photonlibpy 2024.2.1__py3-none-any.whl → 2024.2.3__py3-none-any.whl

photonlibpy/estimatedRobotPose.py

@@ -19,7 +19,7 @@ class EstimatedRobotPose:
     timestampSeconds: float
     """The estimated time the frame used to derive the robot pose was taken"""
 
-    targetsUsed: [PhotonTrackedTarget]
+    targetsUsed: list[PhotonTrackedTarget]
     """A list of the targets used to compute this pose"""
 
     strategy: "PoseStrategy"

photonlibpy/packet.py

@@ -4,7 +4,7 @@ import wpilib
 
 
 class Packet:
-    def __init__(self, data: list[int]):
+    def __init__(self, data: bytes):
         """
         * Constructs an empty packet.
         *
@@ -30,7 +30,7 @@ class Packet:
     matches the version of photonlib running in the robot code.
     """
 
-    def _getNextByte(self) -> int:
+    def _getNextByteAsInt(self) -> int:
         retVal = 0x00
 
         if not self.outOfBytes:
@@ -43,7 +43,7 @@ class Packet:
 
         return retVal
 
-    def getData(self) -> list[int]:
+    def getData(self) -> bytes:
         """
         * Returns the packet data.
         *
@@ -51,7 +51,7 @@ class Packet:
         """
         return self.packetData
 
-    def setData(self, data: list[int]):
+    def setData(self, data: bytes):
         """
         * Sets the packet data.
         *
@@ -65,7 +65,7 @@ class Packet:
         # Read ints in from the data buffer
         intList = []
         for _ in range(numBytes):
-            intList.append(self._getNextByte())
+            intList.append(self._getNextByteAsInt())
 
         # Interpret the bytes as a floating point number
         value = struct.unpack(unpackFormat, bytes(intList))[0]

photonlibpy/photonCamera.py

@@ -4,7 +4,7 @@ from wpilib import Timer
 import wpilib
 from photonlibpy.packet import Packet
 from photonlibpy.photonPipelineResult import PhotonPipelineResult
-from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION
+from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION  # type: ignore[import-untyped]
 
 
 class VisionLEDMode(Enum):
@@ -86,7 +86,8 @@ class PhotonCamera:
         if len(byteList) < 1:
             return retVal
         else:
-            retVal.populateFromPacket(Packet(byteList))
+            pkt = Packet(byteList)
+            retVal.populateFromPacket(pkt)
             # NT4 allows us to correct the timestamp based on when the message was sent
             retVal.setTimestampSeconds(
                 timestamp / 1e-6 - retVal.getLatencyMillis() / 1e-3

photonlibpy/photonPipelineResult.py

@@ -38,3 +38,6 @@ class PhotonPipelineResult:
 
     def getTargets(self) -> list[PhotonTrackedTarget]:
         return self.targets
+
+    def hasTargets(self) -> bool:
+        return len(self.targets) > 0

photonlibpy/photonPoseEstimator.py

@@ -75,7 +75,7 @@ class PhotonPoseEstimator:
 
         self._multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY
         self._reportedErrors: set[int] = set()
-        self._poseCacheTimestampSeconds = -1
+        self._poseCacheTimestampSeconds = -1.0
         self._lastPose: Optional[Pose3d] = None
         self._referencePose: Optional[Pose3d] = None
 
@@ -143,7 +143,7 @@ class PhotonPoseEstimator:
         self._multiTagFallbackStrategy = strategy
 
     @property
-    def referencePose(self) -> Pose3d:
+    def referencePose(self) -> Optional[Pose3d]:
         """Return the reference position that is being used by the estimator.
 
         :returns: the referencePose
@@ -163,7 +163,7 @@ class PhotonPoseEstimator:
         self._referencePose = referencePose
 
     @property
-    def lastPose(self) -> Pose3d:
+    def lastPose(self) -> Optional[Pose3d]:
         return self._lastPose
 
     @lastPose.setter
@@ -178,10 +178,10 @@ class PhotonPoseEstimator:
         self._checkUpdate(self._lastPose, lastPose)
         self._lastPose = lastPose
 
-    def _invalidatePoseCache(self):
-        self._poseCacheTimestampSeconds = -1
+    def _invalidatePoseCache(self) -> None:
+        self._poseCacheTimestampSeconds = -1.0
 
-    def _checkUpdate(self, oldObj, newObj):
+    def _checkUpdate(self, oldObj, newObj) -> None:
         if oldObj != newObj and oldObj is not None and oldObj is not newObj:
             self._invalidatePoseCache()
 
@@ -204,27 +204,27 @@ class PhotonPoseEstimator:
         if not cameraResult:
             if not self._camera:
                 wpilib.reportError("[PhotonPoseEstimator] Missing camera!", False)
-                return
+                return None
             cameraResult = self._camera.getLatestResult()
 
         if cameraResult.timestampSec < 0:
-            return
+            return None
 
         # If the pose cache timestamp was set, and the result is from the same
         # timestamp, return an
         # empty result
         if (
-            self._poseCacheTimestampSeconds > 0
+            self._poseCacheTimestampSeconds > 0.0
             and abs(self._poseCacheTimestampSeconds - cameraResult.timestampSec) < 1e-6
         ):
-            return
+            return None
 
         # Remember the timestamp of the current result used
         self._poseCacheTimestampSeconds = cameraResult.timestampSec
 
         # If no targets seen, trivial case -- return empty result
         if not cameraResult.targets:
-            return
+            return None
 
         return self._update(cameraResult, self._primaryStrategy)
 
@@ -239,7 +239,7 @@ class PhotonPoseEstimator:
             wpilib.reportError(
                 "[PhotonPoseEstimator] Unknown Position Estimation Strategy!", False
             )
-            return
+            return None
 
         if not estimatedPose:
             self._lastPose = None
@@ -280,7 +280,7 @@ class PhotonPoseEstimator:
         """
         lowestAmbiguityTarget = None
 
-        lowestAmbiguityScore = 10
+        lowestAmbiguityScore = 10.0
 
         for target in result.targets:
             targetPoseAmbiguity = target.poseAmbiguity
@@ -293,7 +293,7 @@ class PhotonPoseEstimator:
         # Although there are confirmed to be targets, none of them may be fiducial
         # targets.
         if not lowestAmbiguityTarget:
-            return
+            return None
 
         targetFiducialId = lowestAmbiguityTarget.fiducialId
 
@@ -301,7 +301,7 @@ class PhotonPoseEstimator:
 
         if not targetPosition:
             self._reportFiducialPoseError(targetFiducialId)
-            return
+            return None
 
         return EstimatedRobotPose(
             targetPosition.transformBy(

photonlibpy/version.py

@@ -1,2 +1,2 @@
-PHOTONLIB_VERSION="2024.2.1"
-PHOTONVISION_VERSION="v2024.2.1"
+PHOTONLIB_VERSION="2024.2.3"
+PHOTONVISION_VERSION="v2024.2.3"

{photonlibpy-2024.2.1.dist-info → photonlibpy-2024.2.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: photonlibpy
-Version: 2024.2.1
+Version: 2024.2.3
 Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors.
 Home-page: https://photonvision.org
 Author: Photonvision Development Team

photonlibpy-2024.2.3.dist-info/RECORD

@@ -0,0 +1,13 @@
+photonlibpy/__init__.py,sha256=Poafj5ngdQ2T0yW3zhnQ2NHw70XrTwXvT8aDCAImYbg,30
+photonlibpy/estimatedRobotPose.py,sha256=_lgVu157fBpG85WpeS4uXWCF4aQDUbMI2SWXG5lee9I,673
+photonlibpy/multiTargetPNPResult.py,sha256=AgrRjSna1s8yJWUdBgWxqKxm0cqgXwYrKEzgfP7pzGE,1660
+photonlibpy/packet.py,sha256=Sg_Sln_DNYvdT0DpekIb6v67e3c4oX08zLQe9oDd2OU,3969
+photonlibpy/photonCamera.py,sha256=hge7uIgmU7em43OaiHp3QK9BYcfEwgkos1IDAy_DqXk,6948
+photonlibpy/photonPipelineResult.py,sha256=IpHxXKuyfOKcslgm_Ce2PqV8HgXTN_IMUuNb5BBTzSo,1351
+photonlibpy/photonPoseEstimator.py,sha256=s99TjCi3SFpCo5fPckw2ZfJK7E3lvFO3zpr0GnDDyKM,11580
+photonlibpy/photonTrackedTarget.py,sha256=Br2L4fNNwQP4eUj9eV9I653FOER00JbeHB5SMNTSaHc,2482
+photonlibpy/version.py,sha256=SuU2vxVKanl1FmuE_j7rnJz-ODlNnZ3v84gd2qHn9l0,62
+photonlibpy-2024.2.3.dist-info/METADATA,sha256=rM_CgwPHAD6D8-NQU_j-VoQHxCr9POKstPyJLACbPnY,500
+photonlibpy-2024.2.3.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+photonlibpy-2024.2.3.dist-info/top_level.txt,sha256=T8Xc6U6he2VjKUAca6zawSkHdUZuLanxYIc4nxw2ctc,12
+photonlibpy-2024.2.3.dist-info/RECORD,,

photonlibpy-2024.2.1.dist-info/RECORD

@@ -1,13 +0,0 @@
-photonlibpy/__init__.py,sha256=Poafj5ngdQ2T0yW3zhnQ2NHw70XrTwXvT8aDCAImYbg,30
-photonlibpy/estimatedRobotPose.py,sha256=Q3uB71GD2f-HZEa27EqdK_ordwtaYAfnM8bX94xzkvQ,669
-photonlibpy/multiTargetPNPResult.py,sha256=AgrRjSna1s8yJWUdBgWxqKxm0cqgXwYrKEzgfP7pzGE,1660
-photonlibpy/packet.py,sha256=76LE5Cua1c6WzIdxVVBKpgRkIyujNqF1GmowJ7SqJsc,3971
-photonlibpy/photonCamera.py,sha256=TZQp-wjXly6W2Ca-9u3QWlciutR9UnEf4BJDVvHpbPw,6894
-photonlibpy/photonPipelineResult.py,sha256=jtQH-kfYamukbtPbpnJQWhosRXfA7Mev5dvIxw6E_Qo,1279
-photonlibpy/photonPoseEstimator.py,sha256=San3JDkYOJtmqZHo9PktkuF6TIXmDZBbMlPMYjuJbXw,11501
-photonlibpy/photonTrackedTarget.py,sha256=Br2L4fNNwQP4eUj9eV9I653FOER00JbeHB5SMNTSaHc,2482
-photonlibpy/version.py,sha256=spYAhLowBA-8fJaGTtQ0YuLSGKUOYnHupO-K69kn1s8,62
-photonlibpy-2024.2.1.dist-info/METADATA,sha256=CBz1xL1kQFeAMk0v8IiF0VRsNzFEDn2EiPx33tqhTCU,500
-photonlibpy-2024.2.1.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-photonlibpy-2024.2.1.dist-info/top_level.txt,sha256=T8Xc6U6he2VjKUAca6zawSkHdUZuLanxYIc4nxw2ctc,12
-photonlibpy-2024.2.1.dist-info/RECORD,,