commit bf8cb9e31fb6715c56a6a01f8f3653660c361f6a
author Yash Maheshwari <yashmahe2018@gmail.com> Tue May 21 12:46:21 2024 -0700
committer Yash Maheshwari <yashmahe2018@gmail.com> Sat May 25 14:40:10 2024 -0700
tree ba7e80bbea75b0277af1e381d986210ace810cb6
parent 9b8148681cef094552c797a76a9d3a054c0e908d

Move cameras to RobotConstants in y2024

Signed-off-by: Yash Maheshwari <yashmahe2018@gmail.com>
Change-Id: Iba79b172e1161565ca2be4960f953bfda6d29ffc
Signed-off-by: Yash Maheshwari <yashmahe2018@gmail.com>

y2024/localizer/localizer.cc

diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index d73d171..2b72f94 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -140,9 +140,9 @@
 
 std::array<Localizer::CameraState, Localizer::kNumCameras>
 Localizer::MakeCameras(const Constants &constants, aos::EventLoop *event_loop) {
-  CHECK(constants.has_cameras());
+  CHECK(constants.robot()->has_cameras());
   std::array<Localizer::CameraState, Localizer::kNumCameras> cameras;
-  for (const CameraConfiguration *camera : *constants.cameras()) {
+  for (const CameraConfiguration *camera : *constants.robot()->cameras()) {
     CHECK(camera->has_calibration());
     const frc971::vision::calibration::CameraCalibration *calibration =
         camera->calibration();

y2024/localizer/localizer_test.cc

diff --git a/y2024/localizer/localizer_test.cc b/y2024/localizer/localizer_test.cc
index e5815e0..bd97059 100644
--- a/y2024/localizer/localizer_test.cc
+++ b/y2024/localizer/localizer_test.cc
@@ -104,20 +104,23 @@
       // Sanity check that the test calibration files look like what we
       // expect.
       CHECK_EQ("orin1", constants_fetcher_.constants()
-                            .cameras()
+                            .robot()
+                            ->cameras()
                             ->Get(0)
                             ->calibration()
                             ->node_name()
                             ->string_view());
       CHECK_EQ(0, constants_fetcher_.constants()
-                      .cameras()
+                      .robot()
+                      ->cameras()
                       ->Get(0)
                       ->calibration()
                       ->camera_number());
       const Eigen::Matrix<double, 4, 4> H_robot_camera =
           frc971::control_loops::drivetrain::FlatbufferToTransformationMatrix(
               *constants_fetcher_.constants()
-                   .cameras()
+                   .robot()
+                   ->cameras()
                    ->Get(0)
                    ->calibration()
                    ->fixed_extrinsics());