Add Photonlib (#231)

Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.
2026-06-19 00:41:41 +00:00 · 2021-01-16 20:41:47 -08:00
parent 58b39f47aa
commit 2e1b3d0f83
79 changed files with 5867 additions and 142 deletions
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
@@ -0,0 +1,90 @@
+/*
+ * 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