Package frc.robot.services.vision

Class Vision

java.lang.Object

frc.lib.service.BaseService

frc.robot.services.vision.Vision

All Implemented Interfaces:

Monitored

public class Vision
extends BaseService
implements Monitored

Service for processing vision data, specifically from AprilTag cameras.

Receives raw camera detections, filters them based on quality (tag count), and feeds valid measurements into the Drive subsystem's pose estimator to refine the robot's field position. Also monitors camera health and status using highly optimized zero-allocation data structures.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	Vision.VisionMeasurementConsumer	A functional interface for consuming vision measurements.
static final record	Vision.VisionObservation	A record representing a single vision observation.

Field Summary

Fields inherited from class frc.lib.service.BaseService

name

Constructor Summary

Constructors

Constructor	Description
Vision(VisionIO io)	Creates a new Vision service.

Method Summary

Modifier and Type	Method	Description
void	broadcastTelemetry(IMUState imuState)	Forwards a high frequency IMU packet to the vision pipeline.
void	clearFaults()	Clear all faults and reset the service.
boolean	isHealthy()	Returns whether or not the service is healthy
void	setVisionMeasurementConsumer(Vision.VisionMeasurementConsumer consumer)	Sets the consumer for vision measurements.
void	update()	Processes vision measurements, filters invalid data, updates the drive pose estimator, and checks camera status.

Methods inherited from class frc.lib.service.BaseService

getName

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Vision

public Vision(VisionIO io)

Creates a new Vision service.

Parameters:

io - The abstraction layer for the vision hardware.

Method Details

broadcastTelemetry

public void broadcastTelemetry(IMUState imuState)

Forwards a high frequency IMU packet to the vision pipeline.

Parameters:

imuState - The current 6-DOF IMU state.

update

public void update()

Processes vision measurements, filters invalid data, updates the drive pose estimator, and checks camera status.

Specified by:

update in class BaseService

isHealthy

public boolean isHealthy()

Returns whether or not the service is healthy

Specified by:

isHealthy in interface Monitored

Returns:

True if the service is healthy, false otherwise.

clearFaults

public void clearFaults()

Clear all faults and reset the service.

Specified by:

clearFaults in interface Monitored

setVisionMeasurementConsumer

public void setVisionMeasurementConsumer(Vision.VisionMeasurementConsumer consumer)

Sets the consumer for vision measurements.

Parameters:

consumer - A callback function that will be called with each valid vision measurement, providing the pose, timestamp, and standard deviations. This allows external systems to react to new vision data in real-time.