added LimelightHelpers as a vendorLib #114
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Pull request overview
This PR adds LimelightHelpers v1.12 as a vendor library to support integration with Limelight vision cameras. The library provides comprehensive functionality for AprilTag tracking, neural networks, and standard color/retroreflective tracking in FRC applications.
- Adds complete LimelightHelpers class with support for multiple target types (Retro, Fiducial, Barcode, Classifier, Detector)
- Implements pose estimation methods for robot localization using vision data
- Provides NetworkTables integration for reading/writing Limelight data
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| public static void SetIMUMode(String limelightName, int mode) { | ||
| setLimelightNTDouble(limelightName, "imumode_set", mode); | ||
| } | ||
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| /** | ||
| * Configures the complementary filter alpha value for IMU Assist Modes (Modes 3 and 4) | ||
| * | ||
| * @param limelightName Name/identifier of the Limelight | ||
| * @param alpha Defaults to .001. Higher values will cause the internal IMU to converge onto the assist source more rapidly. | ||
| */ | ||
| public static void SetIMUAssistAlpha(String limelightName, double alpha) { | ||
| setLimelightNTDouble(limelightName, "imuassistalpha_set", alpha); | ||
| } | ||
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| /** | ||
| * Configures the throttle value. Set to 100-200 while disabled to reduce thermal output/temperature. | ||
| * | ||
| * @param limelightName Name/identifier of the Limelight | ||
| * @param throttle Defaults to 0. Your Limelgiht will process one frame after skipping throttle frames. | ||
| */ | ||
| public static void SetThrottle(String limelightName, int throttle) { | ||
| setLimelightNTDouble(limelightName, "throttle_set", throttle); | ||
| } | ||
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| /** | ||
| * Sets the 3D point-of-interest offset for the current fiducial pipeline. | ||
| * https://docs.limelightvision.io/docs/docs-limelight/pipeline-apriltag/apriltag-3d#point-of-interest-tracking | ||
| * | ||
| * @param limelightName Name/identifier of the Limelight | ||
| * @param x X offset in meters | ||
| * @param y Y offset in meters | ||
| * @param z Z offset in meters | ||
| */ | ||
| public static void SetFidcuial3DOffset(String limelightName, double x, double y, | ||
| double z) { | ||
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| double[] entries = new double[3]; | ||
| entries[0] = x; | ||
| entries[1] = y; | ||
| entries[2] = z; | ||
| setLimelightNTDoubleArray(limelightName, "fiducial_offset_set", entries); | ||
| } | ||
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| /** | ||
| * Overrides the valid AprilTag IDs that will be used for localization. | ||
| * Tags not in this list will be ignored for robot pose estimation. | ||
| * | ||
| * @param limelightName Name/identifier of the Limelight | ||
| * @param validIDs Array of valid AprilTag IDs to track | ||
| */ | ||
| public static void SetFiducialIDFiltersOverride(String limelightName, int[] validIDs) { | ||
| double[] validIDsDouble = new double[validIDs.length]; | ||
| for (int i = 0; i < validIDs.length; i++) { | ||
| validIDsDouble[i] = validIDs[i]; | ||
| } | ||
| setLimelightNTDoubleArray(limelightName, "fiducial_id_filters_set", validIDsDouble); | ||
| } | ||
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| /** | ||
| * Sets the downscaling factor for AprilTag detection. | ||
| * Increasing downscale can improve performance at the cost of potentially reduced detection range. | ||
| * | ||
| * @param limelightName Name/identifier of the Limelight | ||
| * @param downscale Downscale factor. Valid values: 1.0 (no downscale), 1.5, 2.0, 3.0, 4.0. Set to 0 for pipeline control. | ||
| */ | ||
| public static void SetFiducialDownscalingOverride(String limelightName, float downscale) | ||
| { | ||
| int d = 0; // pipeline | ||
| if (downscale == 1.0) | ||
| { | ||
| d = 1; | ||
| } | ||
| if (downscale == 1.5) | ||
| { | ||
| d = 2; | ||
| } | ||
| if (downscale == 2) | ||
| { | ||
| d = 3; | ||
| } | ||
| if (downscale == 3) | ||
| { | ||
| d = 4; | ||
| } | ||
| if (downscale == 4) | ||
| { | ||
| d = 5; | ||
| } | ||
| setLimelightNTDouble(limelightName, "fiducial_downscale_set", d); | ||
| } |
There was a problem hiding this comment.
