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[photon-targeting][photon-lib] Add tests to the targeting classes and cleanup photon-lib & photon-targeting (#1007)

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* Make MultiTagPNPResult and PNPResult singular

* add java tests

* Formatting fixes

* bring in the rest of the little stuff

* final things

* Formatting fixes

* add multisubscriber back

* Formatting fixes

* make comments better about x and y relationship
This commit is contained in:
Sriman Achanta
2023-11-15 18:28:26 -05:00
committed by GitHub
parent 524b135142
commit 308fd801d4
31 changed files with 833 additions and 191 deletions
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68
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -24,8 +24,6 @@
package org.photonvision;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
@@ -43,7 +41,6 @@ import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.networktables.RawSubscriber;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
@@ -73,9 +70,8 @@ public class PhotonCamera implements AutoCloseable {
IntegerPublisher pipelineIndexRequest, ledModeRequest;
IntegerSubscriber pipelineIndexState, ledModeState;
IntegerSubscriber heartbeatEntry;
private DoubleArraySubscriber cameraIntrinsicsSubscriber;
private DoubleArraySubscriber cameraDistortionSubscriber;
private StringPublisher atflPublisher;
DoubleArraySubscriber cameraIntrinsicsSubscriber;
DoubleArraySubscriber cameraDistortionSubscriber;
@Override
public void close() {
@@ -99,7 +95,6 @@ public class PhotonCamera implements AutoCloseable {
pipelineIndexRequest.close();
cameraIntrinsicsSubscriber.close();
cameraDistortionSubscriber.close();
atflPublisher.close();
}
private final String path;
@@ -111,7 +106,7 @@ public class PhotonCamera implements AutoCloseable {
private long prevHeartbeatValue = -1;
private double prevHeartbeatChangeTime = 0;
private static final double HEARBEAT_DEBOUNCE_SEC = 0.5;
private static final double HEARTBEAT_DEBOUNCE_SEC = 0.5;
public static void setVersionCheckEnabled(boolean enabled) {
VERSION_CHECK_ENABLED = enabled;
@@ -119,12 +114,6 @@ public class PhotonCamera implements AutoCloseable {
Packet packet = new Packet(1);
private static AprilTagFieldLayout lastSetTagLayout =
AprilTagFields.kDefaultField.loadAprilTagLayoutField();
// Existing is enough to make this multisubscriber do its thing
private final MultiSubscriber m_topicNameSubscriber;
/**
* Constructs a PhotonCamera from a root table.
*
@@ -159,11 +148,8 @@ public class PhotonCamera implements AutoCloseable {
ledModeState = photonvision_root_table.getIntegerTopic("ledModeState").subscribe(-1);
versionEntry = photonvision_root_table.getStringTopic("version").subscribe("");
atflPublisher = photonvision_root_table.getStringTopic("apriltag_field_layout").publish();
// Save the layout locally on Rio; on reboot, should be pushed out to NT clients
atflPublisher.getTopic().setPersistent(true);
m_topicNameSubscriber =
// Existing is enough to make this multisubscriber do its thing
MultiSubscriber m_topicNameSubscriber =
new MultiSubscriber(
instance, new String[] {"/photonvision/"}, PubSubOption.topicsOnly(true));
}
@@ -329,49 +315,9 @@ public class PhotonCamera implements AutoCloseable {
prevHeartbeatValue = curHeartbeat;
}
return (now - prevHeartbeatChangeTime) < HEARBEAT_DEBOUNCE_SEC;
return (now - prevHeartbeatChangeTime) < HEARTBEAT_DEBOUNCE_SEC;
}
// TODO: Implement ATFL subscribing in backend
// /**
// * Get the last set {@link AprilTagFieldLayout}. The tag layout is shared between all
// PhotonVision
// * coprocessors on the same NT instance-- this method returns the most recent layout set. If no
// * layout has been set by the user, this is equal to {@link AprilTagFields#kDefaultField}.
// *
// * @return The last set layout
// */
// public AprilTagFieldLayout getAprilTagFieldLayout() {
// return lastSetTagLayout;
// }
// /**
// * Set the {@link AprilTagFieldLayout} used by all PhotonVision coprocessors that are (or might
// * later) connect to this robot. The topic is marked as persistent, so even if you only call
// this
// * once ever, it will be saved on the RoboRIO and pushed out to all NT clients when code
// reboots.
// * PhotonVision will also store a copy of this layout locally on the coprocessor, but
// subscribes
// * to this topic and the local copy will be updated when this function is called.
// *
// * @param layout The layout to use for *all* PhotonVision cameras
// * @return Success of serializing the JSON. This does *not* mean that all PhotonVision clients
// * have updated their internal layouts.
// */
// public boolean setAprilTagFieldLayout(AprilTagFieldLayout layout) {
// try {
// var layout_json = new ObjectMapper().writeValueAsString(layout);
// atflPublisher.set(layout_json);
// lastSetTagLayout = layout;
// return true;
// } catch (JsonProcessingException e) {
// MathSharedStore.reportError("Error setting ATFL in " + this.getName(),
// e.getStackTrace());
// }
// return false;
// }
public Optional<Matrix<N3, N3>> getCameraMatrix() {
var cameraMatrix = cameraIntrinsicsSubscriber.get();
if (cameraMatrix != null && cameraMatrix.length == 9) {
@@ -428,7 +374,7 @@ public class PhotonCamera implements AutoCloseable {
// Check for version. Warn if the versions aren't aligned.
String versionString = versionEntry.get("");
if (!versionString.equals("") && !PhotonVersion.versionMatches(versionString)) {
if (!versionString.isEmpty() && !PhotonVersion.versionMatches(versionString)) {
// Error on a verified version mismatch
// But stay silent otherwise
DriverStation.reportWarning(