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src/main/kotlin/com/team4099/robot2023/subsystems/vision/camera/CameraIOSim.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| package com.team4099.robot2023.subsystems.vision.camera | ||
|
|
||
| import com.team4099.lib.hal.Clock | ||
| import com.team4099.lib.logging.toDoubleArray | ||
| import com.team4099.robot2023.config.constants.FieldConstants | ||
| import com.team4099.robot2023.config.constants.VisionConstants | ||
| import com.team4099.robot2023.util.toPose3d | ||
| import com.team4099.robot2023.util.toTransform3d | ||
| import edu.wpi.first.networktables.DoubleArraySubscriber | ||
| import edu.wpi.first.networktables.NetworkTableInstance | ||
| import org.littletonrobotics.junction.Logger | ||
| import org.team4099.lib.geometry.Pose2d | ||
| import org.team4099.lib.geometry.Pose3d | ||
| import org.team4099.lib.geometry.Rotation3d | ||
| import org.team4099.lib.geometry.Translation2d | ||
| import org.team4099.lib.geometry.Translation3d | ||
| import org.team4099.lib.units.base.meters | ||
| import org.team4099.lib.units.base.seconds | ||
| import org.team4099.lib.units.derived.radians | ||
|
|
||
| class CameraIOSim(val id: String) : CameraIO { | ||
| private val poseSubscriber: DoubleArraySubscriber = | ||
| NetworkTableInstance.getDefault() | ||
| .getTable("AdvantageKit") | ||
| .getSubTable("RealOutputs") | ||
| .getDoubleArrayTopic(VisionConstants.POSE_TOPIC_NAME) | ||
| .subscribe(DoubleArray(3)) | ||
| private val errorScaleConstant = 0.05 | ||
|
|
||
| override fun updateInputs(inputs: CameraIO.CameraInputs) { | ||
| val drivePose = poseSubscriber.get(DoubleArray(3)).toPose2d().toPose3d() | ||
|
|
||
| inputs.timestamp = Clock.fpgaTime - (Math.random() * 0.2).seconds | ||
| val robotTtag = drivePose.relativeTo(FieldConstants.aprilTags[0].pose) | ||
| inputs.frame = robotTtag.gaussianShenanigans() | ||
| val estimatedRobotPose = | ||
| FieldConstants.aprilTags[0].pose.transformBy(inputs.frame.toTransform3d()) | ||
|
|
||
| Logger.recordOutput( | ||
| "Vision/$id/simEstimatedRobotPose", | ||
| estimatedRobotPose.toPose2d().toDoubleArray().toDoubleArray() | ||
| ) | ||
| Logger.recordOutput( | ||
| "Vision/$id/simTagPose", FieldConstants.aprilTags[0].pose.toDoubleArray().toDoubleArray() | ||
| ) | ||
| inputs.fps = Math.random() * 10 + 30 | ||
| inputs.usedTargets = listOf(0) | ||
| } | ||
|
|
||
| private fun DoubleArray.toPose2d(): Pose2d { | ||
| return Pose2d(Translation2d(this[0].meters, this[1].meters), this[2].radians) | ||
| } | ||
|
|
||
| private fun Pose3d.gaussianShenanigans(): Pose3d { | ||
| return Pose3d( | ||
| Translation3d( | ||
| this.translation.x * (1 - Math.random() * errorScaleConstant), | ||
| this.translation.y * (1 - Math.random() * errorScaleConstant), | ||
| this.translation.z * (1 - Math.random() * errorScaleConstant) | ||
| ), | ||
| Rotation3d( | ||
| this.rotation.x * (1 - Math.random() * errorScaleConstant), | ||
| this.rotation.y * (1 - Math.random() * errorScaleConstant), | ||
| this.rotation.z * (1 - Math.random() * errorScaleConstant) | ||
| ) | ||
| ) | ||
| } | ||
| } |