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Update to wpilib 2023 beta 7 (#607)

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We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.
This commit is contained in:
shueja-personal
2022-12-16 17:05:23 -08:00
committed by GitHub
parent da1aabae3a
commit bb63af601d
198 changed files with 6339 additions and 4525 deletions
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65
photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
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@@ -24,25 +24,18 @@
package org.photonvision;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.Arrays;
import java.util.List;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.networktables.NTTopicSet;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
@SuppressWarnings("unused")
public class SimPhotonCamera extends PhotonCamera {
private final NetworkTableEntry latencyMillisEntry;
private final NetworkTableEntry hasTargetEntry;
private final NetworkTableEntry targetPitchEntry;
private final NetworkTableEntry targetYawEntry;
private final NetworkTableEntry targetAreaEntry;
private final NetworkTableEntry targetSkewEntry;
private final NetworkTableEntry targetPoseEntry;
private final NetworkTableEntry versionEntry;
public class SimPhotonCamera {
NTTopicSet ts = new NTTopicSet();
PhotonPipelineResult latestResult;
/**
* Constructs a Simulated PhotonCamera from a root table.
*
@@ -52,21 +45,9 @@ public class SimPhotonCamera extends PhotonCamera {
* @param cameraName The name of the camera, as seen in the UI.
*/
public SimPhotonCamera(NetworkTableInstance instance, String cameraName) {
super(instance, cameraName);
latencyMillisEntry = rootTable.getEntry("latencyMillis");
hasTargetEntry = rootTable.getEntry("hasTargetEntry");
targetPitchEntry = rootTable.getEntry("targetPitchEntry");
targetYawEntry = rootTable.getEntry("targetYawEntry");
targetAreaEntry = rootTable.getEntry("targetAreaEntry");
targetSkewEntry = rootTable.getEntry("targetSkewEntry");
targetPoseEntry = rootTable.getEntry("targetPoseEntry");
// The versionEntry is stored under the main table of <instance>/photonvision
versionEntry = instance.getTable("photonvision").getEntry("version");
// Sets the version string so that it will always match the current version
versionEntry.setString(PhotonVersion.versionString);
ts.removeEntries();
ts.subTable = instance.getTable("/photonvision").getSubTable(cameraName);
ts.updateEntries();
}
/**
@@ -119,7 +100,7 @@ public class SimPhotonCamera extends PhotonCamera {
*/
public void submitProcessedFrame(
double latencyMillis, PhotonTargetSortMode sortMode, List<PhotonTrackedTarget> targetList) {
latencyMillisEntry.setDouble(latencyMillis);
ts.latencyMillisEntry.set(latencyMillis);
if (sortMode != null) {
targetList.sort(sortMode.getComparator());
@@ -128,29 +109,35 @@ public class SimPhotonCamera extends PhotonCamera {
PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList);
var newPacket = new Packet(newResult.getPacketSize());
newResult.populatePacket(newPacket);
rawBytesEntry.setRaw(newPacket.getData());
ts.rawBytesEntry.set(newPacket.getData());
boolean hasTargets = newResult.hasTargets();
hasTargetEntry.setBoolean(hasTargets);
ts.hasTargetEntry.set(hasTargets);
if (!hasTargets) {
targetPitchEntry.setDouble(0.0);
targetYawEntry.setDouble(0.0);
targetAreaEntry.setDouble(0.0);
targetPoseEntry.setDoubleArray(new double[] {0.0, 0.0, 0.0});
targetSkewEntry.setDouble(0.0);
ts.targetPitchEntry.set(0.0);
ts.targetYawEntry.set(0.0);
ts.targetAreaEntry.set(0.0);
ts.targetPoseEntry.set(new double[] {0.0, 0.0, 0.0});
ts.targetSkewEntry.set(0.0);
} else {
var bestTarget = newResult.getBestTarget();
targetPitchEntry.setDouble(bestTarget.getPitch());
targetYawEntry.setDouble(bestTarget.getYaw());
targetAreaEntry.setDouble(bestTarget.getArea());
targetSkewEntry.setDouble(bestTarget.getSkew());
ts.targetPitchEntry.set(bestTarget.getPitch());
ts.targetYawEntry.set(bestTarget.getYaw());
ts.targetAreaEntry.set(bestTarget.getArea());
ts.targetSkewEntry.set(bestTarget.getSkew());
var transform = bestTarget.getBestCameraToTarget();
double[] poseData = {
transform.getX(), transform.getY(), transform.getRotation().toRotation2d().getDegrees()
};
targetPoseEntry.setDoubleArray(poseData);
ts.targetPoseEntry.set(poseData);
}
latestResult = newResult;
}
PhotonPipelineResult getLatestResult() {
return latestResult;
}
}