Structure for sub-module
This commit is contained in:
Tyler Wilcox
parent
362c4d5cd9
commit
12bef1b6a0
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@ -39,10 +39,10 @@ jobs:
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# The USERNAME and TOKEN need to correspond to the credentials environment variables used in
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# the publishing section of your build.gradle
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- name: Publish to GitHub Packages
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uses: gradle/gradle-build-action@0d13054264b0bb894ded474f08ebb30921341cee
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with:
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arguments: -Prelease publish
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env:
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USERNAME: ${{ github.actor }}
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TOKEN: ${{ secrets.GITHUB_TOKEN }}
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# - name: Publish to GitHub Packages
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# uses: gradle/gradle-build-action@0d13054264b0bb894ded474f08ebb30921341cee
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# with:
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# arguments: -Prelease publish
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# env:
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# USERNAME: ${{ github.actor }}
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# TOKEN: ${{ secrets.GITHUB_TOKEN }}
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@ -2,6 +2,9 @@
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/build/
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/lib/bin
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.vscode
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.settings
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# Ignore Gradle GUI config
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gradle-app.setting
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@ -0,0 +1,28 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>RoboLib</name>
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<comment>Project RoboLib created by Buildship.</comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
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</natures>
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<filteredResources>
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<filter>
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<id>1741394171792</id>
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<name></name>
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<type>30</type>
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<matcher>
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<id>org.eclipse.core.resources.regexFilterMatcher</id>
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<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
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</matcher>
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</filter>
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</filteredResources>
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</projectDescription>
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@ -1,3 +0,0 @@
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{
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"java.configuration.updateBuildConfiguration": "automatic"
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}
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@ -1,4 +0,0 @@
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wpiVersion = 2025.+
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ctreVersion = 5.+
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photonVisionVersion = v2024.+
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advantageKitVersion = 2.2.1
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@ -6,10 +6,17 @@
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* User Manual available at https://docs.gradle.org/7.4.2/userguide/building_java_projects.html
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*/
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import org.gradle.internal.os.OperatingSystem
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plugins {
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// Apply the java-library plugin for API and implementation separation.
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id 'java'
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id 'edu.wpi.first.GradleRIO' version "${wpiVersion}"
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id "edu.wpi.first.GradleRIO" version "${wpiVersion}"
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}
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java {
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sourceCompatibility = JavaVersion.VERSION_17
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targetCompatibility = JavaVersion.VERSION_17
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}
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repositories {
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@ -21,49 +28,26 @@ repositories {
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maven {url "https://maven.photonvision.org/repository/snapshots"}
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maven {url "https://maven.photonvision.org/repository/internal"}
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maven {url "https://maven.ctr-electronics.com/release/"}
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maven {
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url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
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credentials {
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username = "Mechanical-Advantage-Bot"
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password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
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}
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}
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}
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dependencies {
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// Use JUnit Jupiter for testing.
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testImplementation 'org.junit.jupiter:junit-jupiter:5.8.1'
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// This dependency is used internally, and not exposed to consumers on their own compile classpath.
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implementation 'com.google.guava:guava:30.1.1-jre'
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implementation "edu.wpi.first.cscore:cscore-java:${wpiVersion}"
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implementation "edu.wpi.first.cameraserver:cameraserver-java:${wpiVersion}"
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implementation "edu.wpi.first.ntcore:ntcore-java:${wpiVersion}"
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implementation "edu.wpi.first.wpilibj:wpilibj-java:${wpiVersion}"
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implementation "edu.wpi.first.wpiutil:wpiutil-java:${wpiVersion}"
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implementation "edu.wpi.first.wpimath:wpimath-java:${wpiVersion}"
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implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:${wpiVersion}"
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implementation "edu.wpi.first.hal:hal-java:${wpiVersion}"
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implementation "edu.wpi.first.apriltag:apriltag-java:${wpiVersion}"
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implementation "org.ejml:ejml-simple:0.38"
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implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
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implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
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implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
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implementation 'edu.wpi.first.thirdparty.frc2022.opencv:opencv-java:4.5.2-1'
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// WPI Lib
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implementation "edu.wpi.first.cscore:cscore-java:$wpiVersion"
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implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpiVersion"
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implementation "edu.wpi.first.ntcore:ntcore-java:$wpiVersion"
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implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpiVersion"
