mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 08:38:00 -06:00
astatin3
340 lines
13 KiB
Python
340 lines
13 KiB
Python
###############################################################################
|
|
## 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/>.
|
|
###############################################################################
|
|
|
|
from enum import Enum
|
|
from typing import List
|
|
|
|
import ntcore
|
|
|
|
# magical import to make serde stuff work
|
|
import photonlibpy.generated # noqa
|
|
import wpilib
|
|
from wpilib import RobotController, Timer
|
|
|
|
from .packet import Packet
|
|
from .targeting.photonPipelineResult import PhotonPipelineResult
|
|
from .version import PHOTONLIB_VERSION # type: ignore[import-untyped]
|
|
|
|
|
|
class VisionLEDMode(Enum):
|
|
kDefault = -1
|
|
kOff = 0
|
|
kOn = 1
|
|
kBlink = 2
|
|
|
|
|
|
_lastVersionTimeCheck = 0.0
|
|
_VERSION_CHECK_ENABLED = True
|
|
|
|
|
|
def setVersionCheckEnabled(enabled: bool):
|
|
global _VERSION_CHECK_ENABLED
|
|
_VERSION_CHECK_ENABLED = enabled
|
|
|
|
|
|
class PhotonCamera:
|
|
def __init__(self, cameraName: str):
|
|
"""Constructs a PhotonCamera from the name of the camera.
|
|
|
|
:param cameraName: The nickname of the camera (found in the PhotonVision UI).
|
|
"""
|
|
instance = ntcore.NetworkTableInstance.getDefault()
|
|
self._name = cameraName
|
|
self._tableName = "photonvision"
|
|
photonvision_root_table = instance.getTable(self._tableName)
|
|
self._cameraTable = photonvision_root_table.getSubTable(cameraName)
|
|
self._path = self._cameraTable.getPath()
|
|
self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
|
|
f"photonstruct:PhotonPipelineResult:{PhotonPipelineResult.photonStruct.MESSAGE_VERSION}",
|
|
bytes([]),
|
|
ntcore.PubSubOptions(periodic=0.01, sendAll=True),
|
|
)
|
|
|
|
self._driverModePublisher = self._cameraTable.getBooleanTopic(
|
|
"driverModeRequest"
|
|
).publish()
|
|
self._driverModeSubscriber = self._cameraTable.getBooleanTopic(
|
|
"driverMode"
|
|
).subscribe(False)
|
|
self._inputSaveImgEntry = self._cameraTable.getIntegerTopic(
|
|
"inputSaveImgCmd"
|
|
).getEntry(0)
|
|
self._outputSaveImgEntry = self._cameraTable.getIntegerTopic(
|
|
"outputSaveImgCmd"
|
|
).getEntry(0)
|
|
self._pipelineIndexRequest = self._cameraTable.getIntegerTopic(
|
|
"pipelineIndexRequest"
|
|
).publish()
|
|
self._pipelineIndexState = self._cameraTable.getIntegerTopic(
|
|
"pipelineIndexState"
|
|
).subscribe(0)
|
|
self._heartbeatEntry = self._cameraTable.getIntegerTopic("heartbeat").subscribe(
|
|
-1
|
|
)
|
|
|
|
self._ledModeRequest = photonvision_root_table.getIntegerTopic(
|
|
"ledModeRequest"
|
|
).publish()
|
|
self._ledModeState = photonvision_root_table.getIntegerTopic(
|
|
"ledModeState"
|
|
).subscribe(-1)
|
|
self.versionEntry = photonvision_root_table.getStringTopic("version").subscribe(
|
|
""
|
|
)
|
|
|
|
# Existing is enough to make this multisubscriber do its thing
|
|
self.topicNameSubscriber = ntcore.MultiSubscriber(
|
|
instance, ["/photonvision/"], ntcore.PubSubOptions(topicsOnly=True)
|
|
)
|
|
|
|
self._prevHeartbeat = 0
|
|
self._prevHeartbeatChangeTime = Timer.getFPGATimestamp()
|
|
|
|
def getAllUnreadResults(self) -> List[PhotonPipelineResult]:
|
|
"""
|
|
The list of pipeline results sent by PhotonVision since the last call to getAllUnreadResults().
