc::Rotation2d(0.0_deg));
photonlib::SimVisionSystem sysUnderTest(
"absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysoho"
"wsyourdaygoingihopegoodhaveagreatrestofyourlife",
160.0_deg, units::degree_t(testPitch), frc::Transform2d(),
units::meter_t(testHeight), 99999.0_m, 640, 480, 0.0);
sysUnderTest.AddSimVisionTarget(photonlib::SimVisionTarget(
targetPose, units::meter_t(testDist), 0.5_m, 0.5_m));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgt = result.GetBestTarget();
EXPECT_DOUBLE_EQ(tgt.GetYaw(), 0.0);
units::meter_t distMeas = photonlib::PhotonUtils::CalculateDistanceToTarget(
units::meter_t(testHeight), units::meter_t(testDist),
units::degree_t(testPitch), units::degree_t(tgt.GetPitch()));
EXPECT_DOUBLE_EQ(distMeas.to<double>(), testDist);
}
TEST(SimVisionSystemTest, testMultipleTargets) {
auto targetPoseL =
frc::Pose2d(frc::Translation2d(35_m, 2_m), frc::Rotation2d());
auto targetPoseC =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
auto targetPoseR =
frc::Pose2d(frc::Translation2d(35_m, -2_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("test", 160.0_deg, 0.0_deg,
frc::Transform2d(), 5.0_m, 99999.0_m,
640, 480, 20.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 0.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseC, 1.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseR, 2.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 3.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseC, 4.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseR, 5.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 6.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseC, 7.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 8.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseR, 9.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 10.0_m, 0.25_m, 0.1_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(30_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgtList = result.GetTargets();
EXPECT_EQ(11ul, tgtList.size());
}

24
photon-lib/src/test/native/cpp/main.cpp Normal file
View File

@@ -0,0 +1,24 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "gtest/gtest.h"
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}

13
photon-targeting/.gitignore vendored Normal file
View File

@@ -0,0 +1,13 @@
bin/*
.settings/*
.project
.classpath
*.prefs
.gradle
.gradle/*
build
build/*
photonvision/*
photonvision_config/*
src/main/java/org/photonvision/PhotonVersion.java

33
photon-targeting/build.gradle Normal file
View File

@@ -0,0 +1,33 @@
apply plugin: 'java'
repositories {
maven {
url = 'https://frcmaven.wpi.edu:443/artifactory/development'
}
maven {
url = 'https://frcmaven.wpi.edu:443/artifactory/release'
}
}
apply from: '../versioningHelper.gradle'
ext {
pubVersion = versionString
}
def openCVVersion = '3.4.7-2'
dependencies {
implementation 'edu.wpi.first.wpimath:wpimath-java:2021.1.2'
implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:$openCVVersion"
implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
implementation 'org.apache.commons:commons-math3:3.6.1'
}
java {
withJavadocJar()
withSourcesJar()
}
apply from: 'publish.gradle'

28
photon-targeting/publish.gradle Normal file
View File

@@ -0,0 +1,28 @@
apply plugin: 'maven-publish'
def artifactGroupId = 'org.photonvision'
def baseArtifactId = 'PhotonTargeting'
def outputsFolder = file("$buildDir/outputs")
publishing {
repositories {
maven {
url 'https://maven.photonvision.org/repository/internal'
credentials {
username 'ghactions'
password System.getenv("ARTIFACTORY_API_KEY")
}
}
}
publications {
mavenJava(MavenPublication) {
groupId = artifactGroupId
artifactId = "${baseArtifactId}-java"
version = pubVersion
from components.java
}
}
}

2
photon-targeting/settings.gradle Normal file
View File

@@ -0,0 +1,2 @@
rootProject.name = 'photon-targeting'

4
photon-core/src/main/java/org/photonvision/common/dataflow/structures/Packet.java → photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
View File

