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Expose NT entry change time in PhotonLib (#562)

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Adds target change timestamp to PhotonPipelineResult

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Noah
2022-11-07 11:09:55 -07:00
committed by GitHub
parent b408a58e9e
commit 7dd1719fbd
5 changed files with 49 additions and 2 deletions
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17
photon-lib/src/main/native/include/photonlib/PhotonPipelineResult.h
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@@ -79,6 +79,22 @@ class PhotonPipelineResult {
*/
units::second_t GetLatency() const { return latency; }
/**
* Returns the estimated time the frame was taken,
* This is much more accurate than using GetLatency()
* @return The timestamp in seconds or -1 if this result was not initiated
* with a timestamp.
*/
units::second_t GetTimestamp() const { return timestamp; }
/**
* Sets the timestamp in seconds
* @param timestamp The timestamp in seconds
*/
void SetTimestamp(const units::second_t timestamp) {
this->timestamp = timestamp;
}
/**
* Returns whether the pipeline has targets.
* @return Whether the pipeline has targets.
@@ -101,6 +117,7 @@ class PhotonPipelineResult {
private:
units::second_t latency = 0_s;
units::second_t timestamp = -1_s;
wpi::SmallVector<PhotonTrackedTarget, 10> targets;
inline static bool HAS_WARNED = false;
};