photonlibpy 2024.3.1__py3-none-any.whl → 2025.0.0a0__py3-none-any.whl

photonlibpy/__init__.py

@@ -1 +1,21 @@
-# No one here but us chickens
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
+from .packet import Packet  # noqa
+from .estimatedRobotPose import EstimatedRobotPose  # noqa
+from .photonPoseEstimator import PhotonPoseEstimator, PoseStrategy  # noqa
+from .photonCamera import PhotonCamera  # noqa

photonlibpy/estimatedRobotPose.py

@@ -1,9 +1,26 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
 from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
 from wpimath.geometry import Pose3d
 
-from .photonTrackedTarget import PhotonTrackedTarget
+from .targeting.photonTrackedTarget import PhotonTrackedTarget
 
 if TYPE_CHECKING:
     from .photonPoseEstimator import PoseStrategy

photonlibpy/generated/MultiTargetPNPResultSerde.py

@@ -0,0 +1,45 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class MultiTargetPNPResultSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "541096947e9f3ca2d3f425ff7b04aa7b"
+    MESSAGE_FORMAT = "PnpResult:ae4d655c0a3104d88df4f5db144c1e86 estimatedPose;int16 fiducialIDsUsed[?];"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "MultiTargetPNPResult":
+        ret = MultiTargetPNPResult()
+
+        # estimatedPose is of non-intrinsic type PnpResult
+        ret.estimatedPose = PnpResult.photonStruct.unpack(packet)
+
+        # fiducialIDsUsed is a custom VLA!
+        ret.fiducialIDsUsed = packet.decodeShortList()
+
+        return ret
+
+
+# Hack ourselves into the base class
+MultiTargetPNPResult.photonStruct = MultiTargetPNPResultSerde()

photonlibpy/generated/PhotonPipelineMetadataSerde.py

@@ -0,0 +1,50 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PhotonPipelineMetadataSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "626e70461cbdb274fb43ead09c255f4e"
+    MESSAGE_FORMAT = (
+        "int64 sequenceID;int64 captureTimestampMicros;int64 publishTimestampMicros;"
+    )
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonPipelineMetadata":
+        ret = PhotonPipelineMetadata()
+
+        # sequenceID is of intrinsic type int64
+        ret.sequenceID = packet.decodeLong()
+
+        # captureTimestampMicros is of intrinsic type int64
+        ret.captureTimestampMicros = packet.decodeLong()
+
+        # publishTimestampMicros is of intrinsic type int64
+        ret.publishTimestampMicros = packet.decodeLong()
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonPipelineMetadata.photonStruct = PhotonPipelineMetadataSerde()

photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -0,0 +1,48 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PhotonPipelineResultSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "5eeaa293d0c69aea90eaddea786a2b3b"
+    MESSAGE_FORMAT = "PhotonPipelineMetadata:626e70461cbdb274fb43ead09c255f4e metadata;PhotonTrackedTarget:cc6dbb5c5c1e0fa808108019b20863f1 targets[?];optional MultiTargetPNPResult:541096947e9f3ca2d3f425ff7b04aa7b multitagResult;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonPipelineResult":
+        ret = PhotonPipelineResult()
+
+        # metadata is of non-intrinsic type PhotonPipelineMetadata
+        ret.metadata = PhotonPipelineMetadata.photonStruct.unpack(packet)
+
+        # targets is a custom VLA!
+        ret.targets = packet.decodeList(PhotonTrackedTarget.photonStruct)
+
+        # multitagResult is optional! it better not be a VLA too
+        ret.multitagResult = packet.decodeOptional(MultiTargetPNPResult.photonStruct)
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonPipelineResult.photonStruct = PhotonPipelineResultSerde()

