mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
1d8d934a8a
I found these with a quick find-and-replace and checked against the inbuilt Python type checking. I am away from my robot and can't really confirm there are no flow-on effects. There are no other active usages of the bad casing in the Python code, so we should be good. The generated serde messages already use this casing, so we don't need to update there.
70 lines
2.4 KiB
Python
70 lines
2.4 KiB
Python
from dataclasses import dataclass, field
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from typing import Optional
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from .multiTargetPNPResult import MultiTargetPNPResult
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from .photonTrackedTarget import PhotonTrackedTarget
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@dataclass
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class PhotonPipelineMetadata:
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# Image capture and NT publish timestamp, in microseconds and in the coprocessor timebase. As
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# reported by WPIUtilJNI::now.
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captureTimestampMicros: int = -1
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publishTimestampMicros: int = -1
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# Mirror of the heartbeat entry -- monotonically increasing
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sequenceID: int = -1
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timeSinceLastPong: int = -1
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photonStruct: "PhotonPipelineMetadataSerde" = None
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@dataclass
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class PhotonPipelineResult:
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# Since we don't trust NT time sync, keep track of when we got this packet into robot code
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ntReceiveTimestampMicros: int = -1
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targets: list[PhotonTrackedTarget] = field(default_factory=list)
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# Python users beware! We don't currently run a Time Sync Server, so these timestamps are in
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# an arbitrary timebase. This is not true in C++ or Java.
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metadata: PhotonPipelineMetadata = field(default_factory=PhotonPipelineMetadata)
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multitagResult: Optional[MultiTargetPNPResult] = None
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def getLatencyMillis(self) -> float:
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return (
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self.metadata.publishTimestampMicros - self.metadata.captureTimestampMicros
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) / 1e3
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def getTimestampSeconds(self) -> float:
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"""
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Returns the estimated time the frame was taken, in the Received system's time base. This is
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calculated as (NT Receive time (robot base) - (publish timestamp, coproc timebase - capture
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timestamp, coproc timebase))
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"""
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# TODO - we don't trust NT4 to correctly latency-compensate ntReceiveTimestampMicros
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return (
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self.ntReceiveTimestampMicros
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- (
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self.metadata.publishTimestampMicros
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- self.metadata.captureTimestampMicros
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)
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) / 1e6
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def getTargets(self) -> list[PhotonTrackedTarget]:
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return self.targets
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def hasTargets(self) -> bool:
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return len(self.targets) > 0
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def getBestTarget(self) -> PhotonTrackedTarget:
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"""
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Returns the best target in this pipeline result. If there are no targets, this method will
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return null. The best target is determined by the target sort mode in the PhotonVision UI.
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"""
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if not self.hasTargets():
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return None
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return self.getTargets()[0]
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photonStruct: "PhotonPipelineResultSerde" = None
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