Began adding simulation.

example/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java

@@ -26,13 +26,13 @@
 import java.util.Optional;
 import java.util.function.DoubleSupplier;
 import limelight.Limelight;
-import limelight.estimator.LimelightPoseEstimator;
-import limelight.estimator.PoseEstimate;
-import limelight.structures.AngularVelocity3d;
-import limelight.structures.LimelightResults;
-import limelight.structures.LimelightSettings.LEDMode;
-import limelight.structures.Orientation3d;
-import limelight.structures.target.pipeline.NeuralClassifier;
+import limelight.networktables.AngularVelocity3d;
+import limelight.networktables.LimelightPoseEstimator;
+import limelight.networktables.LimelightResults;
+import limelight.networktables.LimelightSettings.LEDMode;
+import limelight.networktables.Orientation3d;
+import limelight.networktables.PoseEstimate;
+import limelight.networktables.target.pipeline.NeuralClassifier;
 
 public class DrivebaseSubsystem extends SubsystemBase
 {

yall/java/limelight/Limelight.java

@@ -3,22 +3,23 @@
 
 import static edu.wpi.first.units.Units.Milliseconds;
 import static edu.wpi.first.units.Units.Seconds;
-import static limelight.structures.LimelightUtils.getLimelightURLString;
+import static limelight.networktables.LimelightUtils.getLimelightURLString;
 
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.RobotBase;
 import java.io.IOException;
 import java.net.HttpURLConnection;
 import java.net.URL;
 import java.util.Optional;
 import java.util.concurrent.CompletableFuture;
 import java.util.stream.Collectors;
-import limelight.estimator.LimelightPoseEstimator;
-import limelight.structures.LimelightData;
-import limelight.structures.LimelightResults;
-import limelight.structures.LimelightSettings;
+import limelight.networktables.LimelightData;
+import limelight.networktables.LimelightPoseEstimator;
+import limelight.networktables.LimelightResults;
+import limelight.networktables.LimelightSettings;
 
 /**
  * Limelight Camera class.
@@ -47,7 +48,7 @@ public class Limelight
    */
   public Limelight(String name)
   {
-    if (!isAvailable(name))
+    if (!isAvailable(name) && !RobotBase.isSimulation())
     {
       throw new RuntimeException("Limelight not available");
     }
@@ -123,7 +124,7 @@ public LimelightPoseEstimator getPoseEstimator(boolean megatag2)
    *
    * @return object used as the target of the various ".withXXXX" settings methods.
    */
-  public LimelightSettings settingsBuilder()
+  public LimelightSettings getSettings()
   {
     return settings;
   }

yall/java/limelight/structures/AngularVelocity3d.java → yall/java/limelight/networktables/AngularVelocity3d.java

@@ -1,4 +1,4 @@
-package limelight.structures;
+package limelight.networktables;
 
 import edu.wpi.first.units.measure.AngularVelocity;
 

yall/java/limelight/structures/LimelightData.java → yall/java/limelight/networktables/LimelightData.java

@@ -1,8 +1,8 @@
-package limelight.structures;
+package limelight.networktables;
 
 
-import static limelight.structures.LimelightUtils.extractArrayEntry;
-import static limelight.structures.LimelightUtils.toPose3D;
+import static limelight.networktables.LimelightUtils.extractArrayEntry;
+import static limelight.networktables.LimelightUtils.toPose3D;
 
