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Create timesync JNI for testing client (#1433)

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This commit is contained in:
Matt
2024-10-31 08:27:19 -07:00
committed by GitHub
parent 937bafa8e2
commit 37aaa49b32
69 changed files with 2252 additions and 368 deletions
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45
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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@@ -64,8 +64,9 @@ class PhotonPoseEstimatorTest {
cameraOne.result =
new PhotonPipelineResult(
0,
0,
0,
11 * 1000000,
1100000,
1024,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -130,7 +131,6 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setReceiveTimestampMicros((long) (11 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(aprilTags, PoseStrategy.LOWEST_AMBIGUITY, new Transform3d());
@@ -150,8 +150,9 @@ class PhotonPoseEstimatorTest {
cameraOne.result =
new PhotonPipelineResult(
0,
0,
0,
4000000,
1100000,
1024,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -217,8 +218,6 @@ class PhotonPoseEstimatorTest {
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setReceiveTimestampMicros((long) (4 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
aprilTags,
@@ -240,8 +239,9 @@ class PhotonPoseEstimatorTest {
cameraOne.result =
new PhotonPipelineResult(
0,
0,
0,
17000000,
1100000,
1024,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -306,7 +306,6 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setReceiveTimestampMicros((long) (17 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -330,8 +329,9 @@ class PhotonPoseEstimatorTest {
cameraOne.result =
new PhotonPipelineResult(
0,
0,
0,
1000000,
1100000,
1024,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -396,7 +396,6 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setReceiveTimestampMicros((long) (1 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -412,8 +411,9 @@ class PhotonPoseEstimatorTest {
cameraOne.result =
new PhotonPipelineResult(
0,
0,
0,
7000000,
1100000,
1024,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -478,7 +478,6 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setReceiveTimestampMicros((long) (7 * 1e6));
estimatedPose = estimator.update(cameraOne.result);
pose = estimatedPose.get().estimatedPose;
@@ -495,8 +494,9 @@ class PhotonPoseEstimatorTest {
var result =
new PhotonPipelineResult(
0,
0,
0,
20000000,
1100000,
1024,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -519,7 +519,6 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
result.setReceiveTimestampMicros((long) (20 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -529,7 +528,7 @@ class PhotonPoseEstimatorTest {
// Empty result, expect empty result
cameraOne.result = new PhotonPipelineResult();
cameraOne.result.setReceiveTimestampMicros((long) (1 * 1e6));
cameraOne.result.metadata.captureTimestampMicros = (long) (1 * 1e6);
Optional<EstimatedRobotPose> estimatedPose = estimator.update(cameraOne.result);
assertFalse(estimatedPose.isPresent());
@@ -563,8 +562,9 @@ class PhotonPoseEstimatorTest {
cameraOne.result =
new PhotonPipelineResult(
0,
0,
0,
20 * 1000000,
1100000,
1024,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -629,7 +629,6 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))))); // 3 3 3 ambig .4
cameraOne.result.setReceiveTimestampMicros(20 * 1000000);
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(