WIP - Move vision to correct file location and begin rewriting to sup…

…port sim

vision/build.gradle

@@ -3,7 +3,6 @@ import java.text.SimpleDateFormat
 plugins {
 	id "java"
 	id "maven-publish"
-	id "edu.wpi.first.GradleRIO" version "2024.3.2"
 	id "com.peterabeles.gversion" version "1.10"
 	id "com.diffplug.spotless" version "6.24.0"
 }
@@ -29,12 +28,18 @@ compileJava.finalizedBy checkAkitInstall
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+	implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.3.2'
+	implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2024.3.2'
+	implementation 'edu.wpi.first.apriltag:apriltag-java:2024.3.2'
+
 	def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
 	annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 	annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:3.2.1"
 
-	implementation wpi.java.deps.wpilib()
-	implementation wpi.java.vendor.java()
+	implementation 'org.littletonrobotics.akit.junction:junction-core:3.2.1'
+
+	implementation 'org.photonvision:photonlib-java:v2025.0.0-alpha-0'
+	implementation 'org.photonvision:photontargeting-java:v2025.0.0-alpha-0'
 
 	testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
@@ -75,6 +80,10 @@ repositories {
 		}
 	}
 	gradlePluginPortal()
+	maven {
+		name "photonvisionRepositoryReleases"
+		url "https://maven.photonvision.org/releases"
+	}
 }
 
 

vision/src/main/java/coppercore/vision/CameraIO.java

@@ -0,0 +1,28 @@
+package coppercore.vision;
+
+import org.littletonrobotics.junction.AutoLog;
+import org.photonvision.targeting.PhotonPipelineResult;
+
+public interface CameraIO {
+    @AutoLog
+    public static class CameraInputs {
+        public boolean isConnected;
+
+        /**
+         * The last set of unread results from photonvision that wasn't empty. This is purely for
+         * logging purposes (so that logs aren't empty most of the time)
+         */
+        public PhotonPipelineResult[] latestResults;
+
+        /**
+         * The results of calling getAllUnreadResults() These can be processed once per call of
+         * updateInputs without any issues with duplicates.
+         */
+        public PhotonPipelineResult[] unreadResults;
+
+        /** The timestamp of the latest measurement result, calculated by photonvision */
+        public double latestTimestampSeconds;
+    }
+
+    public default void updateInputs(CameraInputs inputs) {}
+}

vision/src/main/java/coppercore/vision/CameraIOPhoton.java

@@ -0,0 +1,25 @@
+package coppercore.vision;
+
+import coppercore.vision.CameraIO.CameraInputs;
+import java.util.List;
+import org.photonvision.PhotonCamera;
+import org.photonvision.targeting.PhotonPipelineResult;
+
+public class CameraIOPhoton implements CameraIO {
+    PhotonCamera camera;
+
+    public CameraIOPhoton(CameraParams cameraParams) {
+        camera = cameraParams.camera();
+    }
+
+    @Override
+    public void updateInputs(CameraInputs inputs) {
+        inputs.isConnected = camera.isConnected();
+        List<PhotonPipelineResult> results = camera.getAllUnreadResults();
+        if (!results.isEmpty()) {
+            inputs.latestResults =
+                    camera.getAllUnreadResults().toArray(new PhotonPipelineResult[0]);
+            inputs.latestTimestampSeconds = results.get(results.size() - 1).getTimestampSeconds();
+        }
+    }
+}