@@ -49,6 +49,10 @@ public class Packet {
writePos = 0;
}
public int getSize() {
return size;
}
/**
* Returns the packet data.
*

46
photon-targeting/src/main/java/org/photonvision/common/hardware/VisionLEDMode.java Normal file
View File

@@ -0,0 +1,46 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.hardware;
public enum VisionLEDMode {
kDefault(-1),
kOff(0),
kOn(1),
kBlink(2);
public final int value;
VisionLEDMode(int value) {
this.value = value;
}
@Override
public String toString() {
switch (this) {
case kDefault:
return "Default";
case kOff:
return "Off";
case kOn:
return "On";
case kBlink:
return "Blink";
}
return "";
}
}

85
photon-core/src/main/java/org/photonvision/vision/pipeline/result/SimplePipelineResult.java → photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
View File

@@ -15,55 +15,102 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.pipeline.result;
package org.photonvision.targeting;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.vision.target.TrackedTarget;
public class SimplePipelineResult {
/** Represents a pipeline result from a PhotonCamera. */
public class PhotonPipelineResult {
private static boolean HAS_WARNED = false;
// Targets to store.
public final List<PhotonTrackedTarget> targets = new ArrayList<>();
// Latency in milliseconds.
private double latencyMillis;
// Whether targets exist.
private boolean hasTargets;
public final List<SimpleTrackedTarget> targets = new ArrayList<>();
public SimplePipelineResult() {}
/** Constructs an empty pipeline result. */
public PhotonPipelineResult() {}
public SimplePipelineResult(
double latencyMillis, boolean hasTargets, List<SimpleTrackedTarget> targets) {
/**
* Constructs a pipeline result.
*
* @param latencyMillis The latency in the pipeline.
* @param targets The list of targets identified by the pipeline.
*/
public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets) {
this.latencyMillis = latencyMillis;
this.hasTargets = hasTargets;
this.hasTargets = targets.size() != 0;
this.targets.addAll(targets);
}
public SimplePipelineResult(CVPipelineResult r) {
this(r.processingMillis, r.hasTargets(), simpleFromTrackedTargets(r.targets));
}
/**
* Returns the size of the packet needed to store this pipeline result.
*
* @return The size of the packet needed to store this pipeline result.
*/
public int getPacketSize() {
return targets.size() * SimpleTrackedTarget.PACK_SIZE_BYTES + 8 + 2;
return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2;
}
/**
* Returns the best target in this pipeline result. If there are no targets, this method will
* return null. The best target is determined by the target sort mode in the PhotonVision UI.
*
* @return The best target of the pipeline result.
*/
public PhotonTrackedTarget getBestTarget() {
if (!hasTargets && !HAS_WARNED) {
String errStr =
"This PhotonPipelineResult object has no targets associated with it! Please check hasTargets() "
+ "before calling this method. For more information, please review the PhotonLib "
+ "documentation at http://docs.photonvision.org";
System.err.println(errStr);
new Exception().printStackTrace();
HAS_WARNED = true;
}
return hasTargets ? targets.get(0) : null;
}
/**
* Returns the latency in the pipeline.
*
* @return The latency in the pipeline.
*/
public double getLatencyMillis() {
return latencyMillis;
}
/**
* Returns whether the pipeline has targets.
*
* @return Whether the pipeline has targets.
*/
public boolean hasTargets() {
return hasTargets;
}
/**
* Returns a copy of the vector of targets.
*
* @return A copy of the vector of targets.
*/
public List<PhotonTrackedTarget> getTargets() {
return new ArrayList<>(targets);
}
@Override
public boolean equals(Object o) {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
SimplePipelineResult that = (SimplePipelineResult) o;
PhotonPipelineResult that = (PhotonPipelineResult) o;
boolean latencyMatch = Double.compare(that.latencyMillis, latencyMillis) == 0;
boolean hasTargetsMatch = that.hasTargets == hasTargets;
boolean targetsMatch = that.targets.equals(targets);
@@ -91,7 +138,7 @@ public class SimplePipelineResult {
// Decode the information of each target.
for (int i = 0; i < (int) targetCount; ++i) {
var target = new SimpleTrackedTarget();
var target = new PhotonTrackedTarget();
target.createFromPacket(packet);
targets.add(target);
}
@@ -117,12 +164,4 @@ public class SimplePipelineResult {
// Return the packet.
return packet;
}
private static List<SimpleTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
var ret = new ArrayList<SimpleTrackedTarget>();
for (var t : targets) {
ret.add(new SimpleTrackedTarget(t));
}
return ret;
}
}

