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/native/include/photonlib/PhotonCamera.h

@@ -0,0 +1,141 @@
+/*
+ * 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