hide ATFL setter

PhotonVision · Oct 25, 2023 · e531236 · e531236
1 parent 78bbd19
commit e531236
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Showing 2 changed files with 43 additions and 37 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -24,12 +24,9 @@
 
 package org.photonvision;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.numbers.*;
@@ -335,39 +332,45 @@ public boolean isConnected() {
         return (now - prevHeartbeatChangeTime) < HEARBEAT_DEBOUNCE_SEC;
     }
 
-    /**
-     * Get the last set {@link AprilTagFieldLayout}. The tag layout is shared between all PhotonVision
-     * coprocessors on the same NT instance-- this method returns the most recent layout set. If no
-     * layout has been set by the user, this is equal to {@link AprilTagFields#kDefaultField}.
-     *
-     * @return The last set layout
-     */
-    public AprilTagFieldLayout getAprilTagFieldLayout() {
-        return lastSetTagLayout;
-    }
-
-    /**
-     * Set the {@link AprilTagFieldLayout} used by all PhotonVision coprocessors that are (or might
-     * later) connect to this robot. The topic is marked as persistent, so even if you only call this
-     * once ever, it will be saved on the RoboRIO and pushed out to all NT clients when code reboots.
-     * PhotonVision will also store a copy of this layout locally on the coprocessor, but subscribes
-     * to this topic and the local copy will be updated when this function is called.
-     *
-     * @param layout The layout to use for *all* PhotonVision cameras
-     * @return Success of serializing the JSON. This does *not* mean that all PhotonVision clients
-     *     have updated their internal layouts.
-     */
-    public boolean setAprilTagFieldLayout(AprilTagFieldLayout layout) {
-        try {
-            var layout_json = new ObjectMapper().writeValueAsString(layout);
-            atflPublisher.set(layout_json);
-            lastSetTagLayout = layout;
-            return true;
-        } catch (JsonProcessingException e) {
-            MathSharedStore.reportError("Error setting ATFL in " + this.getName(), e.getStackTrace());
-        }
-        return false;
-    }
+    // TODO: Implement ATFL subscribing in backend
+    // /**
+    //  * Get the last set {@link AprilTagFieldLayout}. The tag layout is shared between all
+    // PhotonVision
+    //  * coprocessors on the same NT instance-- this method returns the most recent layout set. If no
+    //  * layout has been set by the user, this is equal to {@link AprilTagFields#kDefaultField}.
+    //  *
+    //  * @return The last set layout
+    //  */
+    // public AprilTagFieldLayout getAprilTagFieldLayout() {
+    //     return lastSetTagLayout;
+    // }
+
+    // /**
+    //  * Set the {@link AprilTagFieldLayout} used by all PhotonVision coprocessors that are (or might
+    //  * later) connect to this robot. The topic is marked as persistent, so even if you only call
+    // this
+    //  * once ever, it will be saved on the RoboRIO and pushed out to all NT clients when code
+    // reboots.
+    //  * PhotonVision will also store a copy of this layout locally on the coprocessor, but
+    // subscribes
+    //  * to this topic and the local copy will be updated when this function is called.
+    //  *
+    //  * @param layout The layout to use for *all* PhotonVision cameras
+    //  * @return Success of serializing the JSON. This does *not* mean that all PhotonVision clients
+    //  *     have updated their internal layouts.
+    //  */
+    // public boolean setAprilTagFieldLayout(AprilTagFieldLayout layout) {
+    //     try {
+    //         var layout_json = new ObjectMapper().writeValueAsString(layout);
+    //         atflPublisher.set(layout_json);
+    //         lastSetTagLayout = layout;
+    //         return true;
+    //     } catch (JsonProcessingException e) {
+    //         MathSharedStore.reportError("Error setting ATFL in " + this.getName(),
+    // e.getStackTrace());
+    //     }
+    //     return false;
+    // }
 
     public Optional<Matrix<N3, N3>> getCameraMatrix() {
         var cameraMatrix = cameraIntrinsicsSubscriber.get();

diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -24,6 +24,7 @@
 
 package org.photonvision.simulation;
 
+import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSource;
 import edu.wpi.first.cscore.VideoMode.PixelFormat;
@@ -529,7 +530,9 @@ public PhotonPipelineResult process(
 
         // calculate multitag results
         var multitagResults = new MultiTargetPNPResults();
-        var tagLayout = cam.getAprilTagFieldLayout();
+        // TODO: Implement ATFL subscribing in backend
+        // var tagLayout = cam.getAprilTagFieldLayout();
+        var tagLayout = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
         var visibleLayoutTags = VisionEstimation.getVisibleLayoutTags(detectableTgts, tagLayout);
         if (visibleLayoutTags.size() > 1) {
             List<Integer> usedIDs =