photonlibpy/generated/PhotonTrackedTargetSerde.py

@@ -0,0 +1,73 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PhotonTrackedTargetSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "cc6dbb5c5c1e0fa808108019b20863f1"
+    MESSAGE_FORMAT = "float64 yaw;float64 pitch;float64 area;float64 skew;int32 fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d bestCameraToTarget;Transform3d altCameraToTarget;float64 poseAmbiguity;TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 minAreaRectCorners[?];TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 detectedCorners[?];"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonTrackedTarget":
+        ret = PhotonTrackedTarget()
+
+        # yaw is of intrinsic type float64
+        ret.yaw = packet.decodeDouble()
+
+        # pitch is of intrinsic type float64
+        ret.pitch = packet.decodeDouble()
+
+        # area is of intrinsic type float64
+        ret.area = packet.decodeDouble()
+
+        # skew is of intrinsic type float64
+        ret.skew = packet.decodeDouble()
+
+        # fiducialId is of intrinsic type int32
+        ret.fiducialId = packet.decodeInt()
+
+        # objDetectId is of intrinsic type int32
+        ret.objDetectId = packet.decodeInt()
+
+        # objDetectConf is of intrinsic type float32
+        ret.objDetectConf = packet.decodeFloat()
+
+        ret.bestCameraToTarget = packet.decodeTransform()
+
+        ret.altCameraToTarget = packet.decodeTransform()
+
+        # poseAmbiguity is of intrinsic type float64
+        ret.poseAmbiguity = packet.decodeDouble()
+
+        # minAreaRectCorners is a custom VLA!
+        ret.minAreaRectCorners = packet.decodeList(TargetCorner.photonStruct)
+
+        # detectedCorners is a custom VLA!
+        ret.detectedCorners = packet.decodeList(TargetCorner.photonStruct)
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonTrackedTarget.photonStruct = PhotonTrackedTargetSerde()

photonlibpy/generated/PnpResultSerde.py

@@ -0,0 +1,52 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PnpResultSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "ae4d655c0a3104d88df4f5db144c1e86"
+    MESSAGE_FORMAT = "Transform3d best;Transform3d alt;float64 bestReprojErr;float64 altReprojErr;float64 ambiguity;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PnpResult":
+        ret = PnpResult()
+
+        ret.best = packet.decodeTransform()
+
+        ret.alt = packet.decodeTransform()
+
+        # bestReprojErr is of intrinsic type float64
+        ret.bestReprojErr = packet.decodeDouble()
+
+        # altReprojErr is of intrinsic type float64
+        ret.altReprojErr = packet.decodeDouble()
+
+        # ambiguity is of intrinsic type float64
+        ret.ambiguity = packet.decodeDouble()
+
+        return ret
+
+
+# Hack ourselves into the base class
+PnpResult.photonStruct = PnpResultSerde()

photonlibpy/generated/TargetCornerSerde.py

@@ -0,0 +1,45 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class TargetCornerSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "16f6ac0dedc8eaccb951f4895d9e18b6"
+    MESSAGE_FORMAT = "float64 x;float64 y;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "TargetCorner":
+        ret = TargetCorner()
+
+        # x is of intrinsic type float64
+        ret.x = packet.decodeDouble()
+
+        # y is of intrinsic type float64
+        ret.y = packet.decodeDouble()
+
+        return ret
+
+
+# Hack ourselves into the base class
+TargetCorner.photonStruct = TargetCornerSerde()

photonlibpy/generated/__init__.py

@@ -0,0 +1,9 @@
+# no one but us chickens
+
+from .MultiTargetPNPResultSerde import MultiTargetPNPResultSerde  # noqa
+from .PhotonPipelineMetadataSerde import PhotonPipelineMetadataSerde  # noqa
+from .PhotonPipelineMetadataSerde import PhotonPipelineMetadataSerde  # noqa
+from .PhotonPipelineResultSerde import PhotonPipelineResultSerde  # noqa
+from .PhotonTrackedTargetSerde import PhotonTrackedTargetSerde  # noqa
+from .PnpResultSerde import PnpResultSerde  # noqa
+from .TargetCornerSerde import TargetCornerSerde  # noqa

photonlibpy/packet.py

@@ -1,4 +1,22 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
 import struct
+from typing import Any, Optional, Type
 from wpimath.geometry import Transform3d, Translation3d, Rotation3d, Quaternion
 import wpilib
 
@@ -67,7 +85,9 @@ class Packet:
         for _ in range(numBytes):
             intList.append(self._getNextByteAsInt())
 
-        # Interpret the bytes as a floating point number
+        # Interpret the bytes as the requested type.
+        # Note due to NT's byte order assumptions,
+        # we have to flip the order of intList
         value = struct.unpack(unpackFormat, bytes(intList))[0]
 
         return value
@@ -78,23 +98,39 @@ class Packet:
         *
         * @return A decoded byte from the packet.
         """
-        return self._decodeGeneric(">b", 1)
+        return self._decodeGeneric("<b", 1)
 
     def decode16(self) -> int:
         """
-        * Returns a single decoded byte from the packet.
+        * Returns a single decoded short from the packet.
         *
-        * @return A decoded byte from the packet.
+        * @return A decoded short from the packet.
         """
-        return self._decodeGeneric(">h", 2)
+        return self._decodeGeneric("<h", 2)
 
