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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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18
photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
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@@ -27,10 +27,15 @@
#include <tuple>
#include <vector>
#include <wpi/deprecated.h>
#include "gtest/gtest.h"
#include "photon/PhotonUtils.h"
#include "photon/simulation/VisionSystemSim.h"
// Ignore GetLatestResult warnings
WPI_IGNORE_DEPRECATED
class VisionSystemSimTest : public ::testing::Test {
void SetUp() override {
nt::NetworkTableInstance::GetDefault().StartServer();
@@ -229,9 +234,10 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
robotPose =
frc::Pose2d{frc::Translation2d{10_m, 0_m}, frc::Rotation2d{GetParam()}};
visionSysSim.Update(robotPose);
ASSERT_TRUE(camera.GetLatestResult().HasTargets());
ASSERT_NEAR(GetParam().to<double>(),
camera.GetLatestResult().GetBestTarget().GetYaw(), 0.25);
const auto result = camera.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
ASSERT_NEAR(GetParam().to<double>(), result.GetBestTarget().GetYaw(), 0.25);
}
TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) {
@@ -257,9 +263,9 @@ TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) {
frc::Rotation3d{0_rad, units::degree_t{GetParam()}, 0_rad}});
visionSysSim.Update(robotPose);
ASSERT_TRUE(camera.GetLatestResult().HasTargets());
ASSERT_NEAR(GetParam().to<double>(),
camera.GetLatestResult().GetBestTarget().GetPitch(), 0.25);
const auto result = camera.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
ASSERT_NEAR(GetParam().to<double>(), result.GetBestTarget().GetPitch(), 0.25);
}
INSTANTIATE_TEST_SUITE_P(AnglesTests, VisionSystemSimTestWithParamsTest,