Update to wpilib 2023 beta 7 (#607)

We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.

photon-lib/src/main/native/include/photonlib/Packet.h

@@ -46,7 +46,7 @@ class Packet {
    * Constructs a packet with the given data.
    * @param data The packet data.
    */
-  explicit Packet(std::vector<char> data) : packetData(data) {}
+  explicit Packet(std::vector<uint8_t> data) : packetData(data) {}
 
   /**
    * Clears the packet and resets the read and write positions.
@@ -61,7 +61,7 @@ class Packet {
    * Returns the packet data.
    * @return The packet data.
    */
-  const std::vector<char>& GetData() { return packetData; }
+  const std::vector<uint8_t>& GetData() { return packetData; }
 
   /**
    * Returns the number of bytes in the data.
@@ -105,7 +105,7 @@ class Packet {
       if constexpr (wpi::support::endian::system_endianness() ==
                     wpi::support::endianness::little) {
         // Reverse to little endian for host.
-        char& raw = reinterpret_cast<char&>(value);
+        uint8_t& raw = reinterpret_cast<uint8_t&>(value);
         std::reverse(&raw, &raw + sizeof(T));
       }
     }
@@ -121,7 +121,7 @@ class Packet {
 
  private:
   // Data stored in the packet
-  std::vector<char> packetData;
+  std::vector<uint8_t> packetData;
 
   size_t readPos = 0;
   size_t writePos = 0;

photon-lib/src/main/native/include/photonlib/PhotonCamera.h

@@ -27,9 +27,13 @@
 #include <memory>
 #include <string>
 
+#include <networktables/BooleanTopic.h>
+#include <networktables/DoubleTopic.h>
+#include <networktables/IntegerTopic.h>
 #include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableInstance.h>
+#include <networktables/RawTopic.h>
+#include <networktables/StringTopic.h>
 #include <units/time.h>
 #include <wpi/deprecated.h>
 
@@ -146,13 +150,17 @@ class PhotonCamera {
  protected:
   std::shared_ptr<nt::NetworkTable> mainTable;
   std::shared_ptr<nt::NetworkTable> rootTable;
-  nt::NetworkTableEntry rawBytesEntry;
-  nt::NetworkTableEntry driverModeEntry;
-  nt::NetworkTableEntry inputSaveImgEntry;
-  nt::NetworkTableEntry outputSaveImgEntry;
-  nt::NetworkTableEntry pipelineIndexEntry;
-  nt::NetworkTableEntry ledModeEntry;
-  nt::NetworkTableEntry versionEntry;
+  nt::RawSubscriber rawBytesEntry;
+  nt::BooleanPublisher driverModeEntry;
+  nt::BooleanPublisher inputSaveImgEntry;
+  nt::BooleanPublisher outputSaveImgEntry;
+  nt::IntegerPublisher pipelineIndexEntry;
+  nt::IntegerPublisher ledModeEntry;
+  nt::StringSubscriber versionEntry;
+
+  nt::BooleanSubscriber driverModeSubscriber;
+  nt::IntegerSubscriber pipelineIndexSubscriber;
+  nt::IntegerSubscriber ledModeSubscriber;
 
   std::string path;
 

photon-lib/src/main/native/include/photonlib/PhotonPipelineResult.h

@@ -24,12 +24,12 @@
 
 #pragma once
 
+#include <span>
 #include <string>
 
 #include <frc/Errors.h>
 #include <units/time.h>
 #include <wpi/SmallVector.h>
-#include <wpi/span.h>
 
 #include "photonlib/Packet.h"
 #include "photonlib/PhotonTrackedTarget.h"
@@ -51,7 +51,7 @@ class PhotonPipelineResult {
    * @param targets The list of targets identified by the pipeline.
    */
   PhotonPipelineResult(units::second_t latency,
-                       wpi::span<const PhotonTrackedTarget> targets);
+                       std::span<const PhotonTrackedTarget> targets);
 
