Translation3d copy hack

photon-lib/py/create_photonlib_pyi.py

@@ -17,8 +17,9 @@ def write_stubgen():
     #     f.write(sg.get())
 
 
-    # mess with argv
+    # mess with argv (and put it back when we're done)
     import sys
+    old_argv = sys.argv
     sys.argv = [
             "<dummy>",
             "--exit-code",
@@ -29,8 +30,13 @@ def write_stubgen():
             "photonlibpy", 
     ]
 
-    import pybind11_stubgen
-    pybind11_stubgen.main()
+    try:
+        import pybind11_stubgen
+        pybind11_stubgen.main()
+    except Exception as e:
+        print(e)
+
+    sys.argv = old_argv
 
 
 if __name__ == "__main__":

photon-lib/py/photonlibpy/__init__.pyi

@@ -2,11 +2,13 @@ from __future__ import annotations
 import hal as hal
 import ntcore as ntcore
 from photonlibpy._photonlibpy import PhotonPipelineMetadata
+from photonlibpy._photonlibpy import Translation3d
+from photonlibpy._photonlibpy import print_t
 import platform as platform
 import robotpy_apriltag as robotpy_apriltag
 import wpilib as wpilib
 import wpimath as wpimath
 import wpinet as wpinet
 import wpiutil as wpiutil
 from . import _photonlibpy
-__all__ = ['PhotonPipelineMetadata', 'hal', 'ntcore', 'platform', 'robotpy_apriltag', 'wpilib', 'wpimath', 'wpinet', 'wpiutil']
+__all__ = ['PhotonPipelineMetadata', 'Translation3d', 'hal', 'ntcore', 'platform', 'print_t', 'robotpy_apriltag', 'wpilib', 'wpimath', 'wpinet', 'wpiutil']

photon-lib/py/photonlibpy/_photonlibpy.pyi

@@ -2,8 +2,10 @@
 C++ bindings for photonlib
 """
 from __future__ import annotations
-__all__ = ['PhotonPipelineMetadata']
+__all__ = ['PhotonPipelineMetadata', 'Translation3d', 'print_t']
 class PhotonPipelineMetadata:
+    def __init__(self) -> None:
+        ...
     @property
     def captureTimestampMicros(self) -> int:
         ...
@@ -13,3 +15,10 @@ class PhotonPipelineMetadata:
     @property
     def sequenceID(self) -> int:
         ...
+class Translation3d:
+    def __init__(self, arg0: float, arg1: float, arg2: float) -> None:
+        ...
+def print_t(arg0: Translation3d) -> None:
+    """
+    Print a frc Translation3d
+    """

photon-lib/py/setup.py

@@ -68,14 +68,14 @@ def finalize_options(self):
         self.root_is_pure = False
 
 
-# script_path = os.path.dirname(os.path.realpath(__file__))
-# if not os.path.exists(f"{script_path}/photonlibpy/_photonlibpy.pyi"):
-#     print("Generating typehints")
-#     # try:
-#     #     from create_photonlib_pyi import write_stubgen
-#     #     write_stubgen()
-#     # except Exception as e:
-#     #     print(e)
+script_path = os.path.dirname(os.path.realpath(__file__))
+if not os.path.exists(f"{script_path}/photonlibpy/_photonlibpy.pyi"):
+    print("Generating typehints")
+    try:
+        from create_photonlib_pyi import write_stubgen
+        write_stubgen()
+    except Exception as e:
+        print(e)
 
 setup(
     name="photonlibpy",

photon-lib/src/main/pybindings/cpp/photonlib_pybind.cpp

@@ -24,17 +24,34 @@
 
 #include <fmt/format.h>
 #include "photon/PhotonCamera.h"
+#include <frc/geometry/Translation3d.h>
+
+void print_t(frc::Translation3d t) {
+    fmt::println("x {} y {} z {}", t.X(), t.Y(), t.Z());
+}
 
 // actual nanobind include
 #include <pybind11/pybind11.h>
 
+
 namespace py = pybind11;
 
 PYBIND11_MODULE(_photonlibpy, m) {
 
   m.doc() = "C++ bindings for photonlib";
 
+  // hack -- is there any way to pull this from robotpy instead?
+  py::class_<frc::Translation3d>(m, "Translation3d")
+    .def(py::init([](double x, double y, double z) { return frc::Translation3d{
+        units::meter_t{x},
+        units::meter_t{y},
+        units::meter_t{z},
+    }; }));
+
+  m.def("print_t", &print_t, "Print a frc Translation3d");
+
   py::class_<photon::PhotonPipelineMetadata>(m, "PhotonPipelineMetadata")
+      .def(py::init<>())
       .def_readonly("sequenceID", &photon::PhotonPipelineMetadata::sequenceID)
       .def_readonly("captureTimestampMicros",
               &photon::PhotonPipelineMetadata::captureTimestampMicros)