Create TSP Server in C++ photonlib

photon-lib/py/photonlibpy/photonCamera.py

@@ -124,7 +124,7 @@ def getAllUnreadResults(self) -> List[PhotonPipelineResult]:
                 pkt = Packet(byteList)
                 newResult = PhotonPipelineResult.photonStruct.unpack(pkt)
                 # NT4 allows us to correct the timestamp based on when the message was sent
-                newResult.ntReceiveTimestampMicros = timestamp / 1e6
+                newResult.ntReceiveTimestampMicros = timestamp
                 ret.append(newResult)
 
         return ret

photon-lib/py/photonlibpy/targeting/photonPipelineResult.py

@@ -24,6 +24,8 @@ class PhotonPipelineResult:
     ntReceiveTimestampMicros: int = -1
 
     targets: list[PhotonTrackedTarget] = field(default_factory=list)
+    # Python users beware! We don't currently run a Time Sync Server, so these timestamps are in
+    # an arbitrary timebase. This is not true in C++ or Java.
     metadata: PhotonPipelineMetadata = field(default_factory=PhotonPipelineMetadata)
     multiTagResult: Optional[MultiTargetPNPResult] = None
 

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -25,6 +25,7 @@
 #include "photon/PhotonCamera.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <net/TimeSyncServer.h>
 
 #include <string>
 #include <string_view>
@@ -59,6 +60,11 @@ inline constexpr std::string_view bfw =
     ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
     "\n\n";
 
+// bit of a hack -- start a TimeSync server on port 5810 (hard-coded)
+static std::mutex g_timeSyncServerMutex;
+static bool g_timeSyncServerStarted;
+static wpi::tsp::TimeSyncServer timesyncServer{5810};
+
 namespace photon {
 
 constexpr const units::second_t VERSION_CHECK_INTERVAL = 5_s;
@@ -110,6 +116,14 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       cameraName(cameraName) {
   HAL_Report(HALUsageReporting::kResourceType_PhotonCamera, InstanceCount);
   InstanceCount++;
+
+  {
+    std::lock_guard lock{g_timeSyncServerMutex};
+    if (!g_timeSyncServerStarted) {
+      timesyncServer.Start();
+      g_timeSyncServerStarted = true;
+    }
+  }
 }
 
 PhotonCamera::PhotonCamera(const std::string_view cameraName)

photon-lib/src/test/native/cpp/PhotonCameraTest.cpp

@@ -0,0 +1,54 @@
+/*
+ * MIT License
+ *
+ * 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.
+ */
+
+#include <gtest/gtest.h>
+#include <hal/HAL.h>
+#include <net/TimeSyncClient.h>
+#include <net/TimeSyncServer.h>
+
+#include "photon/PhotonCamera.h"
+
+TEST(TimeSyncProtocolTest, Smoketest) {
+  using namespace wpi::tsp;
+  using namespace std::chrono_literals;
+
+  // start a server implicitly
+  photon::PhotonCamera camera{"camera"};
+
+  TimeSyncClient client{"127.0.0.1", 5810, 100ms};
+  client.Start();
+
+  for (int i = 0; i < 10; i++) {
+    std::this_thread::sleep_for(100ms);
+    TimeSyncClient::Metadata m = client.GetMetadata();
+
+    // give us time to warm up
+    if (i > 5) {
+      EXPECT_TRUE(m.rtt2 > 0);
+      EXPECT_TRUE(m.pongsReceived > 0);
+    }
+  }
+
+  client.Stop();
+}

photon-lib/src/test/native/cpp/main.cpp

@@ -22,10 +22,14 @@
  * SOFTWARE.
  */
 
+#include <hal/HAL.h>
+
 #include "gtest/gtest.h"
 
 int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
+  HAL_Shutdown();
   return ret;
 }

photon-targeting/src/test/native/cpp/main.cpp

@@ -15,9 +15,14 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
+#include <hal/HAL.h>
+
 #include "gtest/gtest.h"
 
 int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
   ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
+  int ret = RUN_ALL_TESTS();
+  HAL_Shutdown();
+  return ret;
 }

photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp

@@ -24,8 +24,6 @@ TEST(TimeSyncProtocolTest, Smoketest) {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;
 
-  HAL_Initialize(500, 0);
-
   TimeSyncServer server{5812};
   TimeSyncClient client{"127.0.0.1", 5812, 100ms};
 

photonlib-cpp-examples/poseest/src/test/cpp/main.cpp

@@ -30,5 +30,6 @@ int main(int argc, char** argv) {
   HAL_Initialize(500, 0);
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
+  HAL_Shutdown();
   return ret;
 }