 import com.fasterxml.jackson.databind.DeserializationFeature;
 import com.fasterxml.jackson.databind.ObjectMapper;
@@ -34,51 +34,51 @@ public class LimelightData
   /**
    * {@link NetworkTable} for the {@link Limelight}
    */
-  private NetworkTable          limelightTable;
+  protected NetworkTable      limelightTable;
   /**
    * {@link Limelight} to fetch data for.
    */
   private Limelight             limelight;
   /**
    * The limelight.results {@link LimelightResults} JSON data
    */
-  private NetworkTableEntry     results;
+  protected NetworkTableEntry results;
   /**
    * Raw AprilTag detection from NetworkTables.
    */
-  private NetworkTableEntry     rawfiducials;
+  protected NetworkTableEntry rawfiducials;
   /**
    * Raw Neural Detector limelight.results from NetworkTables.
    */
-  private NetworkTableEntry     rawDetections;
+  protected NetworkTableEntry rawDetections;
   /**
    * Neural Clasifier result class name.
    */
-  private NetworkTableEntry     classifierClass;
+  protected NetworkTableEntry classifierClass;
   /**
    * Primary neural detect result class name.
    */
-  private NetworkTableEntry     detectorClass;
+  protected NetworkTableEntry detectorClass;
   /**
    * {@link Pose3d} object representing the camera's position and orientation relative to the robot.
    */
-  private DoubleArrayEntry      camera2RobotPose3d;
+  protected DoubleArrayEntry  camera2RobotPose3d;
   /**
    * Barcodes read by the {@link Limelight}.
    */
-  private StringArrayEntry      barcodeData;
+  protected StringArrayEntry  barcodeData;
   /**
    * Custom Python script set data for {@link Limelight}.
    */
-  private DoubleArrayEntry      pythonScriptDataSet;
+  protected DoubleArrayEntry  pythonScriptDataSet;
   /**
    * Custom Python script output data for {@link Limelight}.
    */
-  private DoubleArrayEntry      pythonScriptData;
+  protected DoubleArrayEntry  pythonScriptData;
   /**
    * Object mapper for limelight.results JSON.
    */
-  private ObjectMapper          resultsObjectMapper;
+  protected ObjectMapper      resultsObjectMapper;
 
   /**
    * Construct the {@link LimelightData} class to retrieve read-only data.
@@ -182,7 +182,6 @@ public Optional<LimelightResults> getResults()
       }
       LimelightResults data = resultsObjectMapper.readValue(JSONresult,
                                                             LimelightResults.class); // don't use wrapper class
-      // LimelightResults data = resultsObjectMapper.readValue(JSONresult, ResultsWrapper.class).resultsWrapper; // use wrapper class
       return Optional.of(data);
     } catch (Exception e) // catch all the errors - multiple kinds are possible
     {

yall/java/limelight/structures/LimelightPipelineData.java → yall/java/limelight/networktables/LimelightPipelineData.java

@@ -1,4 +1,4 @@
-package limelight.structures;
+package limelight.networktables;
 
 
 import edu.wpi.first.networktables.NetworkTable;

yall/java/limelight/estimator/LimelightPoseEstimator.java → yall/java/limelight/networktables/LimelightPoseEstimator.java

@@ -1,7 +1,7 @@
-package limelight.estimator;
+package limelight.networktables;
 
 
-import static limelight.structures.LimelightUtils.toPose3D;
+import static limelight.networktables.LimelightUtils.toPose3D;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.networktables.DoubleArrayEntry;

yall/java/limelight/structures/LimelightResults.java → yall/java/limelight/networktables/LimelightResults.java

@@ -1,8 +1,8 @@
-package limelight.structures;
+package limelight.networktables;
 
 
-import static limelight.structures.LimelightUtils.toPose2D;
-import static limelight.structures.LimelightUtils.toPose3D;
+import static limelight.networktables.LimelightUtils.toPose2D;
+import static limelight.networktables.LimelightUtils.toPose3D;
 
 import com.fasterxml.jackson.annotation.JsonFormat;
 import com.fasterxml.jackson.annotation.JsonFormat.Shape;
@@ -11,11 +11,11 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.wpilibj.DriverStation;
 import limelight.Limelight;
-import limelight.structures.target.AprilTagFiducial;
-import limelight.structures.target.Barcode;
-import limelight.structures.target.RetroreflectiveTape;
-import limelight.structures.target.pipeline.NeuralClassifier;
-import limelight.structures.target.pipeline.NeuralDetector;
+import limelight.networktables.target.AprilTagFiducial;
+import limelight.networktables.target.Barcode;
+import limelight.networktables.target.RetroreflectiveTape;
+import limelight.networktables.target.pipeline.NeuralClassifier;
+import limelight.networktables.target.pipeline.NeuralDetector;
 
