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Update to match new WPILib organization

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This commit is contained in:
Gold856
2025-12-29 16:16:56 -05:00
committed by samfreund
parent c34c854583
commit 934eed21d2
264 changed files with 3440 additions and 3299 deletions
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79
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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@@ -29,20 +29,21 @@
#include <string_view>
#include <vector>
#include <frc/Errors.h>
#include <frc/RobotController.h>
#include <frc/Timer.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/hal/UsageReporting.h>
#include <net/TimeSyncServer.h>
#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
#include <wpi/json.h>
#include <wpi/system/Errors.hpp>
#include <wpi/system/RobotController.hpp>
#include <wpi/system/Timer.hpp>
#include <wpi/system/WPILibVersion.hpp>
#include <wpi/util/json.hpp>
#include "PhotonVersion.h"
#include "photon/dataflow/structures/Packet.h"
static constexpr units::second_t WARN_DEBOUNCE_SEC = 5_s;
static constexpr units::second_t HEARTBEAT_DEBOUNCE_SEC = 500_ms;
static constexpr wpi::units::second_t WARN_DEBOUNCE_SEC = 5_s;
static constexpr wpi::units::second_t HEARTBEAT_DEBOUNCE_SEC = 500_ms;
inline void verifyDependencies() {
if (!(std::string_view{cv::getVersionString()} ==
@@ -83,8 +84,8 @@ inline void verifyDependencies() {
">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n";
FRC_ReportWarning(bfw);
FRC_ReportError(frc::err::Error, bfw);
WPILIB_ReportWarning(bfw);
WPILIB_ReportError(wpi::err::Error, bfw);
throw new std::runtime_error(std::string{bfw});
}
}
@@ -107,7 +108,7 @@ static void InitTspServer() {
namespace photon {
constexpr const units::second_t VERSION_CHECK_INTERVAL = 5_s;
constexpr const wpi::units::second_t VERSION_CHECK_INTERVAL = 5_s;
static const std::vector<std::string_view> PHOTON_PREFIX = {"/photonvision/"};
static const std::string PHOTON_ALERT_GROUP{"PhotonAlerts"};
bool PhotonCamera::VERSION_CHECK_ENABLED = true;
@@ -120,7 +121,7 @@ static const std::string TYPE_STRING =
std::string{"photonstruct:PhotonPipelineResult:"} +
std::string{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
PhotonCamera::PhotonCamera(wpi::nt::NetworkTableInstance instance,
const std::string_view cameraName)
: mainTable(instance.GetTable("photonvision")),
rootTable(mainTable->GetSubTable(cameraName)),
@@ -163,20 +164,20 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
disconnectAlert(PHOTON_ALERT_GROUP,
std::string{"PhotonCamera '"} + std::string{cameraName} +
"' is disconnected.",
frc::Alert::AlertType::kWarning),
timesyncAlert(PHOTON_ALERT_GROUP, "", frc::Alert::AlertType::kWarning) {
wpi::Alert::AlertType::kWarning),
timesyncAlert(PHOTON_ALERT_GROUP, "", wpi::Alert::AlertType::kWarning) {
verifyDependencies();
InstanceCount++;
HAL_ReportUsage("PhotonVision/PhotonCamera", InstanceCount, "");
// The Robot class is actually created here:
// https://github.com/wpilibsuite/allwpilib/blob/811b1309683e930a1ce69fae818f943ff161b7a5/wpilibc/src/main/native/include/frc/RobotBase.h#L33
// https://github.com/wpilibsuite/allwpilib/blob/811b1309683e930a1ce69fae818f943ff161b7a5/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp#L33
// so we should be fine to call this from the ctor
InitTspServer();
}
PhotonCamera::PhotonCamera(const std::string_view cameraName)
: PhotonCamera(nt::NetworkTableInstance::GetDefault(), cameraName) {}
: PhotonCamera(wpi::nt::NetworkTableInstance::GetDefault(), cameraName) {}
PhotonPipelineResult PhotonCamera::GetLatestResult() {
if (test) {
@@ -190,8 +191,8 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
VerifyVersion();
// Fill the packet with latest data and populate result.
units::microsecond_t now =
units::microsecond_t(frc::RobotController::GetFPGATime());
wpi::units::microsecond_t now =
wpi::units::microsecond_t(wpi::RobotController::GetFPGATime());
const auto value = rawBytesEntry.Get();
if (!value.size()) return PhotonPipelineResult{};
@@ -223,7 +224,7 @@ std::vector<PhotonPipelineResult> PhotonCamera::GetAllUnreadResults() {
ret.reserve(changes.size());
for (size_t i = 0; i < changes.size(); i++) {
const nt::Timestamped<std::vector<uint8_t>>& value = changes[i];
const wpi::nt::Timestamped<std::vector<uint8_t>>& value = changes[i];
if (!value.value.size() || value.time == 0) {
continue;
@@ -237,7 +238,7 @@ std::vector<PhotonPipelineResult> PhotonCamera::GetAllUnreadResults() {
// TODO: NT4 timestamps are still not to be trusted. But it's the best we
// can do until we can make time sync more reliable.
