bugfixes galore

.vscode/launch.json

@@ -10,7 +10,7 @@
             "type": "python",
             "request": "attach",
             "connect": {
-                "host": "roboRIO-1736-frc.local",
+                "host": "10.17.36.2",
                 "port": 5678
             },
             "pathMappings": [

drivetrain/poseEstimation/drivetrainPoseTelemetry.py

@@ -44,7 +44,7 @@ def setDesiredPose(self, desPose):
     def addVisionObservations(self, observations:list[CameraPoseObservation]):
         if(len(observations) > 0):
             for obs in observations:
-                self.visionPoses.append(obs.estFieldPose())
+                self.visionPoses.append(obs.estFieldPose)
 
     def clearVisionObservations(self):
         self.visionPoses = []
@@ -64,6 +64,7 @@ def update(self, estPose:Pose2d, moduleAngles):
         self.field.getObject("desTraj").setTrajectory(self.curTraj)
 
         self.field.getObject("visionObservations").setPoses(self.visionPoses)
+        self.visionPoses = []
 
         self.leftCamPosePublisher.set(Pose3d(estPose).transformBy(ROBOT_TO_LEFT_CAM))
         self.rightCamPosePublisher.set(Pose3d(estPose).transformBy(ROBOT_TO_RIGHT_CAM))

utils/extDriveManager.py

@@ -6,11 +6,11 @@
 
 class ExtDriveManager(metaclass=Singleton):
     def __init__(self):
-        self.conn = False
+        self.enableDiskLogging = False
         self.driveAvailableFault = Fault("Logging USB Drive Not Available")
 
         if wpilib.RobotBase.isSimulation():
-            # Silently disable in sim
+            # Disable in sim
             self.enableDiskLogging = False
             self.logDir = ""
         else:
@@ -21,13 +21,18 @@ def __init__(self):
             except PermissionError as err:
                 print("Logging disabled!")
                 print(err)
-                self.enableDiskLogging = False
-                self.driveAvailableFault.setFaulted()
 
-            self.conn = True
+
+        if(os.path.isdir(self.logDir)):
+            self.enableDiskLogging = True
+            self.driveAvailableFault.setNoFault()
+        else:
+            self.enableDiskLogging = False
+            self.driveAvailableFault.setFaulted()
+
 
     def getLogStoragePath(self):
         return self.logDir
 
     def isConnected(self):
-        return self.conn
+        return self.enableDiskLogging

webserver/casseroleWebServerImpl.py

@@ -8,27 +8,28 @@
 # These imports are mostly just to make sure we put versions on the webpage
 import wpilib
 import rev
+from photonlibpy import version
 
 from utils.extDriveManager import ExtDriveManager
 
 # Global list of all widgets on the dashboard.
 dashboardWidgetList = []
 
 # Where we expect to find our template files at
-WEB_ROOT = pathlib.Path(__file__).parent / "www"
-DASHBOARD_ROOT = WEB_ROOT / "dashboard"
+WEB_ROOT = os.path.join(os.path.dirname(__file__), "www")
+DASHBOARD_ROOT = os.path.join(WEB_ROOT, "dashboard")
 
 # One-time, read in all the template files we'll fill out
 INDEX_TMPLT_TXT = ""
-with open(WEB_ROOT / "index.html_tmplt", "r", encoding="utf-8") as infile:
+with open(os.path.join(WEB_ROOT, "index.html_tmplt"), "r", encoding="utf-8") as infile:
     INDEX_TMPLT_TXT = infile.read()
 
 HTML_TMPLT_TXT = ""
-with open(DASHBOARD_ROOT / "dashboard.html_tmplt", "r", encoding="utf-8") as infile:
+with open(os.path.join(DASHBOARD_ROOT, "dashboard.html_tmplt"), "r", encoding="utf-8") as infile:
     HTML_TMPLT_TXT = infile.read()
 
 JS_TMPLT_TXT = ""
-with open(DASHBOARD_ROOT / "dashboard.js_tmplt", "r", encoding="utf-8") as infile:
+with open(os.path.join(DASHBOARD_ROOT, "dashboard.js_tmplt"), "r", encoding="utf-8") as infile:
     JS_TMPLT_TXT = infile.read()
 
 
@@ -83,6 +84,7 @@ def handleIndexPage(self):
         deployText += f"Python - {platform.python_version()} - {sys.executable} \n"
         deployText += f"WPILib - {wpilib.version.version} \n"
         deployText += f"REV - {rev.version.version} \n"
+        deployText += f"PhotonVision - {version.PHOTONLIB_VERSION} \n"
         deployText += f"Working Dir - {os.getcwd()}\n"
 
         filledOut = INDEX_TMPLT_TXT.replace("${BUILD_INFO}", deployText)

wrappers/wrapperedPhotonCamera.py

@@ -1,7 +1,8 @@
 import wpilib
 from wpimath.units import feetToMeters
 from wpimath.geometry import Pose2d
-from photonlibpy.photonCamera import PhotonCamera #VisionLEDMode
+from photonlibpy import PhotonCamera
+from photonlibpy.photonCamera import setVersionCheckEnabled
 from utils.fieldTagLayout import FieldTagLayout
 from utils.faults import Fault
 
@@ -18,7 +19,7 @@ def __init__(self, time, estFieldPose, trustworthiness=1.0):
 # 3 - Handle recording latency of when the image was actually seen
 class WrapperedPhotonCamera:
     def __init__(self, camName, robotToCam):
-        #setVersionCheckEnabled(False)
+        setVersionCheckEnabled(False)
 
         self.cam = PhotonCamera(camName)