Revert "Move cameras to RobotConstants in y2024"
This reverts commit bf8cb9e31fb6715c56a6a01f8f3653660c361f6a.
Reason for revert: Misread y2024 as y2024_swerve; I don't want to change the y2024 code at this stage.
Change-Id: Ifb176abc546c1f9b40e6d28d958b730442f07343
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index 2b72f94..d73d171 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.robot()->has_cameras());
+ CHECK(constants.has_cameras());
std::array<Localizer::CameraState, Localizer::kNumCameras> cameras;
- for (const CameraConfiguration *camera : *constants.robot()->cameras()) {
+ for (const CameraConfiguration *camera : *constants.cameras()) {
CHECK(camera->has_calibration());
const frc971::vision::calibration::CameraCalibration *calibration =
camera->calibration();
diff --git a/y2024/localizer/localizer_test.cc b/y2024/localizer/localizer_test.cc
index bd97059..e5815e0 100644
--- a/y2024/localizer/localizer_test.cc
+++ b/y2024/localizer/localizer_test.cc
@@ -104,23 +104,20 @@
// Sanity check that the test calibration files look like what we
// expect.
CHECK_EQ("orin1", constants_fetcher_.constants()
- .robot()
- ->cameras()
+ .cameras()
->Get(0)
->calibration()
->node_name()
->string_view());
CHECK_EQ(0, constants_fetcher_.constants()
- .robot()
- ->cameras()
+ .cameras()
->Get(0)
->calibration()
->camera_number());
const Eigen::Matrix<double, 4, 4> H_robot_camera =
frc971::control_loops::drivetrain::FlatbufferToTransformationMatrix(
*constants_fetcher_.constants()
- .robot()
- ->cameras()
+ .cameras()
->Get(0)
->calibration()
->fixed_extrinsics());