mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
e9006a2803
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Ryanforce08 <rradtke1208@gmail.com> Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com> Co-authored-by: Jade Turner <spacey-sooty@proton.me> Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
89 lines
3.4 KiB
Python
89 lines
3.4 KiB
Python
import ntcore as nt
|
|
from wpimath import Transform3d
|
|
|
|
from ..generated.PhotonPipelineResultSerde import PhotonPipelineResultSerde
|
|
|
|
PhotonPipelineResult_TYPE_STRING = (
|
|
"photonstruct:PhotonPipelineResult:" + PhotonPipelineResultSerde.MESSAGE_VERSION
|
|
)
|
|
|
|
|
|
class NTTopicSet:
|
|
"""This class is a wrapper around all per-pipeline NT topics that PhotonVision should be publishing
|
|
It's split here so the sim and real-camera implementations can share a common implementation of
|
|
the naming and registration of the NT content.
|
|
|
|
However, we do expect that the actual logic which fills out values in the entries will be
|
|
different for sim vs. real camera
|
|
"""
|
|
|
|
def __init__(
|
|
self,
|
|
ntSubTable: nt.NetworkTable,
|
|
) -> None:
|
|
self.subTable = ntSubTable
|
|
|
|
def updateEntries(self) -> None:
|
|
options = nt.PubSubOptions()
|
|
options.periodic = 0.01
|
|
options.sendAll = True
|
|
self.rawBytesEntry = self.subTable.getRawTopic("rawBytes").publish(
|
|
PhotonPipelineResult_TYPE_STRING, options
|
|
)
|
|
self.rawBytesEntry.getTopic().setProperty(
|
|
"message_uuid", PhotonPipelineResultSerde.MESSAGE_VERSION
|
|
)
|
|
self.pipelineIndexPublisher = self.subTable.getIntegerTopic(
|
|
"pipelineIndexState"
|
|
).publish()
|
|
self.pipelineIndexRequestSub = self.subTable.getIntegerTopic(
|
|
"pipelineIndexRequest"
|
|
).subscribe(0)
|
|
|
|
self.driverModePublisher = self.subTable.getBooleanTopic("driverMode").publish()
|
|
self.driverModeSubscriber = self.subTable.getBooleanTopic(
|
|
"driverModeRequest"
|
|
).subscribe(False)
|
|
|
|
self.driverModeSubscriber.getTopic().publish().setDefault(False)
|
|
|
|
self.fpsLimitPublisher = self.subTable.getIntegerTopic("fpsLimit").publish()
|
|
self.fpsLimitSubscriber = self.subTable.getIntegerTopic(
|
|
"fpsLimitRequest"
|
|
).subscribe(-1)
|
|
|
|
self.fpsLimitSubscriber.getTopic().publish().setDefault(-1)
|
|
|
|
self.enabledPublisher = self.subTable.getBooleanTopic("enabled").publish()
|
|
self.enabledSubscriber = self.subTable.getBooleanTopic(
|
|
"enabledRequest"
|
|
).subscribe(True)
|
|
|
|
self.enabledSubscriber.getTopic().publish().setDefault(True)
|
|
|
|
self.latencyMillisEntry = self.subTable.getDoubleTopic(
|
|
"latencyMillis"
|
|
).publish()
|
|
self.hasTargetEntry = self.subTable.getBooleanTopic("hasTargets").publish()
|
|
|
|
self.targetPitchEntry = self.subTable.getDoubleTopic("targetPitch").publish()
|
|
self.targetAreaEntry = self.subTable.getDoubleTopic("targetArea").publish()
|
|
self.targetYawEntry = self.subTable.getDoubleTopic("targetYaw").publish()
|
|
self.targetPoseEntry = self.subTable.getStructTopic(
|
|
"targetPose", Transform3d
|
|
).publish()
|
|
self.targetSkewEntry = self.subTable.getDoubleTopic("targetSkew").publish()
|
|
|
|
self.bestTargetPosX = self.subTable.getDoubleTopic("targetPixelsX").publish()
|
|
self.bestTargetPosY = self.subTable.getDoubleTopic("targetPixelsY").publish()
|
|
|
|
self.heartbeatTopic = self.subTable.getIntegerTopic("heartbeat")
|
|
self.heartbeatPublisher = self.heartbeatTopic.publish()
|
|
|
|
self.cameraIntrinsicsPublisher = self.subTable.getDoubleArrayTopic(
|
|
"cameraIntrinsics"
|
|
).publish()
|
|
self.cameraDistortionPublisher = self.subTable.getDoubleArrayTopic(
|
|
"cameraDistortion"
|
|
).publish()
|