The following deprecation warnings have been fixed:
- `SwerveModuleState.optimize(desiredState, currentRotation);`, which is
now an instance method
- `AprilTagFields.kDefaultField.loadAprilTagLayoutField();`, which is
now `AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);`
WIP:
- [x] C++
- [x] Python
Selective builds breaks my ability to require that checks pass before
merging. It's not worth the bite for very few docs-only PRs, given
github limitations on needing to skip INDIVIDUAL JOB STEPS on required
CI jobs.
Maybe we should move to gitlab 💀
Occasionally, the sim projects are capable of simulating current draw of
over 600A, which triggers a condition in
`BatterySim::calculateDefaultBatteryLoadedVoltage` that limits the
minimum measured battery voltage to 0V (to prevent it from going
negative).
When battery voltage measures 0, this causes NaN values to propagate
through the drivetrain model, making sim inoperable. Specifically, [this
is the
line](https://github.com/PhotonVision/photonvision/blob/master/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java#L452)
that causes the initial NaN values in simulation.
This PR is posed as a patch to ensure that simulation doesn't break.
Fixes#1564. Also copies vendordep JSONs to the examples as advised by
Thad. Removes unused shared/javacpp/setupBuild.gradle. Also removes
unnecessary `chmod +x gradlew` from CI workflows.
### What does this do?
- Deprecates previous sim classes
- Has a `CameraProperties` class for describing a camera's basic/calibration info, and performance values for simulation. Calibration values can be loaded from the `config.json` in the settings exported by photonvision.
- `OpenCVHelp` provides convenience functions for using opencv methods with wpilib/photonvision classes, mainly to project 3d points to a camera's 2d image and perform solvePnP with the above camera calibration info.
- `TargetModel`s describe the 3d shape of a target, both for projecting into the camera's 2d image and use in solvePnP.
- `PhotonCameraSim` uses camera properties to simulate how 3d targets would appear in its view, and has simulated noise, latency, and FPS. For apriltags, the best/alternate camera-to-target transform is also estimated with solvePnP.
- `VideoSimUtil` has helper functions for drawing apriltags to a simulated raw and processed MJPEG stream for each camera using the projected tag corners.
- `VisionSystemSim` stores `VisionTargetSim`s and `PhotonCameraSim`s, and is periodically updated with the robot's simulated pose. When updating, camera sims are automatically processed and published with their visible targets from their respective poses with proper latency.
### What's still not working?
- Mac Arm builds are broken
- More examples
- Update website/docs
This adds a regex that ignores cameras if they match it, for if you have another piece of software running that needs a second camera, or if you have a webcam in your laptop that cscore hates.