15
photon-core/src/main/java/org/photonvision/vision/pipeline/result/SimpleTrackedTarget.java → photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
View File

@@ -15,16 +15,15 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.pipeline.result;
package org.photonvision.targeting;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import java.util.Objects;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.vision.target.TrackedTarget;
public class SimpleTrackedTarget {
public class PhotonTrackedTarget {
public static final int PACK_SIZE_BYTES = Double.BYTES * 7;
private double yaw;
@@ -33,9 +32,9 @@ public class SimpleTrackedTarget {
private double skew;
private Transform2d cameraToTarget = new Transform2d();
public SimpleTrackedTarget() {}
public PhotonTrackedTarget() {}
public SimpleTrackedTarget(double yaw, double pitch, double area, double skew, Transform2d pose) {
public PhotonTrackedTarget(double yaw, double pitch, double area, double skew, Transform2d pose) {
this.yaw = yaw;
this.pitch = pitch;
this.area = area;
@@ -43,10 +42,6 @@ public class SimpleTrackedTarget {
cameraToTarget = pose;
}
public SimpleTrackedTarget(TrackedTarget t) {
this(t.getYaw(), t.getPitch(), t.getArea(), t.getSkew(), t.getCameraToTarget());
}
public double getYaw() {
return yaw;
}
@@ -67,7 +62,7 @@ public class SimpleTrackedTarget {
public boolean equals(Object o) {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
SimpleTrackedTarget that = (SimpleTrackedTarget) o;
PhotonTrackedTarget that = (PhotonTrackedTarget) o;
return Double.compare(that.yaw, yaw) == 0
&& Double.compare(that.pitch, pitch) == 0
&& Double.compare(that.area, area) == 0

77
photonlib-cpp-examples/build.gradle Normal file
View File

@@ -0,0 +1,77 @@
plugins {
id 'cpp'
id 'java'
id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
id 'google-test-test-suite'
id 'edu.wpi.first.NativeUtils' version '2020.10.1'
id 'edu.wpi.first.GradleJni' version '0.10.1'
id 'edu.wpi.first.GradleVsCode' version '0.12.0'
}
repositories {
maven {
url = 'https://frcmaven.wpi.edu:443/artifactory/release'
maven { url "https://frcmaven.wpi.edu/artifactory/development" }
mavenCentral()
}
}
apply from: '../photon-lib/config.gradle'
ext.examplesMap = [:]
File examplesTree = file("$projectDir/src/main/cpp/examples")
examplesTree.list(new FilenameFilter() {
@Override
public boolean accept(File current, String name) {
return new File(current, name).isDirectory();
}
}).each {
examplesMap.put(it, [])
}
nativeUtils.platformConfigs.named(nativeUtils.wpi.platforms.roborio).configure {
cppCompiler.args.remove('-Wno-error=deprecated-declarations')
cppCompiler.args.add('-Werror=deprecated-declarations')
}
ext {
sharedCvConfigs = examplesMap
staticCvConfigs = [:]
useJava = false
useCpp = true
}
model {
components {
examplesMap.each { key, value ->
"${key}"(NativeExecutableSpec) {
targetBuildTypes 'debug'
binaries.all { binary ->
lib project: ':photon-lib', library: 'Photon', linkage: 'shared'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
}
}
sources {
cpp {
source {
srcDirs 'src/main/cpp/examples/' + "${key}" + "/cpp"
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/cpp/examples/' + "${key}" + "/include"
include '**/*.h'
}
}
}
nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
}
}
}
}
ext {
exampleDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/")
exampleFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/examples.json")
}

