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https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
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astatin3
75 lines
2.9 KiB
Python
75 lines
2.9 KiB
Python
import ntcore as nt
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from wpimath.geometry import Transform3d
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from ..generated.PhotonPipelineResultSerde import PhotonPipelineResultSerde
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PhotonPipelineResult_TYPE_STRING = (
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"photonstruct:PhotonPipelineResult:" + PhotonPipelineResultSerde.MESSAGE_VERSION
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)
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class NTTopicSet:
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"""This class is a wrapper around all per-pipeline NT topics that PhotonVision should be publishing
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It's split here so the sim and real-camera implementations can share a common implementation of
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the naming and registration of the NT content.
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However, we do expect that the actual logic which fills out values in the entries will be
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different for sim vs. real camera
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"""
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def __init__(
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self,
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ntSubTable: nt.NetworkTable,
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) -> None:
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self.subTable = ntSubTable
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def updateEntries(self) -> None:
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options = nt.PubSubOptions()
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options.periodic = 0.01
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options.sendAll = True
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self.rawBytesEntry = self.subTable.getRawTopic("rawBytes").publish(
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PhotonPipelineResult_TYPE_STRING, options
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)
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self.rawBytesEntry.getTopic().setProperty(
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"message_uuid", PhotonPipelineResultSerde.MESSAGE_VERSION
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)
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self.pipelineIndexPublisher = self.subTable.getIntegerTopic(
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"pipelineIndexState"
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).publish()
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self.pipelineIndexRequestSub = self.subTable.getIntegerTopic(
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"pipelineIndexRequest"
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).subscribe(0)
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self.driverModePublisher = self.subTable.getBooleanTopic("driverMode").publish()
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self.driverModeSubscriber = self.subTable.getBooleanTopic(
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"driverModeRequest"
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).subscribe(False)
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self.driverModeSubscriber.getTopic().publish().setDefault(False)
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self.latencyMillisEntry = self.subTable.getDoubleTopic(
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"latencyMillis"
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).publish()
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self.hasTargetEntry = self.subTable.getBooleanTopic("hasTargets").publish()
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self.targetPitchEntry = self.subTable.getDoubleTopic("targetPitch").publish()
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self.targetAreaEntry = self.subTable.getDoubleTopic("targetArea").publish()
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self.targetYawEntry = self.subTable.getDoubleTopic("targetYaw").publish()
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self.targetPoseEntry = self.subTable.getStructTopic(
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"targetPose", Transform3d
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).publish()
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self.targetSkewEntry = self.subTable.getDoubleTopic("targetSkew").publish()
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self.bestTargetPosX = self.subTable.getDoubleTopic("targetPixelsX").publish()
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self.bestTargetPosY = self.subTable.getDoubleTopic("targetPixelsY").publish()
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self.heartbeatTopic = self.subTable.getIntegerTopic("heartbeat")
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self.heartbeatPublisher = self.heartbeatTopic.publish()
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self.cameraIntrinsicsPublisher = self.subTable.getDoubleArrayTopic(
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"cameraIntrinsics"
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).publish()
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self.cameraDistortionPublisher = self.subTable.getDoubleArrayTopic(
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"cameraDistortion"
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).publish()
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