whippyformat and copyright stuff

photon-lib/py/photonlibpy/__init__.py

@@ -1,4 +1,19 @@
-# 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

photon-lib/py/photonlibpy/estimatedRobotPose.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/>.
+###############################################################################
+
 from dataclasses import dataclass
 from typing import TYPE_CHECKING
 

photon-lib/py/photonlibpy/generated/MultiTargetPNPResultSerde.py

@@ -24,7 +24,6 @@
 
 
 class MultiTargetPNPResultSerde:
-
     # Message definition md5sum. See photon_packet.adoc for details
     MESSAGE_VERSION = "ffc1cb847deb6e796a583a5b1885496b"
     MESSAGE_FORMAT = "PnpResult estimatedPose;int16[?] fiducialIDsUsed;"

photon-lib/py/photonlibpy/generated/PhotonPipelineMetadataSerde.py

@@ -24,7 +24,6 @@
 
 
 class PhotonPipelineMetadataSerde:
-
     # Message definition md5sum. See photon_packet.adoc for details
     MESSAGE_VERSION = "2a7039527bda14d13028a1b9282d40a2"
     MESSAGE_FORMAT = (

photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -24,7 +24,6 @@
 
 
 class PhotonPipelineResultSerde:
-
     # Message definition md5sum. See photon_packet.adoc for details
     MESSAGE_VERSION = "cb3e1605048ba49325888eb797399fe2"
     MESSAGE_FORMAT = "PhotonPipelineMetadata metadata;PhotonTrackedTarget[?] targets;MultiTargetPNPResult? multiTagResult;"

photon-lib/py/photonlibpy/generated/PhotonTrackedTargetSerde.py

@@ -24,7 +24,6 @@
 
 
 class PhotonTrackedTargetSerde:
-
     # Message definition md5sum. See photon_packet.adoc for details
     MESSAGE_VERSION = "8fdada56b9162f2e32bd24f0055d7b60"
     MESSAGE_FORMAT = "float64 yaw;float64 pitch;float64 area;float64 skew;int32 fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d bestCameraToTarget;Transform3d altCameraToTarget;float64 poseAmbiguity;TargetCorner[?] minAreaRectCorners;TargetCorner[?] detectedCorners;"

photon-lib/py/photonlibpy/generated/PnpResultSerde.py

@@ -24,7 +24,6 @@
 
 
 class PnpResultSerde:
-
     # Message definition md5sum. See photon_packet.adoc for details
     MESSAGE_VERSION = "0d1f2546b00f24718e30f38d206d4491"
     MESSAGE_FORMAT = "Transform3d best;Transform3d alt;float64 bestReprojErr;float64 altReprojErr;float64 ambiguity;"

photon-lib/py/photonlibpy/generated/TargetCornerSerde.py

@@ -24,7 +24,6 @@
 
 
 class TargetCornerSerde:
-
     # Message definition md5sum. See photon_packet.adoc for details
     MESSAGE_VERSION = "22b1ff7551d10215af6fb3672fe4eda8"
     MESSAGE_FORMAT = "float64 x;float64 y;"

photon-lib/py/photonlibpy/packet.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 struct
 from typing import Any, Optional, Type
 from wpimath.geometry import Transform3d, Translation3d, Rotation3d, Quaternion

photon-lib/py/photonlibpy/photonCamera.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/>.
+###############################################################################
+
 from enum import Enum
 from typing import List
 import ntcore

photon-lib/py/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
 

photon-lib/py/test/photonPoseEstimator_test.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/>.
+###############################################################################
+
 # from photonlibpy import MultiTargetPNPResult, PnpResult
 # from photonlibpy import PhotonPipelineResult
 # from photonlibpy import PhotonPoseEstimator, PoseStrategy

photon-lib/py/test/photonlibpy_test.py

@@ -1,11 +1,27 @@
+###############################################################################
+## 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 time import sleep
 from photonlibpy import PhotonCamera
 import ntcore
 from photonlibpy.photonCamera import setVersionCheckEnabled
 
 
 def test_roundTrip():
-
     ntcore.NetworkTableInstance.getDefault().stopServer()
     ntcore.NetworkTableInstance.getDefault().setServer("localhost")
     ntcore.NetworkTableInstance.getDefault().startClient4("meme")

photon-lib/src/main/native/include/photon/PhotonCamera.h

@@ -87,8 +87,8 @@ class PhotonCamera {
    */
   std::vector<PhotonPipelineResult> GetAllUnreadResults();
 