1
photonlib-cpp-examples/settings.gradle Normal file
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@@ -0,0 +1 @@
rootproject.name = 'photonlib-cpp-examples'

64
photonlib-cpp-examples/src/main/cpp/examples/aimandrange/cpp/Robot.cpp Normal file
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@@ -0,0 +1,64 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "Robot.h"
#include <photonlib/PhotonUtils.h>
void Robot::TeleopPeriodic() {
double forwardSpeed;
double rotationSpeed;
if (xboxController.GetAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
const auto &result = camera.GetLatestResult();
if (result.HasTargets()) {
// First calculate range
units::meter_t range =
photonlib::PhotonUtils::CalculateDistanceToTarget(
CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
units::degree_t{result.GetBestTarget().GetPitch()});
// Use this range as the measurement we give to the PID controller.
forwardSpeed = forwardController.Calculate(
range.to<double>(), GOAL_RANGE_METERS.to<double>());
// Also calculate angular power
rotationSpeed =
turnController.Calculate(result.GetBestTarget().GetYaw(), 0);
} else {
// If we have no targets, stay still.
forwardSpeed = 0;
rotationSpeed = 0;
}
} else {
// Manual Driver Mode
forwardSpeed =
xboxController.GetY(frc::GenericHID::JoystickHand::kRightHand);
rotationSpeed =
xboxController.GetX(frc::GenericHID::JoystickHand::kLeftHand);
}
// Use our forward/turn speeds to control the drivetrain
drive.ArcadeDrive(forwardSpeed, rotationSpeed);
}
#ifndef RUNNING_FRC_TESTS
int main() { return frc::StartRobot<Robot>(); }
#endif

64
photonlib-cpp-examples/src/main/cpp/examples/aimandrange/include/Robot.h Normal file
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@@ -0,0 +1,64 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <photonlib/PhotonCamera.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
#include <units/angle.h>
#include <units/length.h>
class Robot : public frc::TimedRobot {
public:
void TeleopPeriodic() override;
private:
// Constants such as camera and target height stored. Change per robot and
// goal!
const units::meter_t CAMERA_HEIGHT = 24_in;
const units::meter_t TARGET_HEIGHT = 5_ft;
// Angle between horizontal and the camera.
const units::radian_t CAMERA_PITCH = 0_deg;
// How far from the target we want to be
const units::meter_t GOAL_RANGE_METERS = 3_ft;
// PID constants should be tuned per robot
const double LINEAR_P = 0.1;
const double LINEAR_D = 0.0;
frc2::PIDController forwardController{LINEAR_P, 0.0, LINEAR_D};
const double ANGULAR_P = 0.1;
const double ANGULAR_D = 0.0;
frc2::PIDController turnController{ANGULAR_P, 0.0, ANGULAR_D};
// Change this to match the name of your camera
photonlib::PhotonCamera camera{"photonvision"};
frc::XboxController xboxController{0};
// Drive motors
frc::PWMVictorSPX leftMotor{0};
frc::PWMVictorSPX rightMotor{1};
frc::DifferentialDrive drive{leftMotor, rightMotor};
};

51
photonlib-cpp-examples/src/main/cpp/examples/aimattarget/cpp/Robot.cpp Normal file
View File