 /**
  * {@link Limelight} Results object, parsed from a {@link Limelight}'s JSON limelight.results output.

yall/java/limelight/structures/LimelightSettings.java → yall/java/limelight/networktables/LimelightSettings.java

@@ -1,8 +1,8 @@
-package limelight.structures;
+package limelight.networktables;
 
-import static limelight.structures.LimelightUtils.orientation3dToArray;
-import static limelight.structures.LimelightUtils.pose3dToArray;
-import static limelight.structures.LimelightUtils.translation3dToArray;
+import static limelight.networktables.LimelightUtils.orientation3dToArray;
+import static limelight.networktables.LimelightUtils.pose3dToArray;
+import static limelight.networktables.LimelightUtils.translation3dToArray;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Translation3d;

yall/java/limelight/networktables/LimelightSim.java

@@ -0,0 +1,84 @@
+package limelight.networktables;
+
+import static edu.wpi.first.units.Units.Meters;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rectangle2d;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.units.measure.Distance;
+import java.util.List;
+import java.util.function.Supplier;
+import limelight.Limelight;
+import limelight.networktables.target.AprilTagFiducial;
+
+public class LimelightSim
+{
+
+  private Limelight           m_limelight;
+  private Supplier<Pose2d>    m_pose;
+  private AprilTagFieldLayout m_fieldLayout;
+  private NetworkTable        m_limelightTable;
+  private Distance            m_limelightViewDistance = Meters.of(1);
+
+  /**
+   * Limelight simulation class
+   *
+   * @param limelight   {@link Limelight} to use.
+   * @param odomPose    Supplier of the odom pose.
+   * @param fieldLayout {@link AprilTagFieldLayout} to use.
+   */
+  public LimelightSim(Limelight limelight, Supplier<Pose2d> odomPose, AprilTagFieldLayout fieldLayout)
+  {
+    m_limelight = limelight;
+    m_pose = odomPose;
+    m_fieldLayout = fieldLayout;
+    m_limelightTable = NetworkTableInstance.getDefault().getTable(limelight.limelightName);
+
+  }
+
+  /**
+   * Gets the {@link AprilTag} in view of the Limelight, does this by using a Rectangle bounding box from your current
+   * pose.
+   *
+   * @return List of {@link AprilTag}s in range
+   */
+  public List<AprilTag> getAprilTagsInView()
+  {
+    Rectangle2d viewbox = new Rectangle2d(m_pose.get(), m_limelightViewDistance, m_limelightViewDistance);
+    // TODO: Improve this to use a triangular cone FOV.
+    return m_fieldLayout.getTags().stream()
+                        .filter(aprilTag -> viewbox.contains(aprilTag.pose.toPose2d().getTranslation()))
+                        .toList();
+  }
+
+
+  public void updateTagKeys()
+  {
+    LimelightData    data   = m_limelight.getData();
+    List<AprilTag>   tags   = getAprilTagsInView();
+    LimelightResults llJson = new LimelightResults();
+    llJson.botpose = LimelightUtils.pose2dToArray(m_pose.get());
+    llJson.valid = true;
+    llJson.targets_Fiducials = (AprilTagFiducial[]) (tags.stream().map(aprilTag -> {
+      AprilTagFiducial fid = new AprilTagFiducial();
+      fid.fiducialID = aprilTag.ID;
+      fid.fiducialFamily = "36h11";
+      return fid;
+    }).toArray());
+    try
+    {
+      data.results.setString(data.resultsObjectMapper.writer().withDefaultPrettyPrinter().writeValueAsString(llJson));
+    } catch (JsonProcessingException e)
+    {
+      throw new RuntimeException(e);
+    }
+    // TODO: Expand this to implement more of the ll json.
+
+  }
+
+
+}

yall/java/limelight/structures/LimelightTargetData.java → yall/java/limelight/networktables/LimelightTargetData.java

