PhotonPoseEstimator: Patch to take shared_ptr

gen/RobotPoseEstimator.yml

@@ -4,6 +4,7 @@ extra_includes:
 
 enums:
   PoseStrategy:
+    ignore: true  # duplicated in PhotonPoseEstimator.h
 classes:
   RobotPoseEstimator:
     force_type_casters:

photonvision/__init__.py

@@ -6,6 +6,7 @@
     Packet,
     PhotonCamera,
     PhotonPipelineResult,
+    PhotonPoseEstimator,
     PhotonTrackedTarget,
     PhotonUtils,
     PoseStrategy,
@@ -21,6 +22,7 @@
     "Packet",
     "PhotonCamera",
     "PhotonPipelineResult",
+    "PhotonPoseEstimator",
     "PhotonTrackedTarget",
     "PhotonUtils",
     "PoseStrategy",

photonvision/src/headers.patch

@@ -0,0 +1,54 @@
+From bb4a45a6ce4f7e7f63eeed410cbdc4ed927586df Mon Sep 17 00:00:00 2001
+From: David Vo <auscompgeek@users.noreply.github.com>
+Date: Mon, 30 Jan 2023 16:23:39 +1100
+Subject: [PATCH] PhotonPoseEstimator: Take shared_ptr<PhotonCamera>
+
+---
+ photonlib/PhotonPoseEstimator.h | 11 ++++++-----
+ 1 file changed, 6 insertions(+), 5 deletions(-)
+
+diff --git a/photonlib/PhotonPoseEstimator.h b/photonlib/PhotonPoseEstimator.h
+index 16e18b9ae8b7..7a85538daa3e 100644
+--- a/photonlib/PhotonPoseEstimator.h
++++ b/photonlib/PhotonPoseEstimator.h
+@@ -79,13 +79,14 @@ class PhotonPoseEstimator {
+    * @param strategy The strategy it should use to determine the best pose.
+    * @param camera PhotonCameras and
+    * @param robotToCamera Transform3d from the center of the robot to the camera
+    * mount positions (ie, robot ➔ camera).
+    */
+-  explicit PhotonPoseEstimator(frc::AprilTagFieldLayout aprilTags,
+-                               PoseStrategy strategy, PhotonCamera&& camera,
+-                               frc::Transform3d robotToCamera);
++  PhotonPoseEstimator(frc::AprilTagFieldLayout aprilTags,
++                      PoseStrategy strategy,
++                      std::shared_ptr<PhotonCamera> camera,
++                      frc::Transform3d robotToCamera);
+
+   /**
+    * Get the AprilTagFieldLayout being used by the PositionEstimator.
+    *
+    * @return the AprilTagFieldLayout
+@@ -135,17 +136,17 @@ class PhotonPoseEstimator {
+    * Update the pose estimator. Internally grabs a new PhotonPipelineResult from
+    * the camera and process it.
+    */
+   std::optional<EstimatedRobotPose> Update();
+
+-  inline PhotonCamera& GetCamera() { return camera; }
++  inline std::shared_ptr<PhotonCamera> GetCamera() { return camera; }
+
+  private:
+   frc::AprilTagFieldLayout aprilTags;
+   PoseStrategy strategy;
+
+-  PhotonCamera camera;
++  std::shared_ptr<PhotonCamera> camera;
+   frc::Transform3d m_robotToCamera;
+
+   frc::Pose3d lastPose;
+   frc::Pose3d referencePose;
+
+-- 
+2.39.1
+

photonvision/src/sources.patch

@@ -0,0 +1,41 @@
+From bb4a45a6ce4f7e7f63eeed410cbdc4ed927586df Mon Sep 17 00:00:00 2001
+From: David Vo <auscompgeek@users.noreply.github.com>
+Date: Mon, 30 Jan 2023 16:23:39 +1100
+Subject: [PATCH] PhotonPoseEstimator: Take shared_ptr<PhotonCamera>
+
+---
+ photonlib/PhotonPoseEstimator.cpp | 5 +++--
+ 1 file changed, 3 insertions(+), 2 deletions(-)
+
+diff --git a/photonlib/PhotonPoseEstimator.cpp b/photonlib/PhotonPoseEstimator.cpp
+index 3b4f27807371..272e41c50672 100644
+--- a/photonlib/PhotonPoseEstimator.cpp
++++ b/photonlib/PhotonPoseEstimator.cpp
+@@ -42,21 +42,22 @@
+ #include "photonlib/PhotonPipelineResult.h"
+ #include "photonlib/PhotonTrackedTarget.h"
+
+ namespace photonlib {
+ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
+-                                         PoseStrategy strat, PhotonCamera&& cam,
++                                         PoseStrategy strat,
++                                         std::shared_ptr<PhotonCamera> cam,
+                                          frc::Transform3d robotToCamera)
+     : aprilTags(tags),
+       strategy(strat),
+       camera(std::move(cam)),
+       m_robotToCamera(robotToCamera),
+       lastPose(frc::Pose3d()),
+       referencePose(frc::Pose3d()) {}
+
+ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update() {
+-  auto result = camera.GetLatestResult();
++  auto result = camera->GetLatestResult();
+
+   if (!result.HasTargets()) {
+     return std::nullopt;
+   }
+
+-- 
+2.39.1
+

