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[photon-targeting] Move C++ targeting classes to photon-targetting (#1009)

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* add classes to targeting and update gradle

* rename me

* Finish cleanup

* Formatting fixes

* just use common.gradle

* Update build.gradle

* Update config.gradle

* remove typo

* simplify

* Add Packet Headers

* move simulation classes into simulation folder

* draw in dependency

* fix

* Everything working minus tests cause im lazy

* formatting fixes

REMEMBER TO REMOVE UNUSED IMPORTS, IM JUST TOO LAZY TO CHECK RN

* move packet test to targeting

* Formatting fixes

* remove TargetCorner from c++

im not 100% sure but just doing std::pair<double, double> is sufficient and shouldnt conflict with protobuf

* think i added packet

* fix namespace issue

* organize imports in photon-targeting

* Formatting fixes

* remove ctors

* fix typo

* Add PNP and Multitag packet tests

* revert TargetCorner class

* Add Test placeholders

* remove annoying print

* Reorganize build and publish process

channeling inner Thad

* add targeting as flag

* Update config.gradle

* fix issue with platform binaries not building

* Update photonlib.json.in

casing still needs to be checked

* add minimum level back

* add back UTF-8 encoding of javadoc

* simplify publish model for photon-lib

* fix windows symbol generation

* formatting fixes

* move task from main gradle to config

* Update config.gradle
This commit is contained in:
Sriman Achanta
2023-11-19 15:16:22 -05:00
committed by GitHub
parent 308fd801d4
commit 994ea1e76b
50 changed files with 1132 additions and 910 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp
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@@ -24,7 +24,7 @@
#include "Robot.h"
#include <photonlib/PhotonUtils.h>
#include <photon/PhotonUtils.h>
void Robot::TeleopPeriodic() {
double forwardSpeed;
@@ -37,7 +37,7 @@ void Robot::TeleopPeriodic() {
if (result.HasTargets()) {
// First calculate range
units::meter_t range = photonlib::PhotonUtils::CalculateDistanceToTarget(
units::meter_t range = photon::PhotonUtils::CalculateDistanceToTarget(
CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
units::degree_t{result.GetBestTarget().GetPitch()});

4
photonlib-cpp-examples/aimandrange/src/main/include/Robot.h
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@@ -24,7 +24,7 @@
#pragma once
#include <photonlib/PhotonCamera.h>
#include <photon/PhotonCamera.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -60,7 +60,7 @@ class Robot : public frc::TimedRobot {
frc::PIDController turnController{ANGULAR_P, 0.0, ANGULAR_D};
// Change this to match the name of your camera
photonlib::PhotonCamera camera{"photonvision"};
photon::PhotonCamera camera{"photonvision"};
frc::XboxController xboxController{0};

4
photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
View File

@@ -24,7 +24,7 @@
#include "Robot.h"
#include <photonlib/PhotonUtils.h>
#include <photon/PhotonUtils.h>
void Robot::TeleopPeriodic() {
double forwardSpeed = -xboxController.GetRightY();
@@ -33,7 +33,7 @@ void Robot::TeleopPeriodic() {
if (xboxController.GetAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
photonlib::PhotonPipelineResult result = camera.GetLatestResult();
photon::PhotonPipelineResult result = camera.GetLatestResult();
if (result.HasTargets()) {
// Rotation speed is the output of the PID controller

4
photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
View File

@@ -24,7 +24,7 @@
#pragma once
#include <photonlib/PhotonCamera.h>
#include <photon/PhotonCamera.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -40,7 +40,7 @@ class Robot : public frc::TimedRobot {
private:
// Change this to match the name of your camera
photonlib::PhotonCamera camera{"photonvision"};
photon::PhotonCamera camera{"photonvision"};
// PID constants should be tuned per robot
frc::PIDController controller{.1, 0, 0};

12
photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h
View File

@@ -24,8 +24,8 @@
#pragma once
#include <photonlib/PhotonCamera.h>
#include <photonlib/PhotonPoseEstimator.h>
#include <photon/PhotonCamera.h>
#include <photon/PhotonPoseEstimator.h>
#include <utility>
@@ -34,12 +34,12 @@
class PhotonCameraWrapper {
public:
photonlib::PhotonPoseEstimator m_poseEstimator{
photon::PhotonPoseEstimator m_poseEstimator{
frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
photonlib::MULTI_TAG_PNP_ON_RIO,
std::move(photonlib::PhotonCamera{"WPI2023"}), frc::Transform3d{}};
photon::MULTI_TAG_PNP_ON_RIO, std::move(photon::PhotonCamera{"WPI2023"}),
frc::Transform3d{}};
inline std::optional<photonlib::EstimatedRobotPose> Update(
inline std::optional<photon::EstimatedRobotPose> Update(
frc::Pose2d estimatedPose) {
m_poseEstimator.SetReferencePose(frc::Pose3d(estimatedPose));
return m_poseEstimator.Update();

2
photonlib-cpp-examples/apriltagExample/src/main/include/Robot.h
View File

@@ -24,7 +24,7 @@
#pragma once
#include <photonlib/PhotonCamera.h>
#include <photon/PhotonCamera.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>

6
photonlib-cpp-examples/getinrange/src/main/cpp/Robot.cpp
View File

@@ -24,7 +24,7 @@
#include "Robot.h"
#include <photonlib/PhotonUtils.h>
#include <photon/PhotonUtils.h>
void Robot::TeleopPeriodic() {
double forwardSpeed;
@@ -33,11 +33,11 @@ void Robot::TeleopPeriodic() {
if (xboxController.GetAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
photonlib::PhotonPipelineResult result = camera.GetLatestResult();
photon::PhotonPipelineResult result = camera.GetLatestResult();
if (result.HasTargets()) {
// First calculate range
units::meter_t range = photonlib::PhotonUtils::CalculateDistanceToTarget(
units::meter_t range = photon::PhotonUtils::CalculateDistanceToTarget(
CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
units::degree_t{result.GetBestTarget().GetPitch()});

4
photonlib-cpp-examples/getinrange/src/main/include/Robot.h
View File

@@ -24,7 +24,7 @@
#pragma once
#include <photonlib/PhotonCamera.h>
#include <photon/PhotonCamera.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -56,7 +56,7 @@ class Robot : public frc::TimedRobot {
frc::PIDController controller{P_GAIN, 0.0, D_GAIN};
// Change this to match the name of your camera
photonlib::PhotonCamera camera{"photonvision"};
photon::PhotonCamera camera{"photonvision"};
frc::XboxController xboxController{0};