@@ -0,0 +1,51 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "Robot.h"
#include <photonlib/PhotonUtils.h>
void Robot::TeleopPeriodic() {
double forwardSpeed =
xboxController.GetY(frc::GenericHID::JoystickHand::kRightHand);
double rotationSpeed;
if (xboxController.GetAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
photonlib::PhotonPipelineResult result = camera.GetLatestResult();
if (result.HasTargets()) {
// Rotation speed is the output of the PID controller
rotationSpeed = controller.Calculate(result.GetBestTarget().GetYaw(), 0);
} else {
// If we have no targets, stay still.
rotationSpeed = 0;
}
} else {
// Manual Driver Mode
rotationSpeed =
xboxController.GetX(frc::GenericHID::JoystickHand::kLeftHand);
}
// Use our forward/turn speeds to control the drivetrain
drive.ArcadeDrive(forwardSpeed, rotationSpeed);
}
#ifndef RUNNING_FRC_TESTS
int main() { return frc::StartRobot<Robot>(); }
#endif

46
photonlib-cpp-examples/src/main/cpp/examples/aimattarget/include/Robot.h Normal file
View File

@@ -0,0 +1,46 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <photonlib/PhotonCamera.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
#include <units/angle.h>
#include <units/length.h>
class Robot : public frc::TimedRobot {
public:
void TeleopPeriodic() override;
private:
// Change this to match the name of your camera
photonlib::PhotonCamera camera{"photonvision"};
// PID constants should be tuned per robot
frc2::PIDController controller{.1, 0, 0};
frc::XboxController xboxController{0};
// Drive motors
frc::PWMVictorSPX leftMotor{0};
frc::PWMVictorSPX rightMotor{1};
frc::DifferentialDrive drive{leftMotor, rightMotor};
};

38
photonlib-cpp-examples/src/main/cpp/examples/examples.json Normal file
View File

@@ -0,0 +1,38 @@
[
{
"name": "AimAtTarget",
"description": "Aim at a target",
"tags": [],
"gradlebase": "cpp",
"language": "cpp",
"commandversion": 1,
"mainclass": "Main",
"packagetoreplace": null,
"dependencies": [],
"foldername": "aimattarget"
},
{
"name": "GetInRange",
"description": "Get in range of a target",
"tags": [],
"gradlebase": "cpp",
"language": "cpp",
"commandversion": 1,
"mainclass": "Main",
"packagetoreplace": null,
"dependencies": [],
"foldername": "getinrange"
},
{
"name": "AimAndRange",
"description": "Aim at a target while at a desired range",
"tags": [],
"gradlebase": "cpp",
"language": "cpp",
"commandversion": 1,
"mainclass": "Main",
"packagetoreplace": null,
"dependencies": [],
"foldername": "aimandrange"
}
]

57
photonlib-cpp-examples/src/main/cpp/examples/getinrange/cpp/Robot.cpp Normal file
View File

@@ -0,0 +1,57 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "Robot.h"
#include <photonlib/PhotonUtils.h>
void Robot::TeleopPeriodic() {
double forwardSpeed;
double rotationSpeed =
xboxController.GetX(frc::GenericHID::JoystickHand::kLeftHand);
if (xboxController.GetAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
photonlib::PhotonPipelineResult result = camera.GetLatestResult();
if (result.HasTargets()) {
// First calculate range
units::meter_t range = photonlib::PhotonUtils::CalculateDistanceToTarget(
CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
units::degree_t{result.GetBestTarget().GetPitch()});
// Use this range as the measurement we give to the PID controller.
forwardSpeed = controller.Calculate(range.to<double>(),
GOAL_RANGE_METERS.to<double>());
} else {
// If we have no targets, stay still.
forwardSpeed = 0;
}
} else {
// Manual Driver Mode
forwardSpeed =
xboxController.GetY(frc::GenericHID::JoystickHand::kRightHand);
}
// Use our forward/turn speeds to control the drivetrain
drive.ArcadeDrive(forwardSpeed, rotationSpeed);
}
#ifndef RUNNING_FRC_TESTS
int main() { return frc::StartRobot<Robot>(); }
#endif

60
photonlib-cpp-examples/src/main/cpp/examples/getinrange/include/Robot.h Normal file
View File

