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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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8
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -32,6 +32,7 @@ import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.util.PixelFormat;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.RobotController;
@@ -588,7 +589,7 @@ public class PhotonCameraSim implements AutoCloseable {
ts.targetPitchEntry.set(0.0, receiveTimestamp);
ts.targetYawEntry.set(0.0, receiveTimestamp);
ts.targetAreaEntry.set(0.0, receiveTimestamp);
ts.targetPoseEntry.set(new double[] {0.0, 0.0, 0.0}, receiveTimestamp);
ts.targetPoseEntry.set(new Transform3d(), receiveTimestamp);
ts.targetSkewEntry.set(0.0, receiveTimestamp);
} else {
var bestTarget = result.getBestTarget();
@@ -599,10 +600,7 @@ public class PhotonCameraSim implements AutoCloseable {
ts.targetSkewEntry.set(bestTarget.getSkew(), receiveTimestamp);
var transform = bestTarget.getBestCameraToTarget();
double[] poseData = {
transform.getX(), transform.getY(), transform.getRotation().toRotation2d().getDegrees()
};
ts.targetPoseEntry.set(poseData, receiveTimestamp);
ts.targetPoseEntry.set(transform, receiveTimestamp);
}
ts.cameraIntrinsicsPublisher.set(prop.getIntrinsics().getData(), receiveTimestamp);