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Upgrade to wpilib alpha-6 (#2434)

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Ryanforce08 <rradtke1208@gmail.com>
Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Sam Freund
2026-05-26 21:47:48 -04:00
committed by GitHub
parent d3de87f72b
commit e9006a2803
97 changed files with 732 additions and 1139 deletions
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15
photon-lib/py/photonlibpy/photonCamera.py
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@@ -118,13 +118,16 @@ class PhotonCamera:
)
self._prevHeartbeat = 0
self._prevHeartbeatChangeTime = Timer.getFPGATimestamp()
self._prevHeartbeatChangeTime = Timer.getMonotonicTimestamp()
# Start the time sync server
inst.start()
# Usage reporting
hal.reportUsage("PhotonVision/PhotonCamera", PhotonCamera.instance_count, "")
hal.reportUsage(
"PhotonVision/PhotonCamera", # Not 100% sure if this is correct
str(PhotonCamera.instance_count),
)
PhotonCamera.instance_count += 1
def getAllUnreadResults(self) -> List[PhotonPipelineResult]:
@@ -169,7 +172,7 @@ class PhotonCamera:
self._versionCheck()
now = RobotController.getFPGATime()
now = RobotController.getMonotonicTime()
packetWithTimestamp = self._rawBytesEntry.getAtomic()
byteList = packetWithTimestamp.value
packetWithTimestamp.time
@@ -297,7 +300,7 @@ class PhotonCamera:
"""
curHeartbeat = self._heartbeatEntry.get()
now = Timer.getFPGATimestamp()
now = Timer.getMonotonicTimestamp()
if curHeartbeat != self._prevHeartbeat:
self._prevHeartbeat = curHeartbeat
@@ -311,10 +314,10 @@ class PhotonCamera:
if not _VERSION_CHECK_ENABLED:
return
if (Timer.getFPGATimestamp() - _lastVersionTimeCheck) < 5.0:
if (Timer.getMonotonicTimestamp() - _lastVersionTimeCheck) < 5.0:
return
_lastVersionTimeCheck = Timer.getFPGATimestamp()
_lastVersionTimeCheck = Timer.getMonotonicTimestamp()
# Heartbeat entry is assumed to always be present. If it's not present, we
# assume that a camera with that name was never connected in the first place.