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implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpiVersion"
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implementation "edu.wpi.first.wpimath:wpimath-java:$wpiVersion"
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implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpiVersion"
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implementation "edu.wpi.first.hal:hal-java:$wpiVersion"
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implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:$wpiVersion"
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// CTRE Phoenix
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implementation "com.ctre.phoenix:api-java:${ctreVersion}"
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implementation "com.ctre.phoenix:wpiapi-java:${ctreVersion}"
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// PhotonVision
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implementation "org.photonvision:photonlib-java:${photonVisionVersion}"
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implementation "org.photonvision:photontargeting-java:${photonVisionVersion}"
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// CTRE Phoenix 6
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implementation "com.ctre.phoenix6:wpiapi-java:${ctreVersion}"
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// AdvantageKit
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implementation "org.littletonrobotics.akit.junction:wpilib-shim:${advantageKitVersion}"
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implementation "org.littletonrobotics.akit.junction:junction-core:${advantageKitVersion}"
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implementation "org.littletonrobotics.akit.conduit:conduit-api:${advantageKitVersion}"
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}
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tasks.named('test') {
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@ -1,114 +0,0 @@
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package com.fairportrobotics.frc.poe.CameraTracking;
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import java.util.ArrayList;
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import java.util.List;
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import org.photonvision.PhotonCamera;
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import org.photonvision.targeting.PhotonTrackedTarget;
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import edu.wpi.first.math.geometry.Transform3d;
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public class AprilTags implements Cloneable {
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// an ArrayList to store the cameras
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public final ArrayList<PhotonCamera> cameras = new ArrayList<>();
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public final ArrayList<PhotonTrackedTarget> frozenResults = new ArrayList<>();
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public boolean frozen = false;
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public AprilTags(String...cameraNames) {
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for(String cameraName : cameraNames) {
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cameras.add(new PhotonCamera(cameraName));
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}
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}
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//Method to get a list of all targets without any filtering
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public List<PhotonTrackedTarget> getAllTargets() {
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return frozen ? frozenResults : cameras.stream().flatMap((camera) -> camera.getLatestResult().getTargets().stream()).toList();
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}
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// Method to get a list of all targets with duplicates removed
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public List<PhotonTrackedTarget> getTargets() {
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List<PhotonTrackedTarget> targets = new ArrayList<>();
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for(PhotonTrackedTarget target : getAllTargets()) {
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boolean toAdd = true;
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List<PhotonTrackedTarget> tempTargets = targets;
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// check if the target is already in the list and if it has a higher pose ambiguity
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for(PhotonTrackedTarget arTarget : targets) {
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if(target.getFiducialId() == arTarget.getFiducialId() && target.getPoseAmbiguity() < arTarget.getPoseAmbiguity()) {
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// if it does, remove it from the list
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tempTargets.remove(arTarget);
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break;
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} else if(target.getFiducialId() == arTarget.getFiducialId()) {
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// if the target is already in the list and has the same ID, don't add it
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toAdd = false;
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break;
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}
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}
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if(toAdd) { tempTargets.add(target); }
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targets = tempTargets;
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}
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return targets;
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}
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// method to check if any camera has any targets
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public boolean hasTargets() {
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return getAllTargets().size() != 0;
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}
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// method to get the closest target
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public PhotonTrackedTarget getClosestTarget() {
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if(!hasTargets()) { return null; }
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PhotonTrackedTarget closestTarget = null;
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for(PhotonTrackedTarget target : getTargets()) {
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if(closestTarget == null || calculateDistance(closestTarget.getBestCameraToTarget()) > calculateDistance(target.getBestCameraToTarget())) { closestTarget = target; }
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}
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return closestTarget;
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}
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// method to get the target with the lowest pose ambiguity
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public PhotonTrackedTarget getLowestAmbiguityTarget() {
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if(!hasTargets()) { return null; }
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PhotonTrackedTarget lowestAmbiguity = null;
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for(PhotonTrackedTarget target : getTargets()) {
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// check if the target has a lower pose ambiguity than the current lowest ambiguity target
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if(lowestAmbiguity == null || lowestAmbiguity.getPoseAmbiguity() > target.getPoseAmbiguity()) { lowestAmbiguity = target; }
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}
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return lowestAmbiguity;
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}
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private double calculateDistance(Transform3d t) {
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return Math.sqrt(t.getX()*t.getX() + t.getY()*t.getY());
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}
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/*
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* In cases where data needs to be referenced more than once, use this function
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* to keep the data consistent and prevent any errors.
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*
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* Very Important!
