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Use ReadQueue for PhotonCamera timestamps (#1316)

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This removes the extra GetLastChange call to keep everything properly
atomic.

Closes #1303
This commit is contained in:
Matt
2024-08-04 14:23:46 -04:00
committed by GitHub
parent 37e9d40762
commit 67463a020a
29 changed files with 1057 additions and 1614 deletions
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19
photon-lib/src/main/native/include/photon/PhotonCamera.h
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@@ -75,13 +75,20 @@ class PhotonCamera {
PhotonCamera(PhotonCamera&&) = default;
virtual ~PhotonCamera() = default;
~PhotonCamera() = default;
/**
* Returns the latest pipeline result.
* @return The latest pipeline result.
* The list of pipeline results sent by PhotonVision since the last call to
* GetAllUnreadResults(). Calling this function clears the internal FIFO
* queue, and multiple calls to GetAllUnreadResults() will return different
* (potentially empty) result arrays. Be careful to call this exactly ONCE per
* loop of your robot code! FIFO depth is limited to 20 changes, so make sure
* to call this frequently enough to avoid old results being discarded, too!
*/
virtual PhotonPipelineResult GetLatestResult();
std::vector<PhotonPipelineResult> GetAllUnreadResults();
[[deprecated("Replace with GetAllUnreadResults")]]
PhotonPipelineResult GetLatestResult();
/**
* Toggles driver mode.
@@ -173,7 +180,7 @@ class PhotonCamera {
// For use in tests
bool test = false;
PhotonPipelineResult testResult;
std::vector<PhotonPipelineResult> testResult;
protected:
std::shared_ptr<nt::NetworkTable> mainTable;
@@ -201,8 +208,6 @@ class PhotonCamera {
std::string path;
std::string cameraName;
mutable Packet packet;
private:
units::second_t lastVersionCheckTime = 0_s;
static bool VERSION_CHECK_ENABLED;