-  [[deprecated("Replace with GetAllUnreadResults")]]
-  PhotonPipelineResult GetLatestResult();
+  [[deprecated("Replace with GetAllUnreadResults")]] PhotonPipelineResult
+  GetLatestResult();
 
   /**
    * Toggles driver mode.

photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h

@@ -53,8 +53,8 @@ static std::vector<cv::Point2f> GetConvexHull(
   return convexPoints;
 }
 
-[[maybe_unused]]
-static cv::RotatedRect GetMinAreaRect(const std::vector<cv::Point2f>& points) {
+[[maybe_unused]] static cv::RotatedRect GetMinAreaRect(
+    const std::vector<cv::Point2f>& points) {
   return cv::minAreaRect(points);
 }
 
@@ -144,8 +144,7 @@ static std::vector<cv::Point3f> RotationToRVec(
   return cv::boundingRect(points);
 }
 
-[[maybe_unused]]
-static std::vector<cv::Point2f> ProjectPoints(
+[[maybe_unused]] static std::vector<cv::Point2f> ProjectPoints(
     const Eigen::Matrix<double, 3, 3>& cameraMatrix,
     const Eigen::Matrix<double, 8, 1>& distCoeffs,
     const RotTrlTransform3d& camRt,

photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h

@@ -32,8 +32,7 @@
 namespace photon {
 namespace VisionEstimation {
 
-[[maybe_unused]]
-static std::vector<frc::AprilTag> GetVisibleLayoutTags(
+[[maybe_unused]] static std::vector<frc::AprilTag> GetVisibleLayoutTags(
     const std::vector<PhotonTrackedTarget>& visTags,
     const frc::AprilTagFieldLayout& layout) {
   std::vector<frc::AprilTag> retVal{};

photonlib-python-examples/aimandrange/.gitignore

@@ -172,4 +172,4 @@ out/
 *-window.json
 networktables.json
 
-__pycache__
+__pycache__

photonlib-python-examples/aimandrange/.wpilib/wpilib_preferences.json

@@ -1 +1 @@
-{"teamNumber": 1736}
+{"teamNumber": 1736}

photonlib-python-examples/aimandrange/drivetrain.py

@@ -1,8 +1,27 @@
+###################################################################################
+# MIT License
 #
-# Copyright (c) FIRST and other WPILib contributors.
-# Open Source Software; you can modify and/or share it under the terms of
-# the WPILib BSD license file in the root directory of this project.
+# Copyright (c) PhotonVision
 #
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+###################################################################################
+
 
 import math
 import wpilib
@@ -26,10 +45,10 @@ def __init__(self) -> None:
         self.backLeftLocation = wpimath.geometry.Translation2d(-0.381, 0.381)
         self.backRightLocation = wpimath.geometry.Translation2d(-0.381, -0.381)
 
-        self.frontLeft  = swervemodule.SwerveModule(1, 2, 0, 1, 2, 3, 1)
+        self.frontLeft = swervemodule.SwerveModule(1, 2, 0, 1, 2, 3, 1)
         self.frontRight = swervemodule.SwerveModule(3, 4, 4, 5, 6, 7, 2)
-        self.backLeft   = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11, 3)
-        self.backRight  = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15, 4)
+        self.backLeft = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11, 3)
+        self.backRight = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15, 4)
 
         self.debugField = wpilib.Field2d()
         wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
@@ -97,7 +116,6 @@ def drive(
 
         self.targetChassisSpeeds = self.kinematics.toChassisSpeeds(swerveModuleStates)
 
