Add Photonlib (#231)

Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -0,0 +1,198 @@
+/*
+ * 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();
+    }
+}