@@ -0,0 +1,60 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <photonlib/PhotonCamera.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
#include <units/angle.h>
#include <units/length.h>
class Robot : public frc::TimedRobot {
public:
void TeleopPeriodic() override;
private:
// Constants such as camera and target height stored. Change per robot and
// goal!
const units::meter_t CAMERA_HEIGHT = 24_in;
const units::meter_t TARGET_HEIGHT = 5_ft;
// Angle between horizontal and the camera.
const units::radian_t CAMERA_PITCH = 0_deg;
// How far from the target we want to be
const units::meter_t GOAL_RANGE_METERS = 3_ft;
// PID constants should be tuned per robot
const double P_GAIN = 0.1;
const double D_GAIN = 0.0;
frc2::PIDController controller{P_GAIN, 0.0, D_GAIN};
// Change this to match the name of your camera
photonlib::PhotonCamera camera{"photonvision"};
frc::XboxController xboxController{0};
// Drive motors
frc::PWMVictorSPX leftMotor{0};
frc::PWMVictorSPX rightMotor{1};
frc::DifferentialDrive drive{leftMotor, rightMotor};
};

35
photonlib-java-examples/build.gradle Normal file
View File

@@ -0,0 +1,35 @@
apply plugin: 'java'
String wpilibVersion = "2021.1.2"
String opencvVersion = "3.4.7-5"
String ejmlVersion = "0.38"
String jacksonVersion = "2.10.0"
repositories {
maven {
url = 'https://frcmaven.wpi.edu:443/artifactory/release'
}
}
dependencies {
implementation project(':photon-lib')
implementation project(':photon-targeting')
implementation "edu.wpi.first.wpilibj:wpilibj-java:${wpilibVersion}"
implementation "edu.wpi.first.wpimath:wpimath-java:${wpilibVersion}"
implementation "edu.wpi.first.ntcore:ntcore-java:${wpilibVersion}"
implementation "edu.wpi.first.wpiutil:wpiutil-java:${wpilibVersion}"
implementation "edu.wpi.first.thirdparty.frc2021.opencv:opencv-java:${opencvVersion}"
implementation "edu.wpi.first.cscore:cscore-java:${wpilibVersion}"
implementation "edu.wpi.first.cameraserver:cameraserver-java:${wpilibVersion}"
implementation "edu.wpi.first.hal:hal-java:${wpilibVersion}"
implementation "org.ejml:ejml-simple:${ejmlVersion}"
implementation "com.fasterxml.jackson.core:jackson-annotations:${jacksonVersion}"
implementation "com.fasterxml.jackson.core:jackson-core:${jacksonVersion}"
implementation "com.fasterxml.jackson.core:jackson-databind:${jacksonVersion}"
}
ext {
exampleDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/")
exampleFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/examples.json")
}

1
photonlib-java-examples/settings.gradle Normal file
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@@ -0,0 +1 @@
rootproject.name = 'photonlib-java-examples'

38
photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java Normal file
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@@ -0,0 +1,38 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.aimandrange;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

103
photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java Normal file
View File

