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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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12
photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h
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@@ -33,15 +33,21 @@
#include <frc/apriltag/AprilTagFields.h>
class PhotonCameraWrapper {
private:
photon::PhotonCamera camera{"WPI2023"};
public:
photon::PhotonPoseEstimator m_poseEstimator{
frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
photon::MULTI_TAG_PNP_ON_RIO, std::move(photon::PhotonCamera{"WPI2023"}),
frc::Transform3d{}};
photon::MULTI_TAG_PNP_ON_RIO, frc::Transform3d{}};
inline std::optional<photon::EstimatedRobotPose> Update(
frc::Pose2d estimatedPose) {
m_poseEstimator.SetReferencePose(frc::Pose3d(estimatedPose));
return m_poseEstimator.Update();
std::optional<photon::EstimatedRobotPose> ret = std::nullopt;
for (const auto& change : camera.GetAllUnreadResults())
ret = m_poseEstimator.Update(change);
return ret;
}
};