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Fix PhotonCamera typestring checks (#1480)

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Previously NT would quietly drop readQueue changes.
This commit is contained in:
Matt
2024-10-20 22:21:24 -07:00
committed by GitHub
parent 7224561b76
commit 7da2ec1948
7 changed files with 50 additions and 19 deletions
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11
photon-lib/py/photonlibpy/photonCamera.py
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@@ -53,7 +53,9 @@ class PhotonCamera:
self._cameraTable = photonvision_root_table.getSubTable(cameraName)
self._path = self._cameraTable.getPath()
self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
"rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
f"photonstruct:PhotonPipelineResult:{PhotonPipelineResult.photonStruct.MESSAGE_VERSION}",
bytes([]),
ntcore.PubSubOptions(periodic=0.01, sendAll=True),
)
self._driverModePublisher = self._cameraTable.getBooleanTopic(
@@ -226,6 +228,7 @@ class PhotonCamera:
versionString = self.versionEntry.get(defaultValue="")
localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
if remoteUUID is None or len(remoteUUID) == 0:
@@ -233,7 +236,11 @@ class PhotonCamera:
f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
True,
)
elif localUUID != remoteUUID:
# ntcore hands us a JSON string with leading/trailing quotes - remove those
remoteUUID = remoteUUID.replace('"', "")
if localUUID != remoteUUID:
# Verified version mismatch
bfw = """

4
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -137,7 +137,7 @@ public class PhotonCamera implements AutoCloseable {
cameraTable
.getRawTopic("rawBytes")
.subscribe(
"rawBytes",
PhotonPipelineResult.photonStruct.getTypeString(),
new byte[] {},
PubSubOption.periodic(0.01),
PubSubOption.sendAll(true),
@@ -185,6 +185,8 @@ public class PhotonCamera implements AutoCloseable {
* make sure to call this frequently enough to avoid old results being discarded, too!
*/
public List<PhotonPipelineResult> getAllUnreadResults() {
verifyVersion();
List<PhotonPipelineResult> ret = new ArrayList<>();
var changes = resultSubscriber.getAllChanges();

20
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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@@ -69,6 +69,10 @@ void PhotonCamera::SetVersionCheckEnabled(bool enabled) {
VERSION_CHECK_ENABLED = enabled;
}
static const std::string TYPE_STRING =
std::string{"photonstruct:PhotonPipelineResult:"} +
std::string{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
const std::string_view cameraName)
: mainTable(instance.GetTable("photonvision")),
@@ -76,7 +80,7 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
rawBytesEntry(
rootTable->GetRawTopic("rawBytes")
.Subscribe(
"rawBytes", {},
TYPE_STRING, {},
{.pollStorage = 20, .periodic = 0.01, .sendAll = true})),
inputSaveImgEntry(
rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
@@ -262,17 +266,25 @@ void PhotonCamera::VerifyVersion() {
std::string cameraNameOutString;
for (unsigned int i = 0; i < cameraNames.size(); i++) {
cameraNameOutString += "\n" + cameraNames[i];
cameraNameOutString += ("\n" + cameraNames[i]);
}
FRC_ReportError(
frc::warn::Warning,
"Found the following PhotonVision cameras on NetworkTables:{}",
"Found the following PhotonVision cameras on NetworkTables:\n{}",
cameraNameOutString);
}
} else {
std::string local_uuid{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
std::string remote_uuid =
// implicit conversion here might throw an exception, so be careful of that
wpi::json remote_uuid_json =
rawBytesEntry.GetTopic().GetProperty("message_uuid");
if (!remote_uuid_json.is_string()) {
FRC_ReportError(frc::warn::Warning,
"Cannot find property message_uuid for PhotonCamera {}",
path);
}
std::string remote_uuid{remote_uuid_json};
if (local_uuid != remote_uuid) {
FRC_ReportError(frc::warn::Warning, bfw);

