mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
2ecd988628
Allows logging software and live data view to see results. Also removes the requirement for AScope to keep up with the packet serde schema and instead just use the Protobuf descriptor.
135 lines
4.2 KiB
C++
135 lines
4.2 KiB
C++
/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <span>
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#include <string>
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#include <frc/Errors.h>
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#include <units/time.h>
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#include <wpi/SmallVector.h>
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#include "MultiTargetPNPResult.h"
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#include "PhotonTrackedTarget.h"
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#include "photon/dataflow/structures/Packet.h"
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namespace photon {
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/**
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* Represents a pipeline result from a PhotonCamera.
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*/
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class PhotonPipelineResult {
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public:
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/**
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* Constructs an empty pipeline result
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*/
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PhotonPipelineResult() = default;
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/**
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* Constructs a pipeline result.
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* @param latency The latency in the pipeline.
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* @param targets The list of targets identified by the pipeline.
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*/
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PhotonPipelineResult(units::millisecond_t latency,
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std::span<const PhotonTrackedTarget> targets);
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/**
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* Constructs a pipeline result.
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* @param latency The latency in the pipeline.
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* @param targets The list of targets identified by the pipeline.
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* @param multitagResult The multitarget result
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*/
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PhotonPipelineResult(units::millisecond_t latency,
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std::span<const PhotonTrackedTarget> targets,
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MultiTargetPNPResult multitagResult);
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/**
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* Returns the best target in this pipeline result. If there are no targets,
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* this method will return null. The best target is determined by the target
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* sort mode in the PhotonVision UI.
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*
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* @return The best target of the pipeline result.
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*/
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PhotonTrackedTarget GetBestTarget() const {
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if (!HasTargets() && !HAS_WARNED) {
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FRC_ReportError(
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frc::warn::Warning, "{}",
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"This PhotonPipelineResult object has no targets associated with it! "
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"Please check HasTargets() before calling this method. For more "
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"information, please review the PhotonLib documentation at "
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"http://docs.photonvision.org");
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HAS_WARNED = true;
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}
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return HasTargets() ? targets[0] : PhotonTrackedTarget();
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}
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/**
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* Returns the latency in the pipeline.
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* @return The latency in the pipeline.
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*/
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units::millisecond_t GetLatency() const { return latency; }
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/**
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* Returns the estimated time the frame was taken,
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* This is much more accurate than using GetLatency()
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* @return The timestamp in seconds or -1 if this result was not initiated
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* with a timestamp.
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*/
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units::second_t GetTimestamp() const { return timestamp; }
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/**
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* Return the latest mulit-target result, as calculated on your coprocessor.
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* Be sure to check getMultiTagResult().estimatedPose.isPresent before using
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* the pose estimate!
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*/
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const MultiTargetPNPResult& MultiTagResult() const { return multitagResult; }
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/**
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* Sets the timestamp in seconds
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* @param timestamp The timestamp in seconds
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*/
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void SetTimestamp(const units::second_t timestamp) {
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this->timestamp = timestamp;
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}
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/**
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* Returns whether the pipeline has targets.
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* @return Whether the pipeline has targets.
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*/
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bool HasTargets() const { return targets.size() > 0; }
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/**
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* Returns a reference to the vector of targets.
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* @return A reference to the vector of targets.
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*/
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const std::span<const PhotonTrackedTarget> GetTargets() const {
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return targets;
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}
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bool operator==(const PhotonPipelineResult& other) const;
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friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
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friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
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units::millisecond_t latency = 0_s;
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units::second_t timestamp = -1_s;
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wpi::SmallVector<PhotonTrackedTarget, 10> targets;
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MultiTargetPNPResult multitagResult;
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inline static bool HAS_WARNED = false;
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};
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} // namespace photon
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