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simplify function args to use default rather than being None #1595

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simplify function args to use default rather than being None #1595

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9 changes: 5 additions & 4 deletions photon-lib/py/photonlibpy/simulation/photonCameraSim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -432,17 +432,18 @@ def distance(target: VisionTargetSim):
)

def submitProcessedFrame(
self, result: PhotonPipelineResult, receiveTimestamp: float | None
self,
result: PhotonPipelineResult,
receiveTimestamp: float = wpilib.Timer.getFPGATimestamp() * 1e6,
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When does this default get evaluated?

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Good call. I dont think there is a solution to this without drastically changing the typings

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Could you check if none and then default to getFpgaTimestamp?

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Thats basically what it is right now without screwing with the type signature of the function to make it do funny things. The intent of this was to remove optional typing from the signature and if that cant be sorted I don't think this is worth worrying about

):
"""Simulate one processed frame of vision data, putting one result to NT. Image capture timestamp
overrides :meth:`.PhotonPipelineResult.getTimestampSeconds` for more
precise latency simulation.

:param result: The pipeline result to submit
:param receiveTimestamp: The (sim) timestamp when this result was read by NT in microseconds. If not passed image capture time is assumed be (current time - latency)
:param receiveTimestamp: The (sim) timestamp when this result was read by NT in microseconds. If not passed image capture time is assumed be the current FPGA timestamp
"""
if receiveTimestamp is None:
receiveTimestamp = wpilib.Timer.getFPGATimestamp() * 1e6
# handle type conversion to int internally
receiveTimestamp = int(receiveTimestamp)

self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp)
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