Examples Clean-Up (#1408)

photonlib-cpp-examples/aimandrange/src/main/include/VisionSim.h

@@ -0,0 +1,87 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <photon/PhotonCamera.h>
+#include <photon/PhotonPoseEstimator.h>
+#include <photon/estimation/VisionEstimation.h>
+#include <photon/simulation/VisionSystemSim.h>
+#include <photon/simulation/VisionTargetSim.h>
+#include <photon/targeting/PhotonPipelineResult.h>
+
+#include <limits>
+#include <memory>
+
+#include <frc/apriltag/AprilTagFieldLayout.h>
+#include <frc/apriltag/AprilTagFields.h>
+
+#include "Constants.h"
+
+class VisionSim {
+ public:
+  explicit VisionSim(photon::PhotonCamera* camera) {
+    if (frc::RobotBase::IsSimulation()) {
+      visionSim = std::make_unique<photon::VisionSystemSim>("main");
+
+      visionSim->AddAprilTags(constants::Vision::kTagLayout);
+
+      cameraProp = std::make_unique<photon::SimCameraProperties>();
+
+      cameraProp->SetCalibration(320, 240, frc::Rotation2d{90_deg});
+      cameraProp->SetCalibError(.35, .10);
+      cameraProp->SetFPS(70_Hz);
+      cameraProp->SetAvgLatency(30_ms);
+      cameraProp->SetLatencyStdDev(15_ms);
+
+      cameraSim =
+          std::make_shared<photon::PhotonCameraSim>(camera, *cameraProp.get());
+
+      visionSim->AddCamera(cameraSim.get(), constants::Vision::kRobotToCam);
+      cameraSim->EnableDrawWireframe(true);
+    }
+  }
+
+  photon::PhotonPipelineResult GetLatestResult() { return m_latestResult; }
+
+  void SimPeriodic(frc::Pose2d robotSimPose) {
+    visionSim->Update(robotSimPose);
+  }
+
+  void ResetSimPose(frc::Pose2d pose) {
+    if (frc::RobotBase::IsSimulation()) {
+      visionSim->ResetRobotPose(pose);
+    }
+  }
+
+  frc::Field2d& GetSimDebugField() { return visionSim->GetDebugField(); }
+
+ private:
+  std::unique_ptr<photon::VisionSystemSim> visionSim;
+  std::unique_ptr<photon::SimCameraProperties> cameraProp;
+  std::shared_ptr<photon::PhotonCameraSim> cameraSim;
+
+  // The most recent result, cached for calculating std devs
+  photon::PhotonPipelineResult m_latestResult;
+};