[photon-lib] Sim multitag result #973
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| * | ||
| * @return The last set layout | ||
| */ | ||
| public AprilTagFieldLayout getAprilTagFieldLayout() { |
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This is kinda weird... I'm not sure of a better way to do this since we need the ATFL to calculate the multitag result. This does not check what layout the coprocessor has, just the last one set from user code. All coprocessors on a NT instance share the same tag layout (and updating the layout through one camera should mean the others also can get that updated layout), but this uses a static field and technically assumes all coprocessors are on the same NT instance.
It could exist in PhotonCameraSim instead, but that would require code duplication specifically for sim when setting a tag layout over NT.
The field could also be accessed directly and the getter method removed, but that would require PhotonCameraSim to be in the same package as PhotonCamera.
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So funny story, the apriltag_field_layout topic is never actually subscribed to in the backend and is currently broken |
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So, should we hide it for now and just assume default field? |
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I think so, yeah? Barring someone going and implementing it |
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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Updates simulation to include the pipeline multitag result.