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*/
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public void freeze() {
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frozenResults.addAll(getAllTargets());
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frozen = true;
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}
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//Unfreeze opposite of freeze
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public void unFreeze() {
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frozenResults.clear();
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frozen = false;
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}
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// There might be a case where you need this so I'm keeping it
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public Object cloneAndFreeze() {
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try{
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AprilTags clone = (AprilTags) super.clone();
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clone.freeze();
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return clone;
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}catch(Exception e){
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return null;
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}
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}
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}
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@ -1,93 +0,0 @@
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package com.fairportrobotics.frc.poe.CameraTracking;
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import java.io.IOException;
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import java.util.Optional;
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import org.photonvision.PhotonCamera;
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import org.photonvision.PhotonPoseEstimator;
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import org.photonvision.PhotonPoseEstimator.PoseStrategy;
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import org.photonvision.EstimatedRobotPose;
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import edu.wpi.first.apriltag.AprilTagFieldLayout;
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import edu.wpi.first.apriltag.AprilTagFields;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Transform3d;
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public class RobotFieldPosition {
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AprilTagFieldLayout layout;
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PhotonPoseEstimator photonPoseEstimator;
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PhotonCamera camera;
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Optional<EstimatedRobotPose> frozenPose;
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boolean frozen = false;
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/*
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* Example of Transform3d:
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*
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* Transform3d robotToCam = new Transform3d(new Translation3d(0.5, 0.0, 0.5),
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* new Rotation3d(0,0,0));
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* Cam mounted facing forward, half a meter forward of center, half a meter up
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* from center.
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*/
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public RobotFieldPosition(String camera, Transform3d robotToCam, String layoutResourceFile) throws IOException {
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layout = AprilTagFieldLayout.loadFromResource(layoutResourceFile);
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PhotonCamera cam = new PhotonCamera(camera);
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photonPoseEstimator = new PhotonPoseEstimator(layout, PoseStrategy.LOWEST_AMBIGUITY, cam, robotToCam);
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}
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public RobotFieldPosition(String camera, Transform3d robotToCam, String layoutResourceFile, PoseStrategy strategy) throws IOException {
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layout = AprilTagFieldLayout.loadFromResource(layoutResourceFile);
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PhotonCamera cam = new PhotonCamera(camera);
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photonPoseEstimator = new PhotonPoseEstimator(layout, strategy, cam, robotToCam);
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}
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public RobotFieldPosition(String camera, Transform3d robotToCam, AprilTagFields fields) throws IOException {
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layout = AprilTagFieldLayout.loadFromResource(fields.m_resourceFile);
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PhotonCamera cam = new PhotonCamera(camera);
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photonPoseEstimator = new PhotonPoseEstimator(layout, PoseStrategy.LOWEST_AMBIGUITY, cam, robotToCam);
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}
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public RobotFieldPosition(String camera, Transform3d robotToCam, AprilTagFields fields, PoseStrategy strategy) throws IOException {
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layout = AprilTagFieldLayout.loadFromResource(fields.m_resourceFile);
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PhotonCamera cam = new PhotonCamera(camera);
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photonPoseEstimator = new PhotonPoseEstimator(layout, strategy, cam, robotToCam);
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}
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public RobotFieldPosition(String camera, Transform3d robotToCam, AprilTagFieldLayout layout, PoseStrategy strategy) throws IOException {
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this.layout = layout;
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PhotonCamera cam = new PhotonCamera(camera);
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photonPoseEstimator = new PhotonPoseEstimator(layout, strategy, cam, robotToCam);
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}
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public Optional<EstimatedRobotPose> getEstimatedGlobalPose() {
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return frozen ? frozenPose : photonPoseEstimator.update();
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}
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public void setLastPose(Pose2d pose) {
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photonPoseEstimator.setLastPose(pose);
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}
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public PhotonPoseEstimator getPhotonPoseEstimator(){
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return photonPoseEstimator;
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}
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public PhotonCamera getPhotonCamera(){
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return camera;
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}
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// For when you want it to stay the same across lines
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public void freeze() {
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frozen = true;
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frozenPose = photonPoseEstimator.update();
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}
