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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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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
View File

@@ -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 =