pyproject.toml

@@ -24,19 +24,31 @@ install_requires = [
 [tool.robotpy-build]
 base_package = "photonvision"
 
-[tool.robotpy-build.static_libs."photonlib".maven_lib_download]
+[tool.robotpy-build.wrappers."photonvision".maven_lib_download]
 artifact_id = "PhotonLib-cpp"
 group_id = "org.photonvision"
 repo_url = "https://maven.photonvision.org/repository/internal"
 version = "v2023.3.0"
 
-libs = ["Photon"]
+use_sources = true
+sources = [
+    "photonlib/PhotonCamera.cpp",
+    "photonlib/PhotonPipelineResult.cpp",
+    "photonlib/PhotonPoseEstimator.cpp",
+    "photonlib/PhotonTrackedTarget.cpp",
+    "photonlib/RobotPoseEstimator.cpp",
+]
+
+[[tool.robotpy-build.wrappers."photonvision".maven_lib_download.patches]]
+patch = "photonvision/src/sources.patch"
+
+[[tool.robotpy-build.wrappers."photonvision".maven_lib_download.header_patches]]
+patch = "photonvision/src/headers.patch"
 
 [tool.robotpy-build.wrappers."photonvision"]
 name = "photonvision"
 
 depends = [
-    "photonlib",
     "apriltag",
     "wpilibc",
     "wpimath_geometry",
@@ -57,7 +69,7 @@ generation_data = "gen"
 Packet = "photonlib/Packet.h"
 PhotonCamera = "photonlib/PhotonCamera.h"
 PhotonPipelineResult = "photonlib/PhotonPipelineResult.h"
-#PhotonPoseEstimator = "photonlib/PhotonPoseEstimator.h"
+PhotonPoseEstimator = "photonlib/PhotonPoseEstimator.h"
 PhotonTargetSortMode = "photonlib/PhotonTargetSortMode.h"
 PhotonTrackedTarget = "photonlib/PhotonTrackedTarget.h"
 PhotonUtils = "photonlib/PhotonUtils.h"

tests/test_pose_estimator.py

@@ -0,0 +1,45 @@
+import robotpy_apriltag
+from wpimath.geometry import Transform3d
+
+import photonvision
+
+
+def test_photon_pose_estimator_ctor():
+    camera = photonvision.PhotonCamera("test_ctor")
+    assert camera._path
+    estimator = photonvision.PhotonPoseEstimator(
+        robotpy_apriltag.loadAprilTagLayoutField(
+            robotpy_apriltag.AprilTagField.k2023ChargedUp
+        ),
+        photonvision.PoseStrategy.AVERAGE_BEST_TARGETS,
+        camera,
+        Transform3d(),
+    )
+    assert estimator
+    assert camera._path
+
+
+def test_photon_pose_estimator_update():
+    estimator = photonvision.PhotonPoseEstimator(
+        robotpy_apriltag.loadAprilTagLayoutField(
+            robotpy_apriltag.AprilTagField.k2023ChargedUp
+        ),
+        photonvision.PoseStrategy.AVERAGE_BEST_TARGETS,
+        photonvision.PhotonCamera("test_update"),
+        Transform3d(),
+    )
+    assert estimator.update() is None
+
+
+def test_photon_pose_estimator_get_cam():
+    camera = photonvision.PhotonCamera("test_get_cam")
+    estimator = photonvision.PhotonPoseEstimator(
+        robotpy_apriltag.loadAprilTagLayoutField(
+            robotpy_apriltag.AprilTagField.k2023ChargedUp
+        ),
+        photonvision.PoseStrategy.AVERAGE_BEST_TARGETS,
+        camera,
+        Transform3d(),
+    )
+    inner_cam = estimator.getCamera()
+    assert inner_cam is camera