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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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photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java Normal file
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.networktables;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.BooleanTopic;
import edu.wpi.first.networktables.DoubleArrayPublisher;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
import edu.wpi.first.networktables.IntegerTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.RawPublisher;
/**
* This class is a wrapper around all per-pipeline NT topics that PhotonVision should be publishing
* It's split here so the sim and real-camera implementations can share a common implementation of
* the naming and registration of the NT content.
*
* <p>However, we do expect that the actual logic which fills out values in the entries will be
* different for sim vs. real camera
*/
public class NTTopicSet {
public NetworkTable subTable;
public RawPublisher rawBytesEntry;
public IntegerTopic pipelineIndexTopic;
public IntegerPublisher pipelineIndexPublisher;
public IntegerSubscriber pipelineIndexSubscriber;
public BooleanTopic driverModeEntry;
public BooleanPublisher driverModePublisher;
public BooleanSubscriber driverModeSubscriber;
public DoublePublisher latencyMillisEntry;
public BooleanPublisher hasTargetEntry;
public DoublePublisher targetPitchEntry;
public DoublePublisher targetYawEntry;
public DoublePublisher targetAreaEntry;
public DoubleArrayPublisher targetPoseEntry;
public DoublePublisher targetSkewEntry;
// The raw position of the best target, in pixels.
public DoublePublisher bestTargetPosX;
public DoublePublisher bestTargetPosY;
// Heartbeat
public IntegerTopic heartbeatTopic;
public IntegerPublisher heartbeatPublisher;
public void updateEntries() {
rawBytesEntry = subTable.getRawTopic("rawBytes").publish("rawBytes");
pipelineIndexTopic = subTable.getIntegerTopic("pipelineIndex");
pipelineIndexPublisher = pipelineIndexTopic.publish();
pipelineIndexSubscriber = pipelineIndexTopic.subscribe(0);
driverModeEntry = subTable.getBooleanTopic("driverMode");
driverModePublisher = driverModeEntry.publish();
driverModeSubscriber = driverModeEntry.subscribe(false);
latencyMillisEntry = subTable.getDoubleTopic("latencyMillis").publish();
hasTargetEntry = subTable.getBooleanTopic("hasTarget").publish();
targetPitchEntry = subTable.getDoubleTopic("targetPitch").publish();
targetAreaEntry = subTable.getDoubleTopic("targetArea").publish();
targetYawEntry = subTable.getDoubleTopic("targetYaw").publish();
targetPoseEntry = subTable.getDoubleArrayTopic("targetPose").publish();
targetSkewEntry = subTable.getDoubleTopic("targetSkew").publish();
bestTargetPosX = subTable.getDoubleTopic("targetPixelsX").publish();
bestTargetPosY = subTable.getDoubleTopic("targetPixelsY").publish();
heartbeatTopic = subTable.getIntegerTopic("heartbeat");
heartbeatPublisher = heartbeatTopic.publish();
}
@SuppressWarnings("DuplicatedCode")
public void removeEntries() {
if (rawBytesEntry != null) rawBytesEntry.close();
if (pipelineIndexPublisher != null) pipelineIndexPublisher.close();
if (pipelineIndexSubscriber != null) pipelineIndexSubscriber.close();
if (driverModePublisher != null) driverModePublisher.close();
if (driverModeSubscriber != null) driverModeSubscriber.close();
if (latencyMillisEntry != null) latencyMillisEntry.close();
if (hasTargetEntry != null) hasTargetEntry.close();
if (targetPitchEntry != null) targetPitchEntry.close();
if (targetAreaEntry != null) targetAreaEntry.close();
if (targetYawEntry != null) targetYawEntry.close();
if (targetPoseEntry != null) targetPoseEntry.close();
if (targetSkewEntry != null) targetSkewEntry.close();
if (bestTargetPosX != null) bestTargetPosX.close();
if (bestTargetPosY != null) bestTargetPosY.close();
}
}