fda

photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java

@@ -63,6 +63,10 @@ public int getNumBytesRead() {
         return readPos + 1;
     }
 
+    public int getSize() {
+        return packetData.length;
+    }
+
     /**
      * Returns the packet data.
      *

photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java

@@ -38,7 +38,7 @@ public T get() {
         packet.clear();
 
         packet.setData(subscriber.get(new byte[] {}));
-        if (packet.getNumBytesWritten() < 1) return defaultValue;
+        if (packet.getSize() < 1) return defaultValue;
 
         return serde.unpack(packet);
     }

photonlib-cpp-examples/aimattarget/build.gradle

@@ -68,36 +68,21 @@ wpi.sim.addDriverstation()
 model {
     components {
         frcUserProgram(NativeExecutableSpec) {
-            // We don't need to build for roborio -- if we do, we need to install
-            // a roborio toolchain every time we build in CI
-            // Ideally, we'd be able to set the roborio toolchain as optional, but
-            // I can't figure out how to set that environment variable from build.gradle
-            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
-            // for now, commented out
-
-            // targetPlatform wpi.platforms.roborio
-
-            if (includeDesktopSupport) {
-                targetPlatform wpi.platforms.desktop
-            }
+            targetPlatform wpi.platforms.roborio
+            targetPlatform wpi.platforms.desktop
 
             sources.cpp {
                 source {
                     srcDir 'src/main/cpp'
-                    include '**/*.cpp', '**/*.cc'
                 }
                 exportedHeaders {
                     srcDir 'src/main/include'
                 }
             }
 
-            // Set deploy task to deploy this component
             deployArtifact.component = it
-
-            // Enable run tasks for this component
             wpi.cpp.enableExternalTasks(it)
 
-            // Enable simulation for this component
             wpi.sim.enable(it)
             // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
             wpi.cpp.vendor.cpp(it)
@@ -115,7 +100,6 @@ model {
                 }
             }
 
-            // Enable run tasks for this component
             wpi.cpp.enableExternalTasks(it)
 
             wpi.cpp.vendor.cpp(it)

photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp

@@ -25,10 +25,20 @@
 #include "Robot.h"
 
 #include <photon/PhotonUtils.h>
-
+#include <units/time.h>
 #include <frc/Timer.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 
+void Robot::RobotPeriodic() {
+  photon::PhotonCamera::SetVersionCheckEnabled(false);
+
+  auto start = frc::Timer::GetFPGATimestamp();
+  photon::PhotonPipelineResult result = camera.GetLatestResult();
+  auto end = frc::Timer::GetFPGATimestamp();
+
+  printf("DT is %iuS for %i targets\n",(int)units::microsecond_t(end - start).to<double>(), result.GetTargets().size());
+}
+
 void Robot::TeleopPeriodic() {
   double forwardSpeed = -xboxController.GetRightY();
   double rotationSpeed;

photonlib-cpp-examples/aimattarget/src/main/include/Robot.h

@@ -37,10 +37,11 @@
 class Robot : public frc::TimedRobot {
  public:
   void TeleopPeriodic() override;
+  void RobotPeriodic() override;
 
  private:
   // Change this to match the name of your camera as shown in the web UI
-  photon::PhotonCamera camera{"Microsoft_LifeCam_HD-3000"};
+  photon::PhotonCamera camera{"WPI2024"};
   // PID constants should be tuned per robot
   frc::PIDController controller{.1, 0, 0};
 

photonlib-java-examples/aimattarget/build.gradle

@@ -10,6 +10,16 @@ def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 apply from: "${rootDir}/../shared/examples_common.gradle"
 
+ext {
+    wpilibVersion = "2025.0.0-alpha-1"
+    wpimathVersion = wpilibVersion
+    openCVversion = "4.8.0-2"
+}
+
+wpi.getVersions().getOpencvVersion().convention(openCVversion);
+wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
+wpi.getVersions().getWpimathVersion().convention(wpimathVersion);
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {

photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java

@@ -27,9 +27,12 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
 import org.photonvision.PhotonCamera;
 
 /**
@@ -49,7 +52,7 @@ public class Robot extends TimedRobot {
     final double GOAL_RANGE_METERS = Units.feetToMeters(3);
 
     // Change this to match the name of your camera as shown in the web UI
-    PhotonCamera camera = new PhotonCamera("YOUR_CAMERA_NAME_HERE");
+    PhotonCamera camera = new PhotonCamera("Microsoft_LifeCam_HD-3000");
 
     // PID constants should be tuned per robot
     final double LINEAR_P = 0.1;
@@ -67,6 +70,15 @@ public class Robot extends TimedRobot {
     PWMVictorSPX rightMotor = new PWMVictorSPX(1);
     DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor);
 
+    @Override
+    public void robotPeriodic() {
+        var start = Timer.getFPGATimestamp();
+        var res = camera.getLatestResult();
+        var end = Timer.getFPGATimestamp();
+        System.out.println("dt: " + (int)((end - start)*1e6) + "uS for targets: " + res.getTargets().size());
+        SmartDashboard.putNumber("decodeTime", (int)((end-start)*1e6));
+    }
+
     @Override
     public void teleopPeriodic() {
         double forwardSpeed;