-    def decode32(self) -> int:
+    def decodeInt(self) -> int:
         """
         * Returns a decoded int (32 bytes) from the packet.
         *
         * @return A decoded int from the packet.
         """
-        return self._decodeGeneric(">l", 4)
+        return self._decodeGeneric("<l", 4)
+
+    def decodeFloat(self) -> float:
+        """
+        * Returns a decoded float from the packet.
+        *
+        * @return A decoded float from the packet.
+        """
+        return self._decodeGeneric("<f", 4)
+
+    def decodeLong(self) -> int:
+        """
+        * Returns a decoded int64 from the packet.
+        *
+        * @return A decoded int64 from the packet.
+        """
+        return self._decodeGeneric("<q", 8)
 
     def decodeDouble(self) -> float:
         """
@@ -102,7 +138,7 @@ class Packet:
         *
         * @return A decoded double from the packet.
         """
-        return self._decodeGeneric(">d", 8)
+        return self._decodeGeneric("<d", 8)
 
     def decodeBoolean(self) -> bool:
         """
@@ -115,14 +151,22 @@ class Packet:
     def decodeDoubleArray(self, length: int) -> list[float]:
         """
         * Returns a decoded array of floats from the packet.
-        *
-        * @return A decoded array of floats from the packet.
         """
         ret = []
         for _ in range(length):
             ret.append(self.decodeDouble())
         return ret
 
+    def decodeShortList(self) -> list[float]:
+        """
+        * Returns a decoded array of shorts from the packet.
+        """
+        length = self.decode8()
+        ret = []
+        for _ in range(length):
+            ret.append(self.decode16())
+        return ret
+
     def decodeTransform(self) -> Transform3d:
         """
         * Returns a decoded Transform3d
@@ -141,3 +185,16 @@ class Packet:
         rotation = Rotation3d(Quaternion(w, x, y, z))
 
         return Transform3d(translation, rotation)
+
+    def decodeList(self, serde: Type):
+        retList = []
+        arr_len = self.decode8()
+        for _ in range(arr_len):
+            retList.append(serde.unpack(self))
+        return retList
+
+    def decodeOptional(self, serde: Type) -> Optional[Any]:
+        if self.decodeBoolean():
+            return serde.unpack(self)
+        else:
+            return None

photonlibpy/photonCamera.py

@@ -1,10 +1,31 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
 from enum import Enum
+from typing import List
 import ntcore
-from wpilib import Timer
+from wpilib import RobotController, Timer
 import wpilib
-from photonlibpy.packet import Packet
-from photonlibpy.photonPipelineResult import PhotonPipelineResult
-from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION  # type: ignore[import-untyped]
+from .packet import Packet
+from .targeting.photonPipelineResult import PhotonPipelineResult
+from .version import PHOTONVISION_VERSION, PHOTONLIB_VERSION  # type: ignore[import-untyped]
+
+# magical import to make serde stuff work
+import photonlibpy.generated  # noqa
 
 
 class VisionLEDMode(Enum):
@@ -32,7 +53,9 @@ class PhotonCamera:
         self._cameraTable = photonvision_root_table.getSubTable(cameraName)
         self._path = self._cameraTable.getPath()
         self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
-            "rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
+            f"photonstruct:PhotonPipelineResult:{PhotonPipelineResult.photonStruct.MESSAGE_VERSION}",
+            bytes([]),
+            ntcore.PubSubOptions(periodic=0.01, sendAll=True),
         )
 
         self._driverModePublisher = self._cameraTable.getBooleanTopic(
@@ -75,23 +98,52 @@ class PhotonCamera:
         self._prevHeartbeat = 0
         self._prevHeartbeatChangeTime = Timer.getFPGATimestamp()
 
+    def getAllUnreadResults(self) -> List[PhotonPipelineResult]:
+        """
+        The list of pipeline results sent by PhotonVision since the last call to getAllUnreadResults().
+        Calling this function clears the internal FIFO queue, and multiple calls to
+        getAllUnreadResults() will return different (potentially empty) result arrays. Be careful to
+        call this exactly ONCE per loop of your robot code! FIFO depth is limited to 20 changes, so
+        make sure to call this frequently enough to avoid old results being discarded, too!
+        """
+
+        self._versionCheck()
+
+        changes = self._rawBytesEntry.readQueue()
+
+        ret = []
+
+        for change in changes:
+            byteList = change.value
+            timestamp = change.time
+
+            if len(byteList) < 1:
+                pass
+            else:
+                newResult = PhotonPipelineResult()
+                pkt = Packet(byteList)
+                newResult = PhotonPipelineResult.photonStruct.unpack(pkt)
+                # NT4 allows us to correct the timestamp based on when the message was sent
+                newResult.ntReceiveTimestampMicros = timestamp / 1e6
+                ret.append(newResult)
+
+        return ret
+
     def getLatestResult(self) -> PhotonPipelineResult:
         self._versionCheck()
 
