[wombat] add limelight vision

wombat/src/main/cpp/vision/Limelight.cpp

@@ -0,0 +1,65 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#include "vision/Limelight.h"
+
+#include "utils/Util.h"
+#include <iostream>
+
+wom::vision::Limelight::Limelight(std::string limelightName)
+    : _limelightName(limelightName) {}
+
+std::string wom::vision::Limelight::GetName() {
+  return _limelightName;
+}
+
+std::pair<double, double> wom::vision::Limelight::GetOffset() {
+  std::pair<double, double> offset;
+
+  offset.first = table->GetNumber("tx", 0.0);
+  offset.second = table->GetNumber("ty", 0.0);
+
+  return offset;
+}
+
+std::vector<double> wom::vision::Limelight::GetAprilTagData(
+    std::string dataName) {
+  return table->GetNumberArray(dataName, std::vector<double>(6));
+}
+
+units::meters_per_second_t wom::vision::Limelight::GetSpeed(
+    frc::Pose3d pose1, frc::Pose3d pose2, units::second_t dt) {
+  frc::Transform3d dPose{pose1, pose2};
+  frc::Translation3d dTranslation = dPose.Translation();
+
+  units::meter_t y = dTranslation.Y();
+  units::meter_t x = dTranslation.X();
+  units::radian_t theta = units::math::atan(y / x);
+  units::meter_t dTRANSLATION = x / units::math::cos(theta);
+  return units::math::fabs(dTRANSLATION / dt);
+}
+
+frc::Pose3d wom::vision::Limelight::GetPose() {
+  std::vector<double> pose = GetAprilTagData("botpose");
+  return frc::Pose3d(
+      pose[1] * 1_m, 1_m * pose[2], 1_m * pose[3],
+      frc::Rotation3d(1_deg * (pose[4]), 1_deg * (pose[5]), 1_deg * (pose[6])));
+}
+
+void wom::vision::Limelight::OnStart() {
+  std::cout << "starting" << std::endl;
+}
+
+void wom::vision::Limelight::OnUpdate(units::time::second_t dt) {
+  wom::utils::WritePose3NT(table, GetPose());
+}
+
+bool wom::vision::Limelight::IsAtSetPoseVision(frc::Pose3d pose,
+                                               units::second_t dt) {
+  frc::Pose3d actualPose = GetPose();
+  frc::Pose3d relativePose = actualPose.RelativeTo(pose);
+  return (units::math::fabs(relativePose.X()) < 0.01_m &&
+          units::math::fabs(relativePose.Y()) < 0.01_m &&
+          GetSpeed(pose, GetPose(), dt) < 1_m / 1_s);
+}

wombat/src/main/include/vision/Limelight.h

@@ -0,0 +1,57 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#pragma once
+
+#include <frc/geometry/Pose2d.h>
+#include <frc/geometry/Pose3d.h>
+#include <frc/geometry/Rotation3d.h>
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableEntry.h>
+#include <networktables/NetworkTableInstance.h>
+#include <networktables/NetworkTableValue.h>
+#include <units/angle.h>
+#include <units/length.h>
+#include <units/math.h>
+#include <units/time.h>
+#include <units/velocity.h>
+#include <wpi/json.h>
+
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "behaviour/HasBehaviour.h"
+
+namespace wom {
+namespace vision {
+class Limelight : public behaviour::HasBehaviour {
+ public:
+  explicit Limelight(std::string limelightName);
+
+  std::string GetName();
+
+  std::shared_ptr<nt::NetworkTable> table =
+      nt::NetworkTableInstance::GetDefault().GetTable("limelight");
+
+  std::pair<double, double> GetOffset();
+
+  std::vector<double> GetAprilTagData(std::string dataName);
+
+  void OnUpdate(units::time::second_t dt);
+  void OnStart();
+
+  bool IsAtSetPoseVision(frc::Pose3d pose, units::second_t dt);
+
+  units::meters_per_second_t GetSpeed(frc::Pose3d pose1, frc::Pose3d pose2,
+                                      units::second_t dt);
+
+  frc::Pose3d GetPose();
+
+ private:
+  std::string _limelightName;
+};
+}  // namespace vision
+}  // namespace wom