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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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50
photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
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@@ -38,13 +38,20 @@ PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName)
: mainTable(instance->GetTable("photonvision")),
rootTable(mainTable->GetSubTable(cameraName)),
rawBytesEntry(rootTable->GetEntry("rawBytes")),
driverModeEntry(rootTable->GetEntry("driverMode")),
inputSaveImgEntry(rootTable->GetEntry("inputSaveImgCmd")),
outputSaveImgEntry(rootTable->GetEntry("outputSaveImgCmd")),
pipelineIndexEntry(rootTable->GetEntry("pipelineIndex")),
ledModeEntry(mainTable->GetEntry("ledMode")),
versionEntry(mainTable->GetEntry("version")),
rawBytesEntry(rootTable->GetRawTopic("rawBytes").Subscribe("raw", {})),
driverModeEntry(rootTable->GetBooleanTopic("driverMode").Publish()),
inputSaveImgEntry(
rootTable->GetBooleanTopic("inputSaveImgCmd").Publish()),
outputSaveImgEntry(
rootTable->GetBooleanTopic("outputSaveImgCmd").Publish()),
pipelineIndexEntry(rootTable->GetIntegerTopic("pipelineIndex").Publish()),
ledModeEntry(mainTable->GetIntegerTopic("ledMode").Publish()),
versionEntry(mainTable->GetStringTopic("version").Subscribe("")),
driverModeSubscriber(
rootTable->GetBooleanTopic("driverMode").Subscribe(false)),
pipelineIndexSubscriber(
rootTable->GetIntegerTopic("pipelineIndex").Subscribe(-1)),
ledModeSubscriber(mainTable->GetIntegerTopic("ledMode").Subscribe(0)),
path(rootTable->GetPath()) {}
PhotonCamera::PhotonCamera(const std::string& cameraName)
@@ -63,13 +70,10 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
PhotonPipelineResult result;
// Fill the packet with latest data and populate result.
std::shared_ptr<nt::Value> ntvalue = rawBytesEntry.GetValue();
if (!ntvalue) return result;
const auto value = rawBytesEntry.Get();
if (!value.size()) return result;
std::string value{ntvalue->GetRaw()};
std::vector<char> bytes{value.begin(), value.end()};
photonlib::Packet packet{bytes};
photonlib::Packet packet{value};
packet >> result;
@@ -80,31 +84,29 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
}
void PhotonCamera::SetDriverMode(bool driverMode) {
driverModeEntry.SetBoolean(driverMode);
driverModeEntry.Set(driverMode);
}
void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.SetBoolean(true); }
void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.Set(true); }
void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.SetBoolean(true); }
void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.Set(true); }
bool PhotonCamera::GetDriverMode() const {
return driverModeEntry.GetBoolean(false);
}
bool PhotonCamera::GetDriverMode() const { return driverModeSubscriber.Get(); }
void PhotonCamera::SetPipelineIndex(int index) {
pipelineIndexEntry.SetDouble(static_cast<double>(index));
pipelineIndexEntry.Set(static_cast<double>(index));
}
int PhotonCamera::GetPipelineIndex() const {
return static_cast<int>(pipelineIndexEntry.GetDouble(0));
return static_cast<int>(pipelineIndexSubscriber.Get());
}
LEDMode PhotonCamera::GetLEDMode() const {
return static_cast<LEDMode>(static_cast<int>(ledModeEntry.GetDouble(-1.0)));
return static_cast<LEDMode>(static_cast<int>(ledModeSubscriber.Get()));
}
void PhotonCamera::SetLEDMode(LEDMode mode) {
ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
ledModeEntry.Set(static_cast<double>(static_cast<int>(mode)));
}
void PhotonCamera::VerifyVersion() {
@@ -115,7 +117,7 @@ void PhotonCamera::VerifyVersion() {
return;
this->lastVersionCheckTime = frc::Timer::GetFPGATimestamp();
const std::string& versionString = versionEntry.GetString("");
const std::string& versionString = versionEntry.Get("");
if (versionString.empty()) {
std::string path_ = path;
FRC_ReportError(