@@ -1,7 +1,7 @@
-package limelight.structures;
+package limelight.networktables;
 
 
-import static limelight.structures.LimelightUtils.toPose3D;
+import static limelight.networktables.LimelightUtils.toPose3D;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.networktables.DoubleArrayEntry;

yall/java/limelight/structures/LimelightUtils.java → yall/java/limelight/networktables/LimelightUtils.java

@@ -1,4 +1,4 @@
-package limelight.structures;
+package limelight.networktables;
 
 
 import static edu.wpi.first.units.Units.Degrees;

yall/java/limelight/structures/Orientation3d.java → yall/java/limelight/networktables/Orientation3d.java

@@ -1,4 +1,4 @@
-package limelight.structures;
+package limelight.networktables;
 
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.units.measure.AngularVelocity;

yall/java/limelight/estimator/PoseEstimate.java → yall/java/limelight/networktables/PoseEstimate.java

@@ -1,8 +1,8 @@
-package limelight.estimator;
+package limelight.networktables;
 
 
-import static limelight.structures.LimelightUtils.extractArrayEntry;
-import static limelight.structures.LimelightUtils.toPose3D;
+import static limelight.networktables.LimelightUtils.extractArrayEntry;
+import static limelight.networktables.LimelightUtils.toPose3D;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.networktables.DoubleArrayEntry;

yall/java/limelight/structures/package-info.java → yall/java/limelight/networktables/package-info.java

@@ -1,4 +1,4 @@
 /**
  * All Structures and utilities relating to Limelight NetworkTable data.
  */
-package limelight.structures;
+package limelight.networktables;

yall/java/limelight/structures/target/AprilTagFiducial.java → yall/java/limelight/networktables/target/AprilTagFiducial.java

@@ -1,7 +1,7 @@
-package limelight.structures.target;
+package limelight.networktables.target;
 
-import static limelight.structures.LimelightUtils.toPose2D;
-import static limelight.structures.LimelightUtils.toPose3D;
+import static limelight.networktables.LimelightUtils.toPose2D;
+import static limelight.networktables.LimelightUtils.toPose3D;
 
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.geometry.Pose2d;

yall/java/limelight/structures/target/Barcode.java → yall/java/limelight/networktables/target/Barcode.java

@@ -1,4 +1,4 @@
-package limelight.structures.target;
+package limelight.networktables.target;
 
 import com.fasterxml.jackson.annotation.JsonProperty;
 

yall/java/limelight/structures/target/RetroreflectiveTape.java → yall/java/limelight/networktables/target/RetroreflectiveTape.java

@@ -1,7 +1,7 @@
-package limelight.structures.target;
+package limelight.networktables.target;
 
-import static limelight.structures.LimelightUtils.toPose2D;
-import static limelight.structures.LimelightUtils.toPose3D;
+import static limelight.networktables.LimelightUtils.toPose2D;
+import static limelight.networktables.LimelightUtils.toPose3D;
 
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.geometry.Pose2d;

yall/java/limelight/structures/target/package-info.java → yall/java/limelight/networktables/target/package-info.java

@@ -1,4 +1,4 @@
 /**
  * Target data structures mapped to NetworkTables data.
  */
-package limelight.structures.target;
+package limelight.networktables.target;

yall/java/limelight/structures/target/pipeline/NeuralClassifier.java → yall/java/limelight/networktables/target/pipeline/NeuralClassifier.java

@@ -1,4 +1,4 @@
-package limelight.structures.target.pipeline;
+package limelight.networktables.target.pipeline;
 
 import com.fasterxml.jackson.annotation.JsonProperty;
 

yall/java/limelight/structures/target/pipeline/NeuralDetector.java → yall/java/limelight/networktables/target/pipeline/NeuralDetector.java

@@ -1,4 +1,4 @@
-package limelight.structures.target.pipeline;
+package limelight.networktables.target.pipeline;
 
 import com.fasterxml.jackson.annotation.JsonProperty;