   /**
    * Returns the best target in this pipeline result. If there are no targets,
@@ -105,7 +105,7 @@ class PhotonPipelineResult {
    * Returns a reference to the vector of targets.
    * @return A reference to the vector of targets.
    */
-  const wpi::span<const PhotonTrackedTarget> GetTargets() const {
+  const std::span<const PhotonTrackedTarget> GetTargets() const {
     return targets;
   }
 

photon-lib/src/main/native/include/photonlib/PhotonTrackedTarget.h

@@ -83,6 +83,12 @@ class PhotonTrackedTarget {
    */
   double GetSkew() const { return skew; }
 
+  /**
+   * Get the Fiducial ID of the target currently being tracked,
+   * or -1 if not set.
+   */
+  double GetFiducialId() const { return fiducialId; }
+
   /**
    * Returns the corners of the minimum area rectangle bounding this target.
    */

photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h

@@ -47,6 +47,7 @@ class SimPhotonCamera : public PhotonCamera {
     targetAreaEntry = rootTable->GetEntry("targetAreaEntry");
     targetSkewEntry = rootTable->GetEntry("targetSkewEntry");
     targetPoseEntry = rootTable->GetEntry("targetPoseEntry");
+    rawBytesPublisher = rootTable->GetRawTopic("rawBytes").Publish("raw");
     versionEntry = instance->GetTable("photonvision")->GetEntry("version");
     // versionEntry.SetString(PhotonVersion.versionString);
   }
@@ -86,10 +87,9 @@ class SimPhotonCamera : public PhotonCamera {
     PhotonPipelineResult newResult{latency, targetList};
     Packet packet{};
     packet << newResult;
-    rawBytesEntry.SetRaw(
-        std::string_view{packet.GetData().data(), packet.GetDataSize()});
 
-    std::string rawBytesGet = rawBytesEntry.GetRaw("ohono");
+    rawBytesPublisher.Set(
+        std::span{packet.GetData().data(), packet.GetDataSize()});
 
     bool hasTargets = newResult.HasTargets();
     hasTargetEntry.SetBoolean(hasTargets);
@@ -97,7 +97,8 @@ class SimPhotonCamera : public PhotonCamera {
       targetPitchEntry.SetDouble(0.0);
       targetYawEntry.SetDouble(0.0);
       targetAreaEntry.SetDouble(0.0);
-      targetPoseEntry.SetDoubleArray({0.0, 0.0, 0.0});
+      targetPoseEntry.SetDoubleArray(
+          std::vector<double>{0.0, 0.0, 0.0, 0, 0, 0, 0});
       targetSkewEntry.SetDouble(0.0);
     } else {
       PhotonTrackedTarget bestTarget = newResult.GetBestTarget();
@@ -107,9 +108,12 @@ class SimPhotonCamera : public PhotonCamera {
       targetSkewEntry.SetDouble(bestTarget.GetSkew());
 
       frc::Transform3d transform = bestTarget.GetBestCameraToTarget();
-      targetPoseEntry.SetDoubleArray(
-          {transform.X().to<double>(), transform.Y().to<double>(),
-           transform.Rotation().ToRotation2d().Degrees().to<double>()});
+      targetPoseEntry.SetDoubleArray(std::vector<double>{
+          transform.X().to<double>(), transform.Y().to<double>(),
+          transform.Z().to<double>(), transform.Rotation().GetQuaternion().W(),
+          transform.Rotation().GetQuaternion().X(),
+          transform.Rotation().GetQuaternion().Y(),
+          transform.Rotation().GetQuaternion().Z()});
     }
   }
 
@@ -122,5 +126,6 @@ class SimPhotonCamera : public PhotonCamera {
   nt::NetworkTableEntry targetSkewEntry;
   nt::NetworkTableEntry targetPoseEntry;
   nt::NetworkTableEntry versionEntry;
+  nt::RawPublisher rawBytesPublisher;
 };
 }  // namespace photonlib