Inconsistent naming convention: method name should start with lowercase letter. The methods "SetIMUMode", "SetIMUAssistAlpha", "SetThrottle", "SetFidcuial3DOffset", and "SetFiducialIDFiltersOverride", "SetFiducialDownscalingOverride" should follow Java naming conventions and start with lowercase letters.
| } | ||
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| private static boolean SYNCH_TAKESNAPSHOT(String tableName, String snapshotName) { | ||
| URL url = getLimelightURLString(tableName, "capturesnapshot"); |
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Potential null pointer exception. If getLimelightURLString returns null (which can happen based on line 961), calling url.openConnection() will throw a NullPointerException. Add a null check before attempting to open the connection.
Suggested change
| URL url = getLimelightURLString(tableName, "capturesnapshot"); | |
| URL url = getLimelightURLString(tableName, "capturesnapshot"); | |
| if (url == null) { | |
| System.err.println("Unable to create Limelight URL for snapshot request"); | |
| return false; | |
| } |
| } | ||
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| /** | ||
| * T2D is an array that contains several targeting metrcis |
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Spelling error: "metrcis" should be "metrics"
Suggested change
| * T2D is an array that contains several targeting metrcis | |
| * T2D is an array that contains several targeting metrics |
| * Configures the throttle value. Set to 100-200 while disabled to reduce thermal output/temperature. | ||
| * | ||
| * @param limelightName Name/identifier of the Limelight | ||
| * @param throttle Defaults to 0. Your Limelgiht will process one frame after skipping throttle frames. |
There was a problem hiding this comment.
Spelling error: "Limelgiht" should be "Limelight"
Suggested change
| * @param throttle Defaults to 0. Your Limelgiht will process one frame after skipping throttle frames. | |
| * @param throttle Defaults to 0. Your Limelight will process one frame after skipping <throttle> frames. |
| * @param y Y offset in meters | ||
| * @param z Z offset in meters | ||
| */ | ||
| public static void SetFidcuial3DOffset(String limelightName, double x, double y, |
There was a problem hiding this comment.
Spelling error in method name: "SetFidcuial3DOffset" should be "SetFiducial3DOffset" (missing 'i' in Fiducial)
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| SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, true); | ||
| } | ||
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| public static void SetRobotOrientation_NoFlush(String limelightName, double yaw, double yawRate, | ||
| double pitch, double pitchRate, | ||
| double roll, double rollRate) { | ||
| SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, false); | ||
| } | ||
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| private static void SetRobotOrientation_INTERNAL(String limelightName, double yaw, double yawRate, |
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Inconsistent naming convention: method name should start with lowercase letter. The method "SetRobotOrientation_INTERNAL" should be "setRobotOrientation_INTERNAL" to follow Java naming conventions.
Suggested change
| SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, true); | |
| } | |
| public static void SetRobotOrientation_NoFlush(String limelightName, double yaw, double yawRate, | |
| double pitch, double pitchRate, | |
| double roll, double rollRate) { | |
| SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, false); | |
| } | |
| private static void SetRobotOrientation_INTERNAL(String limelightName, double yaw, double yawRate, | |
| setRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, true); | |
| } | |
| public static void SetRobotOrientation_NoFlush(String limelightName, double yaw, double yawRate, | |
| double pitch, double pitchRate, | |
| double roll, double rollRate) { | |
| setRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, false); | |
| } | |
| private static void setRobotOrientation_INTERNAL(String limelightName, double yaw, double yawRate, |
| static boolean profileJSON = false; | ||
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| static final String sanitizeName(String name) { | ||
| if ("".equals(name) || name == null) { |
There was a problem hiding this comment.
Inefficient comparison to empty string, check for zero length instead.
Suggested change
| if ("".equals(name) || name == null) { | |
| if (name == null || name.isEmpty()) { |
| try { | ||
| HttpURLConnection connection = (HttpURLConnection) url.openConnection(); | ||
| connection.setRequestMethod("GET"); | ||
| if (snapshotName != null && !"".equals(snapshotName)) { |
There was a problem hiding this comment.
Inefficient comparison to empty string, check for zero length instead.
Suggested change
| if (snapshotName != null && !"".equals(snapshotName)) { | |
| if (snapshotName != null && !snapshotName.isEmpty()) { |
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@CoolSpy3 could you review pls |
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added LimelightHelpers as a vendorLib as mentioned in #113 (review)