|
|
Calling this function clears the internal FIFO queue, and multiple calls to
|
|
getAllUnreadResults() will return different (potentially empty) result arrays. Be careful to
|
|
call this exactly ONCE per loop of your robot code! FIFO depth is limited to 20 changes, so
|
|
make sure to call this frequently enough to avoid old results being discarded, too!
|
|
"""
|
|
|
|
self._versionCheck()
|
|
|
|
changes = self._rawBytesEntry.readQueue()
|
|
|
|
ret = []
|
|
|
|
for change in changes:
|
|
byteList = change.value
|
|
timestamp = change.time
|
|
|
|
if len(byteList) < 1:
|
|
pass
|
|
else:
|
|
newResult = PhotonPipelineResult()
|
|
pkt = Packet(byteList)
|
|
newResult = PhotonPipelineResult.photonStruct.unpack(pkt)
|
|
# NT4 allows us to correct the timestamp based on when the message was sent
|
|
newResult.ntReceiveTimestampMicros = timestamp
|
|
ret.append(newResult)
|
|
|
|
return ret
|
|
|
|
def getLatestResult(self) -> PhotonPipelineResult:
|
|
"""Returns the latest pipeline result. This is simply the most recent result Received via NT.
|
|
Calling this multiple times will always return the most recent result.
|
|
|
|
Replaced by :meth:`.getAllUnreadResults` over getLatestResult, as this function can miss
|
|
results, or provide duplicate ones!
|
|
TODO implement the thing that will take this ones place...
|
|
"""
|
|
|
|
self._versionCheck()
|
|
|
|
now = RobotController.getFPGATime()
|
|
packetWithTimestamp = self._rawBytesEntry.getAtomic()
|
|
byteList = packetWithTimestamp.value
|
|
packetWithTimestamp.time
|
|
|
|
if len(byteList) < 1:
|
|
return PhotonPipelineResult()
|
|
else:
|
|
pkt = Packet(byteList)
|
|
retVal = PhotonPipelineResult.photonStruct.unpack(pkt)
|
|
# We don't trust NT4 time, hack around
|
|
retVal.ntReceiveTimestampMicros = now
|
|
return retVal
|
|
|
|
def getDriverMode(self) -> bool:
|
|
"""Returns whether the camera is in driver mode.
|
|
|
|
:returns: Whether the camera is in driver mode.
|
|
"""
|
|
|
|
return self._driverModeSubscriber.get()
|
|
|
|
def setDriverMode(self, driverMode: bool) -> None:
|
|
"""Toggles driver mode.
|
|
|
|
:param driverMode: Whether to set driver mode.
|
|
"""
|
|
|
|
self._driverModePublisher.set(driverMode)
|
|
|
|
def takeInputSnapshot(self) -> None:
|
|
"""Request the camera to save a new image file from the input camera stream with overlays. Images
|
|
take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk
|
|
space and eventually cause the system to stop working. Clear out images in
|
|
/opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
|
|
"""
|
|
|
|
self._inputSaveImgEntry.set(self._inputSaveImgEntry.get() + 1)
|
|
|
|
def takeOutputSnapshot(self) -> None:
|
|
"""Request the camera to save a new image file from the output stream with overlays. Images take
|
|
up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space
|
|
and eventually cause the system to stop working. Clear out images in
|
|
/opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
|
|
"""
|
|
self._outputSaveImgEntry.set(self._outputSaveImgEntry.get() + 1)
|
|
|
|
def getPipelineIndex(self) -> int:
|
|
"""Returns the active pipeline index.
|
|
|
|
:returns: The active pipeline index.
|
|
"""
|
|
|
|
return self._pipelineIndexState.get(0)
|
|
|
|
def setPipelineIndex(self, index: int) -> None:
|
|
"""Allows the user to select the active pipeline index.
|
|
|
|
:param index: The active pipeline index.
|
|
"""
|
|
self._pipelineIndexRequest.set(index)
|
|
|
|
def getLEDMode(self) -> VisionLEDMode:
|
|
"""Returns the current LED mode.
|
|
|
|
:returns: The current LED mode.
