Add python simulation (#1532)

photon-lib/py/photonlibpy/networktables/NTTopicSet.py

@@ -0,0 +1,64 @@
+import ntcore as nt
+from wpimath.geometry import Transform3d
+
+from ..generated.PhotonPipelineResultSerde import PhotonPipelineResultSerde
+
+PhotonPipelineResult_TYPE_STRING = (
+    "photonstruct:PhotonPipelineResult:" + PhotonPipelineResultSerde.MESSAGE_VERSION
+)
+
+
+class NTTopicSet:
+
+    def __init__(self) -> None:
+        self.subTable = nt.NetworkTableInstance.getDefault()
+
+    def updateEntries(self) -> None:
+        options = nt.PubSubOptions()
+        options.periodic = 0.01
+        options.sendAll = True
+        self.rawBytesEntry = self.subTable.getRawTopic("rawBytes").publish(
+            PhotonPipelineResult_TYPE_STRING, options
+        )
+        self.rawBytesEntry.getTopic().setProperty(
+            "message_uuid", PhotonPipelineResultSerde.MESSAGE_VERSION
+        )
+        self.pipelineIndexPublisher = self.subTable.getIntegerTopic(
+            "pipelineIndexState"
+        ).publish()
+        self.pipelineIndexRequestSub = self.subTable.getIntegerTopic(
+            "pipelineIndexRequest"
+        ).subscribe(0)
+
+        self.driverModePublisher = self.subTable.getBooleanTopic("driverMode").publish()
+        self.driverModeSubscriber = self.subTable.getBooleanTopic(
+            "driverModeRequest"
+        ).subscribe(False)
+
+        self.driverModeSubscriber.getTopic().publish().setDefault(False)
+
+        self.latencyMillisEntry = self.subTable.getDoubleTopic(
+            "latencyMillis"
+        ).publish()
+        self.hasTargetEntry = self.subTable.getBooleanTopic("hasTargets").publish()
+
+        self.targetPitchEntry = self.subTable.getDoubleTopic("targetPitch").publish()
+        self.targetAreaEntry = self.subTable.getDoubleTopic("targetArea").publish()
+        self.targetYawEntry = self.subTable.getDoubleTopic("targetYaw").publish()
+        self.targetPoseEntry = self.subTable.getStructTopic(
+            "targetPose", Transform3d
+        ).publish()
+        self.targetSkewEntry = self.subTable.getDoubleTopic("targetSkew").publish()
+
+        self.bestTargetPosX = self.subTable.getDoubleTopic("targetPixelsX").publish()
+        self.bestTargetPosY = self.subTable.getDoubleTopic("targetPixelsY").publish()
+
+        self.heartbeatTopic = self.subTable.getIntegerTopic("heartbeat")
+        self.heartbeatPublisher = self.heartbeatTopic.publish()
+
+        self.cameraIntrinsicsPublisher = self.subTable.getDoubleArrayTopic(
+            "cameraIntrinsics"
+        ).publish()
+        self.cameraDistortionPublisher = self.subTable.getDoubleArrayTopic(
+            "cameraDistortion"
+        ).publish()