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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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19
photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
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@@ -86,7 +86,7 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
cameraOne.test = true;
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
photon::PhotonPipelineMetadata{0, 0, 2000, 1000}, targets, std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(units::second_t(11));
photon::PhotonPoseEstimator estimator(aprilTags, photon::LOWEST_AMBIGUITY,
@@ -147,7 +147,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
cameraOne.test = true;
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
photon::PhotonPipelineMetadata{0, 0, 2000, 1000}, targets, std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(17_s);
photon::PhotonPoseEstimator estimator(
@@ -196,7 +196,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
cameraOne.test = true;
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
photon::PhotonPipelineMetadata{0, 0, 2000, 1000}, targets, std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(units::second_t(17));
photon::PhotonPoseEstimator estimator(aprilTags,
@@ -247,7 +247,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
cameraOne.test = true;
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
photon::PhotonPipelineMetadata{0, 0, 2000, 1000}, targets, std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(units::second_t(17));
photon::PhotonPoseEstimator estimator(aprilTags, photon::CLOSEST_TO_LAST_POSE,
@@ -287,7 +287,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
0.4, corners, detectedCorners}};
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000}, targetsThree, std::nullopt}};
photon::PhotonPipelineMetadata{0, 0, 2000, 1000}, targetsThree,
std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(units::second_t(21));
// std::optional<photon::EstimatedRobotPose> estimatedPose;
@@ -333,7 +334,7 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
cameraOne.test = true;
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
photon::PhotonPipelineMetadata{0, 0, 2000, 1000}, targets, std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(units::second_t(15));
photon::PhotonPoseEstimator estimator(aprilTags, photon::AVERAGE_BEST_TARGETS,
@@ -387,7 +388,7 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
// empty input, expect empty out
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000},
photon::PhotonPipelineMetadata{0, 0, 2000, 1000},
std::vector<photon::PhotonTrackedTarget>{}, std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(units::second_t(1));
@@ -400,7 +401,7 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
// Set result, and update -- expect present and timestamp to be 15
cameraOne.testResult = {photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 3000}, targets, std::nullopt}};
photon::PhotonPipelineMetadata{0, 0, 3000, 1000}, targets, std::nullopt}};
cameraOne.testResult[0].SetReceiveTimestamp(units::second_t(15));
for (const auto& result : cameraOne.GetAllUnreadResults()) {
@@ -422,7 +423,7 @@ TEST(PhotonPoseEstimatorTest, CopyResult) {
std::vector<photon::PhotonTrackedTarget> targets{};
auto testResult = photon::PhotonPipelineResult{
photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt};
photon::PhotonPipelineMetadata{0, 0, 2000, 1000}, targets, std::nullopt};
testResult.SetReceiveTimestamp(units::second_t(11));
auto test2 = testResult;