PhotonVision/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java

/*
 * Copyright (C) Photon Vision.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
package org.photonvision;

import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.Arrays;
import java.util.List;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;

@SuppressWarnings("unused")
public class SimPhotonCamera extends PhotonCamera {
    private final NetworkTableEntry latencyMillisEntry;
    private final NetworkTableEntry hasTargetEntry;
    private final NetworkTableEntry targetPitchEntry;
    private final NetworkTableEntry targetYawEntry;
    private final NetworkTableEntry targetAreaEntry;
    private final NetworkTableEntry targetSkewEntry;
    private final NetworkTableEntry targetPoseEntry;

    /**
     * Constructs a Simulated PhotonCamera from a root table.
     *
     * @param rootTable The root table that the camera is broadcasting information over.
     */
    public SimPhotonCamera(NetworkTable rootTable) {
        super(rootTable);

        latencyMillisEntry = rootTable.getEntry("latencyMillis");
        hasTargetEntry = rootTable.getEntry("hasTargetEntry");
        targetPitchEntry = rootTable.getEntry("targetPitchEntry");
        targetYawEntry = rootTable.getEntry("targetYawEntry");
        targetAreaEntry = rootTable.getEntry("targetAreaEntry");
        targetSkewEntry = rootTable.getEntry("targetSkewEntry");
        targetPoseEntry = rootTable.getEntry("targetPoseEntry");
    }

    /**
     * Constructs a Simulated PhotonCamera from the name of the camera.
     *
     * @param cameraName The nickname of the camera (found in the PhotonVision UI).
     */
    public SimPhotonCamera(String cameraName) {
        this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
    }

    /**
     * Simulate one processed frame of vision data, putting one result to NT.
     *
     * @param latencyMillis Latency of the provided frame
     * @param targets Each target detected
     */
    public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) {
        submitProcessedFrame(latencyMillis, Arrays.asList(targets));
    }

    /**
     * Simulate one processed frame of vision data, putting one result to NT.
     *
     * @param latencyMillis Latency of the provided frame
     * @param sortMode Order in which to sort targets
     * @param targets Each target detected
     */
    public void submitProcessedFrame(
            double latencyMillis, PhotonTargetSortMode sortMode, PhotonTrackedTarget... targets) {
        submitProcessedFrame(latencyMillis, sortMode, Arrays.asList(targets));
    }

    /**
     * Simulate one processed frame of vision data, putting one result to NT.
     *
     * @param latencyMillis Latency of the provided frame
     * @param targetList List of targets detected
     */
    public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> targetList) {
        submitProcessedFrame(latencyMillis, null, targetList);
    }

    /**
     * Simulate one processed frame of vision data, putting one result to NT.
     *
     * @param latencyMillis Latency of the provided frame
     * @param sortMode Order in which to sort targets
     * @param targetList List of targets detected
     */
    public void submitProcessedFrame(
            double latencyMillis, PhotonTargetSortMode sortMode, List<PhotonTrackedTarget> targetList) {
        latencyMillisEntry.setDouble(latencyMillis);

        if (sortMode != null) {
            targetList.sort(sortMode.getComparator());
        }

        PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList);
        var newPacket = new Packet(newResult.getPacketSize());
        newResult.populatePacket(newPacket);
        rawBytesEntry.setRaw(newPacket.getData());

        boolean hasTargets = newResult.hasTargets();
        hasTargetEntry.setBoolean(hasTargets);
        if (!hasTargets) {
            targetPitchEntry.setDouble(0.0);
            targetYawEntry.setDouble(0.0);
            targetAreaEntry.setDouble(0.0);
            targetPoseEntry.setDoubleArray(new double[] {0.0, 0.0, 0.0});
            targetSkewEntry.setDouble(0.0);
        } else {
            var bestTarget = newResult.getBestTarget();

            targetPitchEntry.setDouble(bestTarget.getPitch());
            targetYawEntry.setDouble(bestTarget.getYaw());
            targetAreaEntry.setDouble(bestTarget.getArea());
            targetSkewEntry.setDouble(bestTarget.getSkew());

            var transform = bestTarget.getCameraToTarget();
            double[] poseData = {
                transform.getX(), transform.getY(), transform.getRotation().getDegrees()
            };
            targetPoseEntry.setDoubleArray(poseData);
        }
    }
}