-        retVal = PhotonPipelineResult()
+        now = RobotController.getFPGATime()
         packetWithTimestamp = self._rawBytesEntry.getAtomic()
         byteList = packetWithTimestamp.value
-        timestamp = packetWithTimestamp.time
+        packetWithTimestamp.time
 
         if len(byteList) < 1:
-            return retVal
+            return PhotonPipelineResult()
         else:
             pkt = Packet(byteList)
-            retVal.populateFromPacket(pkt)
-            # NT4 allows us to correct the timestamp based on when the message was sent
-            retVal.setTimestampSeconds(
-                timestamp / 1e6 - retVal.getLatencyMillis() / 1e3
-            )
+            retVal = PhotonPipelineResult.photonStruct.unpack(pkt)
+            # We don't trust NT4 time, hack around
+            retVal.ntReceiveTimestampMicros = now
             return retVal
 
     def getDriverMode(self) -> bool:
@@ -147,6 +199,16 @@ class PhotonCamera:
             cameraNames = (
                 self._cameraTable.getInstance().getTable(self._tableName).getSubTables()
             )
+            # Look for only cameras with rawBytes entry that exists
+            cameraNames = list(
+                filter(
+                    lambda it: self._cameraTable.getSubTable(it)
+                    .getEntry("rawBytes")
+                    .exists(),
+                    cameraNames,
+                )
+            )
+
             if len(cameraNames) == 0:
                 wpilib.reportError(
                     "Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
@@ -165,7 +227,20 @@ class PhotonCamera:
             )
 
         versionString = self.versionEntry.get(defaultValue="")
-        if len(versionString) > 0 and versionString != PHOTONVISION_VERSION:
+        localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
+
+        remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
+
+        if remoteUUID is None or len(remoteUUID) == 0:
+            wpilib.reportWarning(
+                f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
+                True,
+            )
+
+        # ntcore hands us a JSON string with leading/trailing quotes - remove those
+        remoteUUID = remoteUUID.replace('"', "")
+
+        if localUUID != remoteUUID:
             # Verified version mismatch
 
             bfw = """
@@ -190,6 +265,6 @@ class PhotonCamera:
 
             wpilib.reportWarning(bfw)
 
-            errText = f"Photon version {PHOTONLIB_VERSION} does not match coprocessor version {versionString}. Please install photonlibpy version {PHOTONLIB_VERSION}."
+            errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
             wpilib.reportError(errText, True)
             raise Exception(errText)

photonlibpy/photonPoseEstimator.py

@@ -1,3 +1,20 @@
+###############################################################################
+## Copyright (C) Photon Vision.
+###############################################################################
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+###############################################################################
+
 import enum
 from typing import Optional
 
@@ -5,7 +22,7 @@ import wpilib
 from robotpy_apriltag import AprilTagFieldLayout
 from wpimath.geometry import Transform3d, Pose3d, Pose2d
 
-from .photonPipelineResult import PhotonPipelineResult
+from .targeting.photonPipelineResult import PhotonPipelineResult
 from .photonCamera import PhotonCamera
 from .estimatedRobotPose import EstimatedRobotPose
 
@@ -207,7 +224,7 @@ class PhotonPoseEstimator:
                 return None
             cameraResult = self._camera.getLatestResult()
 
-        if cameraResult.timestampSec < 0:
+        if cameraResult.getTimestampSeconds() < 0:
             return None
 
         # If the pose cache timestamp was set, and the result is from the same
@@ -215,12 +232,15 @@ class PhotonPoseEstimator:
         # empty result
         if (
             self._poseCacheTimestampSeconds > 0.0
-            and abs(self._poseCacheTimestampSeconds - cameraResult.timestampSec) < 1e-6
+            and abs(
+                self._poseCacheTimestampSeconds - cameraResult.getTimestampSeconds()
+            )
+            < 1e-6
         ):
             return None
 
         # Remember the timestamp of the current result used
-        self._poseCacheTimestampSeconds = cameraResult.timestampSec
+        self._poseCacheTimestampSeconds = cameraResult.getTimestampSeconds()
 