|
|
"""
|
|
|
|
mode = self._ledModeState.get()
|
|
return VisionLEDMode(mode)
|
|
|
|
def setLEDMode(self, led: VisionLEDMode) -> None:
|
|
"""Sets the LED mode.
|
|
|
|
:param led: The mode to set to.
|
|
"""
|
|
|
|
self._ledModeRequest.set(led.value)
|
|
|
|
def getName(self) -> str:
|
|
"""Returns the name of the camera. This will return the same value that was given to the
|
|
constructor as cameraName.
|
|
|
|
:returns: The name of the camera.
|
|
"""
|
|
return self._name
|
|
|
|
def isConnected(self) -> bool:
|
|
"""Returns whether the camera is connected and actively returning new data. Connection status is
|
|
debounced.
|
|
|
|
:returns: True if the camera is actively sending frame data, false otherwise.
|
|
"""
|
|
|
|
curHeartbeat = self._heartbeatEntry.get()
|
|
now = Timer.getFPGATimestamp()
|
|
|
|
if curHeartbeat != self._prevHeartbeat:
|
|
self._prevHeartbeat = curHeartbeat
|
|
self._prevHeartbeatChangeTime = now
|
|
|
|
return (now - self._prevHeartbeatChangeTime) < 0.5
|
|
|
|
def _versionCheck(self) -> None:
|
|
global _lastVersionTimeCheck
|
|
|
|
if not _VERSION_CHECK_ENABLED:
|
|
return
|
|
|
|
if (Timer.getFPGATimestamp() - _lastVersionTimeCheck) < 5.0:
|
|
return
|
|
|
|
_lastVersionTimeCheck = Timer.getFPGATimestamp()
|
|
|
|
# Heartbeat entry is assumed to always be present. If it's not present, we
|
|
# assume that a camera with that name was never connected in the first place.
|
|
if not self._heartbeatEntry.exists():
|
|
cameraNames = (
|
|
self._cameraTable.getInstance().getTable(self._tableName).getSubTables()
|
|
)
|
|
# Look for only cameras with rawBytes entry that exists
|
|
cameraNames = list(
|
|
filter(
|
|
lambda it: self._cameraTable.getSubTable(it)
|
|
.getEntry("rawBytes")
|
|
.exists(),
|
|
cameraNames,
|
|
)
|
|
)
|
|
|
|
if len(cameraNames) == 0:
|
|
wpilib.reportError(
|
|
"Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
|
|
False,
|
|
)
|
|
else:
|
|
wpilib.reportError(
|
|
f"PhotonVision coprocessor at path {self._path} not found in Network Tables. Double check that your camera names match! Only the following camera names were found: { ''.join(cameraNames)}",
|
|
True,
|
|
)
|
|
|
|
# Check for connection status. Warn if disconnected.
|
|
elif not self.isConnected():
|
|
wpilib.reportWarning(
|
|
f"PhotonVision coprocessor at path {self._path} is not sending new data.",
|
|
True,
|
|
)
|
|
|
|
versionString = self.versionEntry.get(defaultValue="")
|
|
|
|
# Check mdef UUID
|
|
localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
|
|
remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
|
|
|
|
if remoteUUID is None:
|
|
wpilib.reportWarning(
|
|
f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
|
|
True,
|
|
)
|
|
else:
|
|
# ntcore hands us a JSON string with leading/trailing quotes - remove those
|
|
remoteUUID = str(remoteUUID).replace('"', "")
|
|
|
|
if localUUID != remoteUUID:
|
|
# Verified version mismatch
|
|
|
|
bfw = """
|
|
\n\n\n
|
|
>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
|
>>>
|
|
>>> You are running an incompatible version
|
|
>>> of PhotonVision on your coprocessor!
|
|
>>>
|
|
>>> This is neither tested nor supported.
|
|
>>> You MUST update PhotonVision,
|
|
>>> PhotonLib, or both.
|
|
>>>
|
|
>>> Your code will now crash.
|
|
>>> We hope your day gets better.
|
|
>>>
|
|
>>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
|
>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
|
|
\n\n
|
|
"""
|
|
|
|
wpilib.reportWarning(bfw)
|
|
|
|
errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
|
|
wpilib.reportError(errText, True)
|
|
raise Exception(errText)
|