result.SetReceiveTimestamp(units::microsecond_t(value.time) -
result.SetReceiveTimestamp(wpi::units::microsecond_t(value.time) -
result.GetLatency());
ret.push_back(result);
@@ -261,11 +262,11 @@ void PhotonCamera::CheckTimeSyncOrWarn(photon::PhotonPipelineResult& result) {
timesyncAlert.SetText(warningText);
timesyncAlert.Set(true);
if (frc::Timer::GetFPGATimestamp() <
if (wpi::Timer::GetFPGATimestamp() <
(prevTimeSyncWarnTime + WARN_DEBOUNCE_SEC)) {
prevTimeSyncWarnTime = frc::Timer::GetFPGATimestamp();
prevTimeSyncWarnTime = wpi::Timer::GetFPGATimestamp();
FRC_ReportWarning(
WPILIB_ReportWarning(
warningText +
"\n\nCheck /photonvision/.timesync/{{COPROCESSOR_HOSTNAME}} for more "
"information.");
@@ -317,7 +318,7 @@ const std::string_view PhotonCamera::GetCameraName() const {
bool PhotonCamera::IsConnected() {
auto currentHeartbeat = heartbeatSubscriber.Get();
auto now = frc::Timer::GetFPGATimestamp();
auto now = wpi::Timer::GetFPGATimestamp();
if (currentHeartbeat < 0) {
// we have never heard from the camera
@@ -365,10 +366,10 @@ void PhotonCamera::VerifyVersion() {
return;
}
if ((frc::Timer::GetFPGATimestamp() - lastVersionCheckTime) <
if ((wpi::Timer::GetFPGATimestamp() - lastVersionCheckTime) <
VERSION_CHECK_INTERVAL)
return;
this->lastVersionCheckTime = frc::Timer::GetFPGATimestamp();
this->lastVersionCheckTime = wpi::Timer::GetFPGATimestamp();
const std::string& versionString = versionEntry.Get("");
if (versionString.empty()) {
@@ -376,13 +377,13 @@ void PhotonCamera::VerifyVersion() {
std::vector<std::string> cameraNames =
rootTable->GetInstance().GetTable("photonvision")->GetSubTables();
if (cameraNames.empty()) {
FRC_ReportError(frc::warn::Warning,
"Could not find any PhotonVision coprocessors on "
"NetworkTables. Double check that PhotonVision is "
"running, and that your camera is connected!");
WPILIB_ReportError(wpi::warn::Warning,
"Could not find any PhotonVision coprocessors on "
"NetworkTables. Double check that PhotonVision is "
"running, and that your camera is connected!");
} else {
FRC_ReportError(
frc::warn::Warning,
WPILIB_ReportError(
wpi::warn::Warning,
"PhotonVision coprocessor at path {} not found on NetworkTables. "
"Double check that your camera names match!",
path_);
@@ -391,8 +392,8 @@ void PhotonCamera::VerifyVersion() {
for (unsigned int i = 0; i < cameraNames.size(); i++) {
cameraNameOutString += ("\n" + cameraNames[i]);
}
FRC_ReportError(
frc::warn::Warning,
WPILIB_ReportError(
wpi::warn::Warning,
"Found the following PhotonVision cameras on NetworkTables:\n{}",
cameraNameOutString);
}
@@ -400,12 +401,12 @@ void PhotonCamera::VerifyVersion() {
std::string local_uuid{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
// implicit conversion here might throw an exception, so be careful of that
wpi::json remote_uuid_json =
wpi::util::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);
WPILIB_ReportError(
wpi::warn::Warning,
"Cannot find property message_uuid for PhotonCamera {}", path);
return;
}
std::string remote_uuid{remote_uuid_json};
@@ -429,12 +430,12 @@ void PhotonCamera::VerifyVersion() {
">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
"\n\n";
FRC_ReportWarning(bfw);
WPILIB_ReportWarning(bfw);
std::string error_str = fmt::format(
"Photonlib version {} (message definition version {}) does not match "
"coprocessor version {} (message definition version {})!",
PhotonVersion::versionString, local_uuid, versionString, remote_uuid);
FRC_ReportError(frc::err::Error, "{}", error_str);
WPILIB_ReportError(wpi::err::Error, "{}", error_str);
throw std::runtime_error(error_str);
}
}