valor::VisionSensor Class Reference

Base class for vision sensors, such as Limelight. More...

#include <VisionSensor.h>

Inheritance diagram for valor::VisionSensor:

Public Types
enum	PipeLines {   PIPELINE_0 , PIPELINE_1 , PIPELINE_2 , PIPELINE_3 ,   PIPELINE_4 , PIPELINE_5 }
	Enum representing available pipelines for the vision sensor.

Public Member Functions
	VisionSensor (frc::TimedRobot &robot, std::string name, frc::Pose3d _cameraPose)
	Construct a new VisionSensor object.
void	reset () override
	Reset the vision sensor state.
void	setCameraPose (frc::Pose3d camPose)
	Set the camera's pose in 3D space.
void	setPipe (PipeLines _pipe)
	Set the active pipeline for the vision sensor.
bool	hasTarget ()
	Check if the vision sensor has a valid target.
void	setThrottle (int skippedFrames)
void	captureVideo (units::second_t captureTime)
	Capture video data on the Limelight using Rewind.
units::velocity::meters_per_second_t	getError (int pipe, double kPLimeLight=0.7)
	Calculate the error for a specific pipeline.
Public Member Functions inherited from valor::BaseSensor< frc::Pose3d >
void	setGetter (std::function< frc::Pose3d()> _lambda)
	Set the lambda function to fetch sensor data.
void	applyPostProcessing (std::function< frc::Pose3d(frc::Pose3d)> func)
	Set a post-processing function for sensor data.
frc::Pose3d	get ()
	Get the current sensor state.
Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Protected Member Functions
units::millisecond_t	getTotalLatency ()
	Get the total latency of the vision sensor.
virtual frc::Pose3d	getGlobalPose ()=0
	Get the global pose of the vision sensor.
void	calculate () override
	Perform vision sensor-specific calculations.
Protected Member Functions inherited from valor::BaseSensor< frc::Pose3d >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.
virtual void	refresh ()
	Refresh the sensor state.
Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable ()
	Default construct an uninitialized Loggable.
virtual	~Loggable ()=default
	Virtual destructor.
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.
template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.
template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Protected Attributes
double	tx
double	ty
double	tv
double	fps
double	ramUsage
double	ta
	Vision sensor telemetry data.
int	pipe
	Active pipeline index.
units::celsius_t	cpuTemp
units::celsius_t	temp
	Temperature readings.
frc::Pose3d	cameraPose
	Physical 3D position of the camera's lens.
std::shared_ptr< nt::NetworkTable >	limeTable
	NetworkTable for vision data.
Protected Attributes inherited from valor::BaseSensor< frc::Pose3d >
std::function< frc::Pose3d()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< frc::Pose3d(frc::Pose3d)>	postProcessor
	Lambda function to post-process sensor data.
frc::Pose3d	prevState
	Previous and current sensor states.
frc::Pose3d	currState
frc::Timer	profiler

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Detailed Description

Base class for vision sensors, such as Limelight.

This class provides a framework for managing vision sensors, including fetching pose data, managing pipelines, and calculating latency.

Constructor & Destructor Documentation

VisionSensor()

valor::VisionSensor::VisionSensor	(	frc::TimedRobot &	robot,
		std::string	name,
		frc::Pose3d	_cameraPose )

Construct a new VisionSensor object.

Parameters

robot	Reference to the robot, used to schedule the calculate method.
name	Hostname of the vision sensor (e.g., Limelight).
_cameraPose	Physical 3D position of the camera's lens.

Member Function Documentation

calculate()

void valor::VisionSensor::calculate ( )

overrideprotectedvirtual

Perform vision sensor-specific calculations.

This method is called every 10ms and processes the sensor data fetched by the lambda function.

Implements valor::BaseSensor< frc::Pose3d >.

captureVideo()

void valor::VisionSensor::captureVideo

(

units::second_t

captureTime

)

Capture video data on the Limelight using Rewind.

Parameters

captureTime

The amount of past time to capture in the video

getError()

units::velocity::meters_per_second_t valor::VisionSensor::getError	(	int	pipe,
		double	kPLimeLight = 0.7 )

Calculate the error for a specific pipeline.

Parameters

pipe	The pipeline to calculate the error for.
kPLimeLight	Proportional constant for error calculation.

Returns

The calculated error as a velocity.

getGlobalPose()

virtual frc::Pose3d valor::VisionSensor::getGlobalPose ( )

protectedpure virtual

Get the global pose of the vision sensor.

This method must be implemented in derived classes to calculate the global pose based on the sensor's data.

Returns

The global pose as a 3D transformation.

Implemented in valor::GamePieceSensor.

getTotalLatency()

units::millisecond_t valor::VisionSensor::getTotalLatency ( )

protected

Get the total latency of the vision sensor.

Returns

Total latency in milliseconds.

hasTarget()

bool valor::VisionSensor::hasTarget

(

)

Check if the vision sensor has a valid target.

Returns

true if a target is detected, false otherwise.

reset()

void valor::VisionSensor::reset ( )

overridevirtual

Reset the vision sensor state.

Reimplemented from valor::BaseSensor< frc::Pose3d >.

setCameraPose()

void valor::VisionSensor::setCameraPose

(

frc::Pose3d

camPose

)

Set the camera's pose in 3D space.

Parameters

camPose

The new camera pose.

setPipe()

void valor::VisionSensor::setPipe

(

PipeLines

_pipe

)

Set the active pipeline for the vision sensor.

Parameters

_pipe

The pipeline to activate.

---

The documentation for this class was generated from the following file:

• src/main/include/valkyrie/sensors/VisionSensor.h