         # If no targets seen, trivial case -- return empty result
         if not cameraResult.targets:
@@ -259,7 +279,7 @@ class PhotonPoseEstimator:
             )
             return EstimatedRobotPose(
                 best,
-                result.timestampSec,
+                result.getTimestampSeconds(),
                 result.targets,
                 PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
             )
@@ -281,7 +301,6 @@ class PhotonPoseEstimator:
         lowestAmbiguityTarget = None
 
         lowestAmbiguityScore = 10.0
-
         for target in result.targets:
             targetPoseAmbiguity = target.poseAmbiguity
 
@@ -307,7 +326,7 @@ class PhotonPoseEstimator:
             targetPosition.transformBy(
                 lowestAmbiguityTarget.getBestCameraToTarget().inverse()
             ).transformBy(self.robotToCamera.inverse()),
-            result.timestampSec,
+            result.getTimestampSeconds(),
             result.targets,
             PoseStrategy.LOWEST_AMBIGUITY,
         )

photonlibpy/targeting/TargetCorner.py

@@ -0,0 +1,9 @@
+from dataclasses import dataclass
+
+
+@dataclass
+class TargetCorner:
+    x: float = 0
+    y: float = 9
+
+    photonStruct: "TargetCornerSerde" = None

photonlibpy/targeting/__init__.py

@@ -0,0 +1,6 @@
+# no one but us chickens
+
+from .TargetCorner import TargetCorner  # noqa
+from .multiTargetPNPResult import MultiTargetPNPResult, PnpResult  # noqa
+from .photonPipelineResult import PhotonPipelineMetadata, PhotonPipelineResult  # noqa
+from .photonTrackedTarget import PhotonTrackedTarget  # noqa

photonlibpy/targeting/multiTargetPNPResult.py

@@ -0,0 +1,34 @@
+from dataclasses import dataclass, field
+from wpimath.geometry import Transform3d
+from ..packet import Packet
+
+
+@dataclass
+class PnpResult:
+    best: Transform3d = field(default_factory=Transform3d)
+    alt: Transform3d = field(default_factory=Transform3d)
+    ambiguity: float = 0.0
+    bestReprojError: float = 0.0
+    altReprojError: float = 0.0
+
+    photonStruct: "PNPResultSerde" = None
+
+
+@dataclass
+class MultiTargetPNPResult:
+    _MAX_IDS = 32
+
+    estimatedPose: PnpResult = field(default_factory=PnpResult)
+    fiducialIDsUsed: list[int] = field(default_factory=list)
+
+    def createFromPacket(self, packet: Packet) -> Packet:
+        self.estimatedPose = PnpResult()
+        self.estimatedPose.createFromPacket(packet)
+        self.fiducialIDsUsed = []
+        for _ in range(MultiTargetPNPResult._MAX_IDS):
+            fidId = packet.decode16()
+            if fidId >= 0:
+                self.fiducialIDsUsed.append(fidId)
+        return packet
+
+    photonStruct: "MultiTargetPNPResultSerde" = None

photonlibpy/targeting/photonPipelineResult.py

@@ -0,0 +1,65 @@
+from dataclasses import dataclass, field
+from typing import Optional
+
+from .multiTargetPNPResult import MultiTargetPNPResult
+from .photonTrackedTarget import PhotonTrackedTarget
+
+
+@dataclass
+class PhotonPipelineMetadata:
+    # Image capture and NT publish timestamp, in microseconds and in the coprocessor timebase. As
+    # reported by WPIUtilJNI::now.
+    captureTimestampMicros: int = -1
+    publishTimestampMicros: int = -1
+
+    # Mirror of the heartbeat entry -- monotonically increasing
+    sequenceID: int = -1
+
+    photonStruct: "PhotonPipelineMetadataSerde" = None
+
+
+@dataclass
+class PhotonPipelineResult:
+    # Since we don't trust NT time sync, keep track of when we got this packet into robot code
+    ntReceiveTimestampMicros: int = -1
+
+    targets: list[PhotonTrackedTarget] = field(default_factory=list)
+    metadata: PhotonPipelineMetadata = field(default_factory=PhotonPipelineMetadata)
+    multiTagResult: Optional[MultiTargetPNPResult] = None
+
+    def getLatencyMillis(self) -> float:
+        return (
+            self.metadata.publishTimestampMicros - self.metadata.captureTimestampMicros
+        ) / 1e3
+
+    def getTimestampSeconds(self) -> float:
+        """
+        Returns the estimated time the frame was taken, in the Received system's time base. This is
+        calculated as (NT Receive time (robot base) - (publish timestamp, coproc timebase - capture
+        timestamp, coproc timebase))
+        """
+        # TODO - we don't trust NT4 to correctly latency-compensate ntReceiveTimestampMicros
+        return (
+            self.ntReceiveTimestampMicros
+            - (
+                self.metadata.publishTimestampMicros
+                - self.metadata.captureTimestampMicros
+            )
+        ) / 1e6
+
+    def getTargets(self) -> list[PhotonTrackedTarget]:
+        return self.targets
+
+    def hasTargets(self) -> bool:
+        return len(self.targets) > 0
+
+    def getBestTarget(self) -> PhotonTrackedTarget:
+        """
+        Returns the best target in this pipeline result. If there are no targets, this method will
+        return null. The best target is determined by the target sort mode in the PhotonVision UI.
+        """
+        if not self.hasTargets():
+            return None
+        return self.getTargets()[0]
+
+    photonStruct: "PhotonPipelineResultSerde" = None

photonlibpy/{photonTrackedTarget.py → targeting/photonTrackedTarget.py}

@@ -1,20 +1,11 @@
 from dataclasses import dataclass, field
 from wpimath.geometry import Transform3d
-from photonlibpy.packet import Packet
-
-
-@dataclass
-class TargetCorner:
-    x: float
-    y: float
+from ..packet import Packet
+from .TargetCorner import TargetCorner
 
 
 @dataclass
 class PhotonTrackedTarget:
-    _MAX_CORNERS = 8
-    _NUM_BYTES_IN_FLOAT = 8
-    _PACK_SIZE_BYTES = _NUM_BYTES_IN_FLOAT * (5 + 7 + 2 * 4 + 1 + 7 + 2 * _MAX_CORNERS)
-
     yaw: float = 0.0
     pitch: float = 0.0
     area: float = 0.0
@@ -64,19 +55,4 @@ class PhotonTrackedTarget:
             retList.append(TargetCorner(cx, cy))
         return retList
 
-    def createFromPacket(self, packet: Packet) -> Packet:
-        self.yaw = packet.decodeDouble()
-        self.pitch = packet.decodeDouble()
-        self.area = packet.decodeDouble()
-        self.skew = packet.decodeDouble()
-        self.fiducialId = packet.decode32()
-
-        self.bestCameraToTarget = packet.decodeTransform()
-        self.altCameraToTarget = packet.decodeTransform()
-
-        self.poseAmbiguity = packet.decodeDouble()
-
-        self.minAreaRectCorners = self._decodeTargetList(packet, 4)  # always four
-        numCorners = packet.decode8()
-        self.detectedCorners = self._decodeTargetList(packet, numCorners)
-        return packet
+    photonStruct: "PhotonTrackedTargetSerde" = None

photonlibpy/version.py

@@ -1,2 +1,2 @@
-PHOTONLIB_VERSION="2024.3.1"
-PHOTONVISION_VERSION="v2024.3.1"
+PHOTONLIB_VERSION="v2025.0.0.alpha.0"
+PHOTONVISION_VERSION="v2025.0.0-alpha-0"

photonlibpy-2025.0.0a0.dist-info/METADATA

@@ -0,0 +1,13 @@
+Metadata-Version: 2.1
+Name: photonlibpy
+Version: 2025.0.0a0
+Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors. Implemented with PhotonVision version v2025.0.0-alpha-0 .
+Home-page: https://photonvision.org
+Author: Photonvision Development Team
+Description-Content-Type: text/markdown
+Requires-Dist: wpilib<2025,>=2024.0.0b2
+Requires-Dist: robotpy-wpimath<2025,>=2024.0.0b2
+Requires-Dist: robotpy-apriltag<2025,>=2024.0.0b2
+Requires-Dist: pyntcore<2025,>=2024.0.0b2
+
+A Pure-python implementation of PhotonLib

photonlibpy-2025.0.0a0.dist-info/RECORD

@@ -0,0 +1,22 @@
+photonlibpy/__init__.py,sha256=JnwWj53fEM263hUjEFGmJ--M3XCX0LYovdrl4wcNRnU,1136
+photonlibpy/estimatedRobotPose.py,sha256=X7wF9xdPXGKSVy0MY0qrWZJOEbuZPd721lYp0KXKlP0,1603
+photonlibpy/packet.py,sha256=gcikxwQZLoNGHuzNpAmnXjyLty-8w8HIVR3gGl4QPX4,6024
+photonlibpy/photonCamera.py,sha256=nc80dRGm_4OT_EcJo9zmmCaiDY3FMmAgYoYDrTCKEfk,10187
+photonlibpy/photonPoseEstimator.py,sha256=cgTW2Ja9cJK08bIKd-zW0l1V8mLL5NM_unaIOgEsedk,12596
+photonlibpy/version.py,sha256=Fg2UjgOnC98Q0vrMlyrceRwAyQMW9fCGWswIYeblBQY,79
+photonlibpy/generated/MultiTargetPNPResultSerde.py,sha256=vtcg17D83gVtXJBCAez8xFmxdENV020QcY4gfYZOBd4,1957
+photonlibpy/generated/PhotonPipelineMetadataSerde.py,sha256=eXLgqVQfaK7nPLeu832Z2RsH3BfffGPDCXvw0DCvjTw,2081
+photonlibpy/generated/PhotonPipelineResultSerde.py,sha256=jPq9C1895UO1fbipuO9V6TPrFZ5IOVbTNzctnlTjRBQ,2261
+photonlibpy/generated/PhotonTrackedTargetSerde.py,sha256=v_VFmq8h6KIarAdmqsV1DLClF3mQUVJzRbk-DLDwjU4,3070
+photonlibpy/generated/PnpResultSerde.py,sha256=LqQ2-25ac8o8BoV24UL0gkG4cQ6KrZNbajNZngYjSI4,2080
+photonlibpy/generated/TargetCornerSerde.py,sha256=ehkIitRVneMppqnEn3XPn_giUNH-czT3O_YID5fxdos,1790
+photonlibpy/generated/__init__.py,sha256=WdCA9k7QNY1i8B9u5kBilnibajDBg7zfU8GbV7F2H8g,505
+photonlibpy/targeting/TargetCorner.py,sha256=iFWTWu5HcpkBQyvhz_klpAB0TEmy-7_SsD1FHeNfnkE,147
+photonlibpy/targeting/__init__.py,sha256=1GUy4MC8NbZ-TEcFgsnvSm_X0LYeZ0HZagMMRmGpx8A,295
+photonlibpy/targeting/multiTargetPNPResult.py,sha256=CZ7jULJV1VpTK5mxLvMVKHkBMKdTk9X428cNChzizAY,1010
+photonlibpy/targeting/photonPipelineResult.py,sha256=t3fHHEb6YgucJyTajCi3-SIG9FSQGQ4sUQLadFfhIks,2316
+photonlibpy/targeting/photonTrackedTarget.py,sha256=B1kMfx6Re0VF_RsMZ7H0ZyxaGy4PR4XITiaCbe0ViZ0,1708
+photonlibpy-2025.0.0a0.dist-info/METADATA,sha256=zZc6rK9qOYvIQGeXfoCx6qorsNoMaYn2YKdcBMrib48,556
+photonlibpy-2025.0.0a0.dist-info/WHEEL,sha256=eOLhNAGa2EW3wWl_TU484h7q1UNgy0JXjjoqKoxAAQc,92
+photonlibpy-2025.0.0a0.dist-info/top_level.txt,sha256=T8Xc6U6he2VjKUAca6zawSkHdUZuLanxYIc4nxw2ctc,12
+photonlibpy-2025.0.0a0.dist-info/RECORD,,

{photonlibpy-2024.3.1.dist-info → photonlibpy-2025.0.0a0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.43.0)
+Generator: bdist_wheel (0.44.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

photonlibpy/multiTargetPNPResult.py

@@ -1,49 +0,0 @@
-from dataclasses import dataclass, field
-from wpimath.geometry import Transform3d
-from photonlibpy.packet import Packet
-
-
-@dataclass
-class PNPResult:
-    _NUM_BYTES_IN_FLOAT = 8
-    PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT * 3)
-
-    isPresent: bool = False
-    best: Transform3d = field(default_factory=Transform3d)
-    alt: Transform3d = field(default_factory=Transform3d)
-    ambiguity: float = 0.0
-    bestReprojError: float = 0.0
-    altReprojError: float = 0.0
-
-    def createFromPacket(self, packet: Packet) -> Packet:
-        self.isPresent = packet.decodeBoolean()
-
-        if not self.isPresent:
-            return packet
-
-        self.best = packet.decodeTransform()
-        self.alt = packet.decodeTransform()
-        self.bestReprojError = packet.decodeDouble()
-        self.altReprojError = packet.decodeDouble()
-        self.ambiguity = packet.decodeDouble()
-        return packet
-
-
-@dataclass
-class MultiTargetPNPResult:
-    _MAX_IDS = 32
-    # pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
-    _PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (1 * _MAX_IDS)
-
-    estimatedPose: PNPResult = field(default_factory=PNPResult)
-    fiducialIDsUsed: list[int] = field(default_factory=list)
-
-    def createFromPacket(self, packet: Packet) -> Packet:
-        self.estimatedPose = PNPResult()
-        self.estimatedPose.createFromPacket(packet)
-        self.fiducialIDsUsed = []
-        for _ in range(MultiTargetPNPResult._MAX_IDS):
-            fidId = packet.decode16()
-            if fidId >= 0:
-                self.fiducialIDsUsed.append(fidId)
-        return packet