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public void unfreeze() {
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frozen = false;
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}
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}
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@ -1,92 +0,0 @@
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package com.fairportrobotics.frc.poe.CameraTracking.WPILIB;
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import java.io.IOException;
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import java.util.Optional;
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import org.opencv.core.Mat;
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import edu.wpi.first.apriltag.AprilTagDetection;
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import edu.wpi.first.apriltag.AprilTagDetector;
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import edu.wpi.first.apriltag.AprilTagFieldLayout;
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import edu.wpi.first.apriltag.AprilTagFields;
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import edu.wpi.first.apriltag.AprilTagPoseEstimator;
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import edu.wpi.first.apriltag.AprilTagPoseEstimator.Config;
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import edu.wpi.first.cscore.VideoCamera;
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import edu.wpi.first.math.geometry.Pose3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.vision.VisionPipeline;
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import edu.wpi.first.vision.VisionRunner;
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public class WPI_AprilTagPoseEstimator {
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private final AprilTagDetector aprilTagDetector;
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private final AprilTagPoseEstimator aprilTagPoseEstimator;
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private AprilTagFieldLayout aprilTagFieldLayout;
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private Pose3d estimatedPose = new Pose3d();
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private VisionRunner<AprilTagsDetectorPipeline> visionRunner;
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public WPI_AprilTagPoseEstimator(VideoCamera imageSource) {
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aprilTagDetector = new AprilTagDetector();
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aprilTagDetector.addFamily("tag16h5");
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AprilTagPoseEstimator.Config poseEstimatorConfig = new Config(0.203, 0, 0, 0, 0);
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aprilTagPoseEstimator = new AprilTagPoseEstimator(poseEstimatorConfig);
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try {
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aprilTagFieldLayout = new AprilTagFieldLayout(AprilTagFields.kDefaultField.m_resourceFile);
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} catch (IOException e) {
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e.printStackTrace();
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}
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visionRunner = new VisionRunner<AprilTagsDetectorPipeline>(imageSource, new AprilTagsDetectorPipeline(), new VisionSystemCallback());
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}
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public void runDetectorPipeline(){
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new Thread(() -> {
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try{
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visionRunner.runForever();
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} catch (Exception e){
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e.printStackTrace();
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}
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}).start();
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}
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public Pose3d getEstimatedGlobalPose() {
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return estimatedPose;
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}
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private final class AprilTagsDetectorPipeline implements VisionPipeline {
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private Pose3d estPose = new Pose3d();
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@Override
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public void process(Mat image) {
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AprilTagDetection[] aprilTags = aprilTagDetector.detect(image);
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for (AprilTagDetection aprilTag : aprilTags) {
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Transform3d tagRelativeToRobot = aprilTagPoseEstimator.estimate(aprilTag);
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Optional<Pose3d> tagRelativeToFieldOptional = aprilTagFieldLayout.getTagPose(aprilTag.getId());
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if (tagRelativeToFieldOptional.isPresent()) {
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Pose3d tagRelativeToFieldPose = tagRelativeToFieldOptional.get();
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Pose3d estimatedFieldPos = tagRelativeToFieldPose.plus(tagRelativeToRobot);
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// Logger.getInstance().recordOutput("April Tag Pose", tagRelativeToFieldPose);
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estPose = estimatedFieldPos;
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}
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}
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}
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||||
public Pose3d getEstimatedPose(){
|
||||
return estPose;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private final class VisionSystemCallback implements VisionRunner.Listener<AprilTagsDetectorPipeline> {
|
||||
@Override
|
||||
public void copyPipelineOutputs(AprilTagsDetectorPipeline pipeline) {
|
||||
estimatedPose = pipeline.getEstimatedPose();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1,10 +0,0 @@
|
|||
/*
|
||||
* This Java source file was generated by the Gradle 'init' task.
|
||||
*/
|
||||
package com.fairportrobotics.frc.poe;
|
||||
|
||||
public class Library {
|
||||
public boolean someLibraryMethod() {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
package com.fairportrobotics.frc.poe.DriveSystems.SwerveDrive;
|
||||
package org.fairportrobotics.frc.robolib.DriveSystems.SwerveDrive;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
package com.fairportrobotics.frc.poe.controllers.lighting;
|
||||
package org.fairportrobotics.frc.robolib.controllers.lighting;
|
||||
|
||||
import java.util.regex.Matcher;
|
||||
import java.util.regex.Pattern;
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
package com.fairportrobotics.frc.poe.sensors.colorsensors;
|
||||
package org.fairportrobotics.frc.robolib.sensors.colorsensors;
|
||||
|
||||
import edu.wpi.first.wpilibj.I2C;
|
||||
|
||||
|
|
@ -1,14 +1,13 @@
|
|||
/*
|
||||
* This Java source file was generated by the Gradle 'init' task.
|
||||
*/
|
||||
package com.fairportrobotics.frc.poe;
|
||||
package com.fairportrobotics.frc.robolib;
|
||||
|
||||
import org.junit.jupiter.api.Test;
|
||||
import static org.junit.jupiter.api.Assertions.*;
|
||||
|
||||
class LibraryTest {
|
||||
@Test void someLibraryMethodReturnsTrue() {
|
||||
Library classUnderTest = new Library();
|
||||
assertTrue(classUnderTest.someLibraryMethod(), "someLibraryMethod should return 'true'");
|
||||
assertTrue(true);
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue