update photon-lib

PhotonVision · Nov 6, 2023 · e58effe · e58effe
1 parent 29818c4
commit e58effe
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -140,9 +140,9 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
         path = cameraTable.getPath();
         rawBytesEntry =
                 cameraTable
-                        .getRawTopic("rawBytes")
+                        .getRawTopic("result_proto")
                         .subscribe(
-                                "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
+                                "proto:" + PhotonPipelineResult.proto.getDescriptor().getFullName(), new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
         driverModePublisher = cameraTable.getBooleanTopic("driverModeRequest").publish();
         driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false);
         inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);

diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -563,9 +563,7 @@ public void submitProcessedFrame(PhotonPipelineResult result) {
     public void submitProcessedFrame(PhotonPipelineResult result, long receiveTimestamp) {
         ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
 
-        var newPacket = new Packet(result.getPacketSize());
-        result.populatePacket(newPacket);
-        ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp);
+        ts.rawBytesEntry.set(result, receiveTimestamp);
 
         boolean hasTargets = result.hasTargets();
         ts.hasTargetEntry.set(hasTargets, receiveTimestamp);