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Add message UUID and type names to hash and message defintion (#1409)

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This commit is contained in:
Matt
2024-09-22 22:27:13 -04:00
committed by GitHub
parent 360298cc24
commit f33218c49c
43 changed files with 605 additions and 190 deletions
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14
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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@@ -17,6 +17,7 @@
package org.photonvision.common.dataflow.networktables;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEvent;
import edu.wpi.first.util.WPIUtilJNI;
@@ -159,16 +160,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
ts.targetSkewEntry.set(bestTarget.getSkew());
var pose = bestTarget.getBestCameraToTarget3d();
ts.targetPoseEntry.set(
new double[] {
pose.getTranslation().getX(),
pose.getTranslation().getY(),
pose.getTranslation().getZ(),
pose.getRotation().getQuaternion().getW(),
pose.getRotation().getQuaternion().getX(),
pose.getRotation().getQuaternion().getY(),
pose.getRotation().getQuaternion().getZ()
});
ts.targetPoseEntry.set(pose);
var targetOffsetPoint = bestTarget.getTargetOffsetPoint();
ts.bestTargetPosX.set(targetOffsetPoint.x);
@@ -178,7 +170,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
ts.targetYawEntry.set(0);
ts.targetAreaEntry.set(0);
ts.targetSkewEntry.set(0);
ts.targetPoseEntry.set(new double[] {0, 0, 0});
ts.targetPoseEntry.set(new Transform3d());
ts.bestTargetPosX.set(0);
ts.bestTargetPosY.set(0);
}