removed legacy of maple config file

Shenzhen-Robotics-Alliance · Oct 12, 2024 · bafdd34 · bafdd34
1 parent bdfcbca
commit bafdd34
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diff --git a/src/main/java/frc/robot/subsystems/vision/apriltags/PhotonCameraProperties.java b/src/main/java/frc/robot/subsystems/vision/apriltags/PhotonCameraProperties.java
@@ -2,7 +2,6 @@
 
 import edu.wpi.first.math.geometry.*;
 import edu.wpi.first.wpilibj.DriverStation;
-import frc.robot.utils.CustomConfigs.MapleConfigFile;
 import org.photonvision.simulation.SimCameraProperties;
 
 import java.io.IOException;
@@ -77,111 +76,6 @@ public SimCameraProperties getSimulationProperties() {
         return cameraProperties;
     }
 
-    public static List<PhotonCameraProperties> loadCamerasPropertiesFromConfig(String configName) {
-        final MapleConfigFile configFile;
-        try {
-            configFile = MapleConfigFile.fromDeployedConfig("PhotonCamerasProperties", configName);
-        } catch (IOException e) {
-            DriverStation.reportError(
-                    "cannot find camera properties config file: "
-                            + configName
-                            + " from deploy directory",
-                    true);
-            return new ArrayList<>();
-        }
-        return loadCamerasPropertiesFromConfig(configFile);
-    }
-
-    public static List<PhotonCameraProperties> loadCamerasPropertiesFromConfig(MapleConfigFile configFile) {
-        MapleConfigFile.ConfigBlock generalBlock = configFile.getBlock("GeneralInfo");
-        final int cameraAmount = generalBlock.getIntConfig("camerasAmount");
-        final double cameraFPS = generalBlock.getDoubleConfig("cameraFPS"),
-                averageLatencyMS = generalBlock.getDoubleConfig("averageLatencyMS"),
-                latencyStandardDeviationMS = generalBlock.getDoubleConfig("latencyStandardDeviationMS");
-
-        final List<PhotonCameraProperties> cameraProperties = new ArrayList<>(cameraAmount);
-
-        for (int i = 0; i < cameraAmount ; i++) {
-            final MapleConfigFile.ConfigBlock cameraBlock = configFile.getBlock("Camera"+i);
-            cameraProperties.add(loadSingleCameraPropertyFromBlock(
-                    cameraBlock, cameraFPS, averageLatencyMS, latencyStandardDeviationMS
-            ));
-        }
-
-        return cameraProperties;
-    }
-
-    private static PhotonCameraProperties loadSingleCameraPropertyFromBlock(MapleConfigFile.ConfigBlock cameraBlock, double cameraFPS, double averageLatencyMS, double latencyStandardDeviationMS) {
-        final Transform3d robotToCameraInstallation = new Transform3d(
-                new Translation3d(
-                        cameraBlock.getDoubleConfig("mountPositionToRobotCenterForwardsMeters"),
-                        cameraBlock.getDoubleConfig("mountPositionToRobotCenterLeftwardsMeters"),
-                        cameraBlock.getDoubleConfig("mountHeightMeters")
-                ),
-                new Rotation3d(
-                        0,
-                        -Math.toRadians(cameraBlock.getDoubleConfig("cameraPitchDegrees")),
-                        Math.toRadians(cameraBlock.getDoubleConfig("cameraYawDegrees"))
-                ));
-        final double cameraRollDeg = switch (cameraBlock.getIntConfig("captureOrientation")) {
-            case 1 -> 180;
-            case 2 -> -90;
-            case 3 -> 90;
-            default -> 0;
-        };
-        final Transform3d cameraInstallationToCapturedImage = new Transform3d(
-                        new Translation3d(),
-                        new Rotation3d(
-                                Math.toRadians(cameraRollDeg),
-                                0, 0
-                        ));
-        return new PhotonCameraProperties(
-                cameraBlock.getStringConfig("name"),
-                cameraFPS,
-                averageLatencyMS,
-                latencyStandardDeviationMS,
-                Rotation2d.fromDegrees(cameraBlock.getDoubleConfig("cameraFOVDegrees")),
-                cameraBlock.getDoubleConfig("calibrationAverageErrorPixel"),
-                cameraBlock.getDoubleConfig("calibrationErrorStandardDeviationPixel"),
-                cameraBlock.getIntConfig("captureWidthPixels"),
-                cameraBlock.getIntConfig("captureHeightPixels"),
-                robotToCameraInstallation.plus(cameraInstallationToCapturedImage)
-        );
-    }
-
-    public static MapleConfigFile createConfigFileForCameras(String name, int camerasAmount, double cameraFPS, double averageLatencyMS, double latencyStandardDeviationMS, int cameraWidthPixels, int cameraHeightPixels, double defaultCameraFOVDegrees) {
-        final MapleConfigFile configFile = new MapleConfigFile("PhotonCamerasProperties", name);
-        final MapleConfigFile.ConfigBlock generalBlock = configFile.getBlock("GeneralInfo");
-
-        generalBlock.putIntConfig("camerasAmount", camerasAmount);
-        generalBlock.putDoubleConfig("cameraFPS", cameraFPS);
-        generalBlock.putDoubleConfig("averageLatencyMS", averageLatencyMS);
-        generalBlock.putDoubleConfig("latencyStandardDeviationMS", latencyStandardDeviationMS);
-
-        for (int i = 0; i < camerasAmount; i++) {
-            createConfigBlockForCamera(
-                    configFile.getBlock("Camera"+i),
-                    cameraWidthPixels,cameraHeightPixels,defaultCameraFOVDegrees
-            );
-        }
-
-        return configFile;
-    }
-
-    private static void createConfigBlockForCamera(MapleConfigFile.ConfigBlock cameraBlock, int cameraWidthPixels, int cameraHeightPixels, double cameraFOVDegrees) {
-        cameraBlock.putStringConfig("name", "YOUR_CAMERA_NAME");
-        cameraBlock.putIntConfig("captureWidthPixels", cameraWidthPixels);
-        cameraBlock.putIntConfig("captureHeightPixels", cameraHeightPixels);
-        cameraBlock.putDoubleConfig("cameraFOVDegrees", cameraFOVDegrees);
-        cameraBlock.putDoubleConfig("calibrationAverageErrorPixel", 0.35);
-        cameraBlock.putDoubleConfig("calibrationErrorStandardDeviationPixel", 0.1);
-        cameraBlock.putDoubleConfig("mountPositionToRobotCenterForwardsMeters", 0);
-        cameraBlock.putDoubleConfig("mountPositionToRobotCenterLeftwardsMeters", 0);
-        cameraBlock.putDoubleConfig("mountHeightMeters", 0);
-        cameraBlock.putDoubleConfig("cameraPitchDegrees", 0);
-        cameraBlock.putDoubleConfig("cameraYawDegrees", 0);
-    }
-
     @Override
     public String toString() {
         return String.format("""

diff --git a/src/main/java/frc/robot/utils/CustomConfigs/MapleConfigFile.java b/src/main/java/frc/robot/utils/CustomConfigs/MapleConfigFile.java