10
photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
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@@ -353,8 +353,7 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
ts.targetPitchEntry.Set(0.0, ReceiveTimestamp);
ts.targetYawEntry.Set(0.0, ReceiveTimestamp);
ts.targetAreaEntry.Set(0.0, ReceiveTimestamp);
std::array<double, 3> poseData{0.0, 0.0, 0.0};
ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
ts.targetPoseEntry.Set(frc::Transform3d{}, ReceiveTimestamp);
ts.targetSkewEntry.Set(0.0, ReceiveTimestamp);
} else {
PhotonTrackedTarget bestTarget = result.GetBestTarget();
@@ -364,11 +363,8 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
ts.targetAreaEntry.Set(bestTarget.GetArea(), ReceiveTimestamp);
ts.targetSkewEntry.Set(bestTarget.GetSkew(), ReceiveTimestamp);
frc::Transform3d transform = bestTarget.GetBestCameraToTarget();
std::array<double, 4> poseData{
transform.X().to<double>(), transform.Y().to<double>(),
transform.Rotation().ToRotation2d().Degrees().to<double>()};
ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
ts.targetPoseEntry.Set(bestTarget.GetBestCameraToTarget(),
ReceiveTimestamp);
}
Eigen::Matrix<double, 3, 3, Eigen::RowMajor> intrinsics =

4
photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java
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@@ -88,7 +88,9 @@ public class PacketSubscriber<T> implements AutoCloseable {
// TODO - i can see an argument for moving this logic all here instead of keeping in photoncamera
public String getInterfaceUUID() {
return subscriber.getTopic().getProperty("message_uuid");
// ntcore hands us a JSON string with leading/trailing quotes - remove those
var uuidStr = subscriber.getTopic().getProperty("message_uuid");
return uuidStr.replace("\"", "");
}
public List<PacketResult<T>> getAllChanges() {

16
photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h
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@@ -18,15 +18,22 @@
#pragma once
#include <memory>
#include <string>
#include <frc/geometry/Transform3d.h>
#include <networktables/BooleanTopic.h>
#include <networktables/DoubleArrayTopic.h>
#include <networktables/DoubleTopic.h>
#include <networktables/IntegerTopic.h>
#include <networktables/NetworkTable.h>
#include <networktables/RawTopic.h>
#include <networktables/StructTopic.h>
namespace photon {
const std::string PhotonPipelineResult_TYPE_STRING =
std::string{"photonstruct:PhotonPipelineResult:"} +
std::string{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
class NTTopicSet {
public:
std::shared_ptr<nt::NetworkTable> subTable;
@@ -44,7 +51,7 @@ class NTTopicSet {
nt::DoublePublisher targetPitchEntry;
nt::DoublePublisher targetYawEntry;
nt::DoublePublisher targetAreaEntry;
nt::DoubleArrayPublisher targetPoseEntry;
nt::StructPublisher<frc::Transform3d> targetPoseEntry;
nt::DoublePublisher targetSkewEntry;
nt::DoublePublisher bestTargetPosX;
@@ -60,8 +67,8 @@ class NTTopicSet {
nt::PubSubOptions options;
options.periodic = 0.01;
options.sendAll = true;
rawBytesEntry =
subTable->GetRawTopic("rawBytes").Publish("rawBytes", options);
rawBytesEntry = subTable->GetRawTopic("rawBytes")
.Publish(PhotonPipelineResult_TYPE_STRING, options);
pipelineIndexPublisher =
subTable->GetIntegerTopic("pipelineIndexState").Publish();
@@ -80,7 +87,8 @@ class NTTopicSet {
targetPitchEntry = subTable->GetDoubleTopic("targetPitch").Publish();
targetAreaEntry = subTable->GetDoubleTopic("targetArea").Publish();
targetYawEntry = subTable->GetDoubleTopic("targetYaw").Publish();
targetPoseEntry = subTable->GetDoubleArrayTopic("targetPose").Publish();
targetPoseEntry =
subTable->GetStructTopic<frc::Transform3d>("targetPose").Publish();
targetSkewEntry = subTable->GetDoubleTopic("targetSkew").Publish();
bestTargetPosX = subTable->GetDoubleTopic("targetPixelsX").Publish();

4
photonlib-java-examples/aimandrange/build.gradle
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@@ -10,6 +10,10 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
def ROBOT_MAIN_CLASS = "frc.robot.Main"
repositories {
mavenLocal();
}
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2024.3.2"
wpi.versions.wpimathVersion = "2024.3.2"