@@ -0,0 +1,103 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.aimandrange;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.util.Units;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonUtils;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
// Constants such as camera and target height stored. Change per robot and goal!
final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
final double TARGET_HEIGHT_METERS = Units.feetToMeters(5);
// Angle between horizontal and the camera.
final double CAMERA_PITCH_RADIANS = Units.degreesToRadians(0);
// How far from the target we want to be
final double GOAL_RANGE_METERS = Units.feetToMeters(3);
// Change this to match the name of your camera
PhotonCamera camera = new PhotonCamera("photonvision");
// PID constants should be tuned per robot
final double LINEAR_P = 0.1;
final double LINEAR_D = 0.0;
PIDController forwardController = new PIDController(LINEAR_P, 0, LINEAR_D);
final double ANGULAR_P = 0.1;
final double ANGULAR_D = 0.0;
PIDController turnController = new PIDController(ANGULAR_P, 0, ANGULAR_D);
XboxController xboxController = new XboxController(0);
// Drive motors
PWMVictorSPX leftMotor = new PWMVictorSPX(0);
PWMVictorSPX rightMotor = new PWMVictorSPX(1);
DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor);
@Override
public void teleopPeriodic() {
double forwardSpeed;
double rotationSpeed;
if (xboxController.getAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
var result = camera.getLatestResult();
if (result.hasTargets()) {
// First calculate range
double range =
PhotonUtils.calculateDistanceToTargetMeters(
CAMERA_HEIGHT_METERS,
TARGET_HEIGHT_METERS,
CAMERA_PITCH_RADIANS,
result.getBestTarget().getPitch());
// Use this range as the measurement we give to the PID controller.
forwardSpeed = forwardController.calculate(range, GOAL_RANGE_METERS);
// Also calculate angular power
rotationSpeed = turnController.calculate(result.getBestTarget().getYaw(), 0);
} else {
// If we have no targets, stay still.
forwardSpeed = 0;
rotationSpeed = 0;
}
} else {
// Manual Driver Mode
forwardSpeed = xboxController.getY(GenericHID.Hand.kRight);
rotationSpeed = xboxController.getX(GenericHID.Hand.kLeft);
}
// Use our forward/turn speeds to control the drivetrain
drive.arcadeDrive(forwardSpeed, rotationSpeed);
}
}

38
photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java Normal file
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.aimattarget;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

103
photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java Normal file
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.aimattarget;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.util.Units;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonUtils;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
// Constants such as camera and target height stored. Change per robot and goal!
final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
final double TARGET_HEIGHT_METERS = Units.feetToMeters(5);
// Angle between horizontal and the camera.
final double CAMERA_PITCH_RADIANS = Units.degreesToRadians(0);
// How far from the target we want to be
final double GOAL_RANGE_METERS = Units.feetToMeters(3);
// Change this to match the name of your camera
PhotonCamera camera = new PhotonCamera("photonvision");
// PID constants should be tuned per robot
final double LINEAR_P = 0.1;
final double LINEAR_D = 0.0;
PIDController forwardController = new PIDController(LINEAR_P, 0, LINEAR_D);
final double ANGULAR_P = 0.1;
final double ANGULAR_D = 0.0;
PIDController turnController = new PIDController(ANGULAR_P, 0, ANGULAR_D);
XboxController xboxController = new XboxController(0);
// Drive motors
PWMVictorSPX leftMotor = new PWMVictorSPX(0);
PWMVictorSPX rightMotor = new PWMVictorSPX(1);
DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor);
@Override
public void teleopPeriodic() {
double forwardSpeed;
double rotationSpeed;
if (xboxController.getAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
var result = camera.getLatestResult();
if (result.hasTargets()) {
// First calculate range
double range =
PhotonUtils.calculateDistanceToTargetMeters(
CAMERA_HEIGHT_METERS,
TARGET_HEIGHT_METERS,
CAMERA_PITCH_RADIANS,
result.getBestTarget().getPitch());
// Use this range as the measurement we give to the PID controller.
forwardSpeed = forwardController.calculate(range, GOAL_RANGE_METERS);
// Also calculate angular power
rotationSpeed = turnController.calculate(result.getBestTarget().getYaw(), 0);
} else {
// If we have no targets, stay still.
forwardSpeed = 0;
rotationSpeed = 0;
}
} else {
// Manual Driver Mode
forwardSpeed = xboxController.getY(GenericHID.Hand.kRight);
rotationSpeed = xboxController.getX(GenericHID.Hand.kLeft);
}
// Use our forward/turn speeds to control the drivetrain
drive.arcadeDrive(forwardSpeed, rotationSpeed);
}
}

