Fix python

photon-lib/py/photonlibpy/packet.py

@@ -96,6 +96,14 @@ def decode32(self) -> int:
         """
         return self._decodeGeneric(">l", 4)
 
+    def decodei64(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:
         """
         * Returns a decoded double from the packet.

photon-lib/py/photonlibpy/photonCamera.py

@@ -1,6 +1,6 @@
 from enum import Enum
 import ntcore
-from wpilib import Timer
+from wpilib import RobotController, Timer
 import wpilib
 from photonlibpy.packet import Packet
 from photonlibpy.photonPipelineResult import PhotonPipelineResult
@@ -88,10 +88,8 @@ def getLatestResult(self) -> 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
-            )
+            # We don't trust NT4 time, hack around
+            retVal.ntRecieveTimestampMicros = RobotController.getFPGATime()
             return retVal
 
     def getDriverMode(self) -> bool:

photon-lib/py/photonlibpy/photonPipelineResult.py

@@ -7,14 +7,27 @@
 
 @dataclass
 class PhotonPipelineResult:
-    latencyMillis: float = -1.0
-    timestampSec: float = -1.0
+    # 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
+
+    # Since we don't trust NT time sync, keep track of when we got this packet into robot code
+    ntRecieveTimestampMicros: int = -1
+
     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()
+
+        self.sequenceID = packet.decodei64()
+        self.captureTimestampMicros = packet.decodei64()
+        self.publishTimestampMicros = packet.decodei64()
+
         targetCount = packet.decode8()
 
         for _ in range(targetCount):
@@ -27,14 +40,19 @@ def populateFromPacket(self, packet: Packet) -> 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
+        return (self.publishTimestampMicros - self.captureTimestampMicros) / 1e3
+
+    def getTimestampSeconds(self) -> float:
+        """
+        Returns the estimated time the frame was taken, in the recieved system's time base. This is
+        calculated as (NT recieve time (robot base) - (publish timestamp, coproc timebase - capture
+        timestamp, coproc timebase))
+        """
+        return (
+            self.ntRecieveTimestampMicros
+            - (self.publishTimestampMicros - self.captureTimestampMicros)
+        ) / 1e6
 
     def getTargets(self) -> list[PhotonTrackedTarget]:
         return self.targets

photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h

@@ -49,7 +49,11 @@ class PhotonPipelineResult {
 
   /**
    * Constructs a pipeline result.
-   * @param latency The latency in the pipeline.
+  * @param sequenceID The number of frames processed by this camera since boot
+  * @param captureTimestamp The time, in uS in the coprocessor's timebase, that the coprocessor
+  *     captured the image this result contains the targeting info of
+  * @param publishTimestamp The time, in uS in the coprocessor's timebase, that the coprocessor
+  *     published targeting info
    * @param targets The list of targets identified by the pipeline.
    * @param multitagResult The multitarget result
    */
@@ -125,8 +129,16 @@ class PhotonPipelineResult {
   friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
   friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
 
-  units::millisecond_t latency = 0_s;
-  units::second_t timestamp = -1_s;
+    // Image capture and NT publish timestamp, in microseconds and in the coprocessor timebase. As
+    // reported by WPIUtilJNI::now.
+  units::microsecond_t captureTimestamp;
+  units::microsecond_t publishTimestamp;
+    // Since we don't trust NT time sync, keep track of when we got this packet into robot code
+  units::microsecond_t ntRecieveTimestamp;
+
+  // Mirror of the heartbeat entry -- monotonically increasing
+  units::microsecond_t sequenceID = -1;
+
   wpi::SmallVector<PhotonTrackedTarget, 10> targets;
   MultiTargetPNPResult multitagResult;
   inline static bool HAS_WARNED = false;