-
     def updateOdometry(self) -> None:
         """Updates the field relative position of the robot."""
         self.odometry.update(
@@ -111,29 +129,37 @@ def updateOdometry(self) -> None:
         )
 
     def getModuleStates(self) -> list[wpimath.kinematics.SwerveModuleState]:
-        return [ 
-                 self.frontLeft.getState(),
-                 self.frontRight.getState(),
-                 self.backLeft.getState(),
-                 self.backRight.getState(),
-               ]
-    
+        return [
+            self.frontLeft.getState(),
+            self.frontRight.getState(),
+            self.backLeft.getState(),
+            self.backRight.getState(),
+        ]
+
     def getModulePoses(self) -> list[wpimath.geometry.Pose2d]:
         p = self.odometry.getPose()
-        flTrans = wpimath.geometry.Transform2d(self.frontLeftLocation, self.frontLeft.getAbsoluteHeading())
-        frTrans = wpimath.geometry.Transform2d(self.frontRightLocation, self.frontRight.getAbsoluteHeading())
-        blTrans = wpimath.geometry.Transform2d(self.backLeftLocation, self.backLeft.getAbsoluteHeading())
-        brTrans = wpimath.geometry.Transform2d(self.backRightLocation, self.backRight.getAbsoluteHeading())
-        return [ 
-                p.transformBy(flTrans),
-                p.transformBy(frTrans),
-                p.transformBy(blTrans),
-                p.transformBy(brTrans),
-            ]
+        flTrans = wpimath.geometry.Transform2d(
+            self.frontLeftLocation, self.frontLeft.getAbsoluteHeading()
+        )
+        frTrans = wpimath.geometry.Transform2d(
+            self.frontRightLocation, self.frontRight.getAbsoluteHeading()
+        )
+        blTrans = wpimath.geometry.Transform2d(
+            self.backLeftLocation, self.backLeft.getAbsoluteHeading()
+        )
+        brTrans = wpimath.geometry.Transform2d(
+            self.backRightLocation, self.backRight.getAbsoluteHeading()
+        )
+        return [
+            p.transformBy(flTrans),
+            p.transformBy(frTrans),
+            p.transformBy(blTrans),
+            p.transformBy(brTrans),
+        ]
 
     def getChassisSpeeds(self) -> wpimath.kinematics.ChassisSpeeds:
         return self.kinematics.toChassisSpeeds(self.getModuleStates())
-    
+
     def log(self):
         table = "Drive/"
 
@@ -145,12 +171,20 @@ def log(self):
         chassisSpeeds = self.getChassisSpeeds()
         wpilib.SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx)
         wpilib.SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy)
-        wpilib.SmartDashboard.putNumber(table + "Omega Degrees", chassisSpeeds.omega_dps)
+        wpilib.SmartDashboard.putNumber(
+            table + "Omega Degrees", chassisSpeeds.omega_dps
+        )
+
+        wpilib.SmartDashboard.putNumber(
+            table + "Target VX", self.targetChassisSpeeds.vx
+        )
+        wpilib.SmartDashboard.putNumber(
+            table + "Target VY", self.targetChassisSpeeds.vy
+        )
+        wpilib.SmartDashboard.putNumber(
+            table + "Target Omega Degrees", self.targetChassisSpeeds.omega_dps
+        )
 
-        wpilib.SmartDashboard.putNumber(table + "Target VX", self.targetChassisSpeeds.vx)
-        wpilib.SmartDashboard.putNumber(table + "Target VY", self.targetChassisSpeeds.vy)
-        wpilib.SmartDashboard.putNumber(table + "Target Omega Degrees", self.targetChassisSpeeds.omega_dps)
-
         self.frontLeft.log()
         self.frontRight.log()
         self.backLeft.log()
@@ -165,4 +199,4 @@ def simulationPeriodic(self):
         self.backLeft.simulationPeriodic()
         self.backRight.simulationPeriodic()
         self.simGyro.setRate(-1.0 * self.getChassisSpeeds().omega_dps)
-        self.simGyro.setAngle(self.simGyro.getAngle() + self.simGyro.getRate() * 0.02)
+        self.simGyro.setAngle(self.simGyro.getAngle() + self.simGyro.getRate() * 0.02)