38
photonlib-java-examples/src/main/java/org/photonlib/examples/examples.json Normal file
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[
{
"name": "AimAtTarget",
"description": "Aim at a target",
"tags": [],
"gradlebase": "java",
"language": "java",
"commandversion": 1,
"mainclass": "Main",
"packagetoreplace": null,
"dependencies": [],
"foldername": "aimattarget"
},
{
"name": "GetInRange",
"description": "Get in range of a target",
"tags": [],
"gradlebase": "java",
"language": "java",
"commandversion": 1,
"mainclass": "Main",
"packagetoreplace": null,
"dependencies": [],
"foldername": "getinrange"
},
{
"name": "AimAndRange",
"description": "Aim at a target while at a desired range",
"tags": [],
"gradlebase": "java",
"language": "java",
"commandversion": 1,
"mainclass": "Main",
"packagetoreplace": null,
"dependencies": [],
"foldername": "aimandrange"
}
]

38
photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java Normal file
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@@ -0,0 +1,38 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.getinrange;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

100
photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java Normal file
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.getinrange;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.util.Units;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonUtils;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
// Constants such as camera and target height stored. Change per robot and goal!
final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
final double TARGET_HEIGHT_METERS = Units.feetToMeters(5);
// Angle between horizontal and the camera.
final double CAMERA_PITCH_RADIANS = Units.degreesToRadians(0);
// How far from the target we want to be
final double GOAL_RANGE_METERS = Units.feetToMeters(3);
// Change this to match the name of your camera
PhotonCamera camera = new PhotonCamera("photonvision");
// PID constants should be tuned per robot
final double P_GAIN = 0.1;
final double D_GAIN = 0.0;
PIDController controller = new PIDController(P_GAIN, 0, D_GAIN);
XboxController xboxController;
// Drive motors
PWMVictorSPX leftMotor = new PWMVictorSPX(0);
PWMVictorSPX rightMotor = new PWMVictorSPX(1);
DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor);
@Override
public void robotInit() {
xboxController = new XboxController(0);
}
@Override
public void teleopPeriodic() {
double forwardSpeed;
double rotationSpeed = xboxController.getX(GenericHID.Hand.kLeft);
if (xboxController.getAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
var result = camera.getLatestResult();
if (result.hasTargets()) {
// First calculate range
double range =
PhotonUtils.calculateDistanceToTargetMeters(
CAMERA_HEIGHT_METERS,
TARGET_HEIGHT_METERS,
CAMERA_PITCH_RADIANS,
result.getBestTarget().getPitch());
// Use this range as the measurement we give to the PID controller.
forwardSpeed = controller.calculate(range, GOAL_RANGE_METERS);
} else {
// If we have no targets, stay still.
forwardSpeed = 0;
}
} else {
// Manual Driver Mode
forwardSpeed = xboxController.getY(GenericHID.Hand.kRight);
}
// Use our forward/turn speeds to control the drivetrain
drive.arcadeDrive(forwardSpeed, rotationSpeed);
}
}

6
settings.gradle
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@@ -1,2 +1,6 @@
include 'photon-targeting'
include 'photon-core'
include 'photon-server'
include 'photon-server'
include 'photon-lib'
include 'photonlib-java-examples'
include 'photonlib-cpp-examples'

27
versioningHelper.gradle Normal file
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import java.time.LocalDateTime
import java.time.format.DateTimeFormatter
import java.nio.file.Path
gradle.allprojects {
ext.getCurrentVersion = { ->
def stdout = new ByteArrayOutputStream()
String tagIsh
try {
exec {
commandLine 'git', 'describe', '--tags', '--exclude="Dev"'
standardOutput = stdout
}
tagIsh = stdout.toString().trim().toLowerCase()
} catch(Exception e) {
tagIsh = "dev-Unknown"
}
boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
if(isDev) tagIsh = "dev-" + tagIsh
println("Picked up version: " + tagIsh)
return tagIsh
}
if(!ext.has("versionString")) {
ext.versionString = getCurrentVersion()
}
}