photonlibpy/photonPipelineResult.py

@@ -1,43 +0,0 @@
-from dataclasses import dataclass, field
-
-from photonlibpy.multiTargetPNPResult import MultiTargetPNPResult
-from photonlibpy.packet import Packet
-from photonlibpy.photonTrackedTarget import PhotonTrackedTarget
-
-
-@dataclass
-class PhotonPipelineResult:
-    latencyMillis: float = -1.0
-    timestampSec: float = -1.0
-    targets: list[PhotonTrackedTarget] = field(default_factory=list)
-    multiTagResult: MultiTargetPNPResult = field(default_factory=MultiTargetPNPResult)
-
-    def populateFromPacket(self, packet: Packet) -> Packet:
-        self.targets = []
-        self.latencyMillis = packet.decodeDouble()
-        targetCount = packet.decode8()
-
-        for _ in range(targetCount):
-            target = PhotonTrackedTarget()
-            target.createFromPacket(packet)
-            self.targets.append(target)
-
-        self.multiTagResult = MultiTargetPNPResult()
-        self.multiTagResult.createFromPacket(packet)
-
-        return packet
-
-    def setTimestampSeconds(self, timestampSec: float) -> None:
-        self.timestampSec = timestampSec
-
-    def getLatencyMillis(self) -> float:
-        return self.latencyMillis
-
-    def getTimestamp(self) -> float:
-        return self.timestampSec
-
-    def getTargets(self) -> list[PhotonTrackedTarget]:
-        return self.targets
-
-    def hasTargets(self) -> bool:
-        return len(self.targets) > 0

photonlibpy-2024.3.1.dist-info/METADATA

@@ -1,13 +0,0 @@
-Metadata-Version: 2.1
-Name: photonlibpy
-Version: 2024.3.1
-Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors.
-Home-page: https://photonvision.org
-Author: Photonvision Development Team
-Description-Content-Type: text/markdown
-Requires-Dist: wpilib <2025,>=2024.0.0b2
-Requires-Dist: robotpy-wpimath <2025,>=2024.0.0b2
-Requires-Dist: robotpy-apriltag <2025,>=2024.0.0b2
-Requires-Dist: pyntcore <2025,>=2024.0.0b2
-
-A Pure-python implementation of PhotonLib

photonlibpy-2024.3.1.dist-info/RECORD

@@ -1,13 +0,0 @@
-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=5bbyMIVnz9oCfeQR0CrycjrM7TuoDF_ybe6OZbAdVpk,6946
-photonlibpy/photonPipelineResult.py,sha256=IpHxXKuyfOKcslgm_Ce2PqV8HgXTN_IMUuNb5BBTzSo,1351
-photonlibpy/photonPoseEstimator.py,sha256=s99TjCi3SFpCo5fPckw2ZfJK7E3lvFO3zpr0GnDDyKM,11580
-photonlibpy/photonTrackedTarget.py,sha256=Br2L4fNNwQP4eUj9eV9I653FOER00JbeHB5SMNTSaHc,2482
-photonlibpy/version.py,sha256=cLtN559uk-KlzHhdhRQ2MoAO-iHP1C1nyS5PJ2F8TZo,62
-photonlibpy-2024.3.1.dist-info/METADATA,sha256=hd_3Q0yZnYzxZ4wHBequLJQOJokRlO-sq8zoOcQsvl8,500
-photonlibpy-2024.3.1.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-photonlibpy-2024.3.1.dist-info/top_level.txt,sha256=T8Xc6U6he2VjKUAca6zawSkHdUZuLanxYIc4nxw2ctc,12
-photonlibpy-2024.3.1.dist-info/RECORD,,