/*
* MIT License
*
* Copyright (c) PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#pragma once
#include <memory>
#include <string>
#include <networktables/BooleanTopic.h>
#include <networktables/DoubleArrayTopic.h>
#include <networktables/DoubleTopic.h>
#include <networktables/IntegerTopic.h>
#include <networktables/MultiSubscriber.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/RawTopic.h>
#include <networktables/StringTopic.h>
#include <units/time.h>
#include <wpi/deprecated.h>
#include "photonlib/PhotonPipelineResult.h"
namespace cv {
class Mat;
} // namespace cv
namespace photonlib {
enum LEDMode : int { kDefault = -1, kOff = 0, kOn = 1, kBlink = 2 };
/**
* Represents a camera that is connected to PhotonVision.ß
*/
class PhotonCamera {
public:
/**
* Constructs a PhotonCamera from a root table.
*
* @param instance The NetworkTableInstance to pull data from. This can be a
* custom instance in simulation, but should *usually* be the default
* NTInstance from {@link NetworkTableInstance::getDefault}
* @param cameraName The name of the camera, as seen in the UI.
* over.
*/
explicit PhotonCamera(nt::NetworkTableInstance instance,
const std::string_view cameraName);
/**
* Constructs a PhotonCamera from the name of the camera.
* @param cameraName The nickname of the camera (found in the PhotonVision
* UI).
*/
explicit PhotonCamera(const std::string_view cameraName);
PhotonCamera(PhotonCamera&&) = default;
virtual ~PhotonCamera() = default;
/**
* Returns the latest pipeline result.
* @return The latest pipeline result.
*/
virtual PhotonPipelineResult GetLatestResult();
/**
* Toggles driver mode.
* @param driverMode Whether to set driver mode.
*/
void SetDriverMode(bool driverMode);
/**
* Returns whether the camera is in driver mode.
* @return Whether the camera is in driver mode.
*/
bool GetDriverMode() const;
/**
* 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.
*/
void TakeInputSnapshot(void);
/**
* 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.
*/
void TakeOutputSnapshot(void);
/**
* Allows the user to select the active pipeline index.
* @param index The active pipeline index.
*/
void SetPipelineIndex(int index);
/**
* Returns the active pipeline index.
* @return The active pipeline index.
*/
int GetPipelineIndex() const;
/**
* Returns the current LED mode.
* @return The current LED mode.
*/
LEDMode GetLEDMode() const;
/**
* Sets the LED mode.
* @param led The mode to set to.
*/
void SetLEDMode(LEDMode led);
/**
* Returns the name of the camera.
* This will return the same value that was given to the constructor as
* cameraName.
* @return The name of the camera.
*/
const std::string_view GetCameraName() const;
std::optional<cv::Mat> GetCameraMatrix();
std::optional<cv::Mat> GetDistCoeffs();
/**
* Returns whether the latest target result has targets.
* This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should
* be used instead.
* @deprecated This method should be replaced with {@link
* PhotonPipelineResult#HasTargets()}
* @return Whether the latest target result has targets.
*/
bool HasTargets() { return GetLatestResult().HasTargets(); }
inline static void SetVersionCheckEnabled(bool enabled) {
PhotonCamera::VERSION_CHECK_ENABLED = enabled;
}
// For use in tests
bool test = false;
PhotonPipelineResult testResult;
protected:
std::shared_ptr<nt::NetworkTable> mainTable;
std::shared_ptr<nt::NetworkTable> rootTable;
nt::RawSubscriber rawBytesEntry;
nt::IntegerPublisher inputSaveImgEntry;
nt::IntegerSubscriber inputSaveImgSubscriber;
nt::IntegerPublisher outputSaveImgEntry;
nt::IntegerSubscriber outputSaveImgSubscriber;
nt::IntegerPublisher pipelineIndexPub;
nt::IntegerSubscriber pipelineIndexSub;
nt::IntegerPublisher ledModePub;
nt::IntegerSubscriber ledModeSub;
nt::StringSubscriber versionEntry;
nt::DoubleArraySubscriber cameraIntrinsicsSubscriber;
nt::DoubleArraySubscriber cameraDistortionSubscriber;
nt::BooleanSubscriber driverModeSubscriber;
nt::BooleanPublisher driverModePublisher;
nt::IntegerSubscriber ledModeSubscriber;
nt::MultiSubscriber m_topicNameSubscriber;
std::string path;
std::string m_cameraName;
mutable Packet packet;
private:
units::second_t lastVersionCheckTime = 0_s;
inline static bool VERSION_CHECK_ENABLED = true;
void VerifyVersion();
};
} // namespace photonlib
Problem description
See https://github.com/gerth2/robotpy-photonvision/actions/runs/6921036649/job/18826187437#logs - parser seems to be failing on photonvision headers
C++ code that can't be parsed correctly (please double-check that https://robotpy.github.io/cxxheaderparser/ has the same error)