bfw but missing python

PhotonVision · Aug 4, 2024 · eb40c0b · eb40c0b
1 parent d93c6fc
commit eb40c0b
Show file tree

Hide file tree

Showing 6 changed files with 49 additions and 32 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -378,9 +378,20 @@ else if (!isConnected()) {
                     "PhotonVision coprocessor at path " + path + " is not sending new data.", true);
         }
 
-        // Check for version. Warn if the versions aren't aligned.
         String versionString = versionEntry.get("");
-        if (!versionString.isEmpty() && !PhotonVersion.versionMatches(versionString)) {
+
+        // Check mdef UUID
+        String local_uuid = PhotonPipelineResult.photonStruct.getInterfaceUUID();
+        String remote_uuid = resultSubscriber.getInterfaceUUID();
+
+        if (remote_uuid == null || remote_uuid.isEmpty()) {
+            // not connected yet?
+            DriverStation.reportWarning(
+                    "PhotonVision coprocessor at path "
+                            + path
+                            + " has note reported a message interface UUID - is your coprocessor's camera started?",
+                    true);
+        } else if (!local_uuid.equals(remote_uuid)) {
             // Error on a verified version mismatch
             // But stay silent otherwise
 
@@ -406,8 +417,14 @@ else if (!isConnected()) {
             var versionMismatchMessage =
                     "Photon version "
                             + PhotonVersion.versionString
+                            + " (message definition version "
+                            + local_uuid
+                            + ")"
                             + " does not match coprocessor version "
                             + versionString
+                            + " (message definition version "
+                            + remote_uuid
+                            + ")"
                             + "!";
             DriverStation.reportError(versionMismatchMessage, false);
             throw new UnsupportedOperationException(versionMismatchMessage);

diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -35,6 +35,7 @@
 #include <frc/Timer.h>
 #include <opencv2/core.hpp>
 #include <opencv2/core/mat.hpp>
+#include <wpi/json.h>
 
 #include "PhotonVersion.h"
 #include "photon/dataflow/structures/Packet.h"
@@ -192,22 +193,6 @@ std::optional<PhotonCamera::DistortionMatrix> PhotonCamera::GetDistCoeffs() {
   return std::nullopt;
 }
 
-static bool VersionMatches(std::string them_str) {
-  std::smatch match;
-  std::regex versionPattern{"v[0-9]+.[0-9]+.[0-9]+"};
-
-  std::string us_str = PhotonVersion::versionString;
-
-  // Check that both versions are in the right format
-  if (std::regex_search(us_str, match, versionPattern) &&
-      std::regex_search(them_str, match, versionPattern)) {
-    // If they are, check string equality
-    return (us_str == them_str);
-  } else {
-    return false;
-  }
-}
-
 void PhotonCamera::VerifyVersion() {
   if (!PhotonCamera::VERSION_CHECK_ENABLED) {
     return;
@@ -244,13 +229,20 @@ void PhotonCamera::VerifyVersion() {
           "Found the following PhotonVision cameras on NetworkTables:{}",
           cameraNameOutString);
     }
-  } else if (!VersionMatches(versionString)) {
-    FRC_ReportError(frc::warn::Warning, bfw);
-    std::string error_str = fmt::format(
-        "Photonlib version {} does not match coprocessor version {}!",
-        PhotonVersion::versionString, versionString);
-    FRC_ReportError(frc::err::Error, "{}", error_str);
-    throw std::runtime_error(error_str);
+  } else {
+    std::string local_uuid{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
+    std::string remote_uuid =
+        rawBytesEntry.GetTopic().GetProperty("message_uuid");
+
+    if (local_uuid != remote_uuid) {
+      FRC_ReportError(frc::warn::Warning, bfw);
+      std::string error_str = fmt::format(
+          "Photonlib version {} (message definition version {}) does not match "
+          "coprocessor version {} (message definition version {})!",
+          PhotonVersion::versionString, local_uuid, versionString, remote_uuid);
+      FRC_ReportError(frc::err::Error, "{}", error_str);
+      throw std::runtime_error(error_str);
+    }
   }
 }
 

diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
@@ -125,7 +125,7 @@ apply from: "${rootDir}/shared/javacpp/publish.gradle"
 
 // Add photon serde headers to our published sources
 cppHeadersZip {
-    from('src/generated/main/native/include') { 
+    from('src/generated/main/native/include') {
         into '/'
-    } 
+    }
 }
diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java
@@ -47,4 +47,9 @@ public T get() {
     public void close() {
         subscriber.close();
     }
+
+    // TODO - i can see an argument for moving this logic all here instead of keeping in photoncamera
+    public String getInterfaceUUID() {
+        return subscriber.getTopic().getProperty("message_uuid");
+    }
 }
diff --git a/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp b/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
@@ -25,9 +25,10 @@
 #include "Robot.h"
 
 #include <photon/PhotonUtils.h>
-#include <units/time.h>
+
 #include <frc/Timer.h>
 #include <frc/smartdashboard/SmartDashboard.h>
+#include <units/time.h>
 
 void Robot::RobotPeriodic() {
   photon::PhotonCamera::SetVersionCheckEnabled(false);
@@ -36,7 +37,9 @@ void Robot::RobotPeriodic() {
   photon::PhotonPipelineResult result = camera.GetLatestResult();
   auto end = frc::Timer::GetFPGATimestamp();
 
-  printf("DT is %iuS for %i targets\n",(int)units::microsecond_t(end - start).to<double>(), result.GetTargets().size());
+  std::printf("DT is %iuS for %i targets\n",
+              (int)units::microsecond_t(end - start).to<double>(),
+              result.GetTargets().size());
 }
 
 void Robot::TeleopPeriodic() {

diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
@@ -32,7 +32,6 @@
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
 import org.photonvision.PhotonCamera;
 
 /**
@@ -75,8 +74,9 @@ public void robotPeriodic() {
         var start = Timer.getFPGATimestamp();
         var res = camera.getLatestResult();
         var end = Timer.getFPGATimestamp();
-        System.out.println("dt: " + (int)((end - start)*1e6) + "uS for targets: " + res.getTargets().size());
-        SmartDashboard.putNumber("decodeTime", (int)((end-start)*1e6));
+        System.out.println(
+                "dt: " + (int) ((end - start) * 1e6) + "uS for targets: " + res.getTargets().size());
+        SmartDashboard.putNumber("decodeTime", (int) ((end - start) * 1e6));
     }
 
     @Override