RLI updates (#252)

Author: mdurrani808

source/docs/examples/aimandrange.rst

@@ -18,23 +18,23 @@ Now that you know how to both aim and get in range of the target, it is time to
 
     .. tab-item:: Java
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/661f8b2c0495474015f6ea9a89d65f9788436a05/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java
+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java
          :language: java
          :lines: 42-111
          :linenos:
          :lineno-start: 42
 
     .. tab-item:: C++ (Header)
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimandrange/src/main/include/Robot.h
          :language: cpp
          :lines: 27-71
          :linenos:
          :lineno-start: 27
 
     .. tab-item:: C++ (Source)
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp
          :language: cpp
          :lines: 25-67
          :linenos:

source/docs/examples/aimingatatarget.rst

@@ -23,23 +23,23 @@ In this example, while the operator holds a button down, the robot will turn tow
 
     .. tab-item:: Java
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/661f8b2c0495474015f6ea9a89d65f9788436a05/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java
+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
          :language: java
          :lines: 41-98
          :linenos:
          :lineno-start: 41
 
     .. tab-item:: C++ (Header)
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
          :language: c++
          :lines: 27-53
          :linenos:
          :lineno-start: 27
 
     .. tab-item:: C++ (Source)
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
          :language: c++
          :lines: 25-52
          :linenos:

source/docs/examples/gettinginrangeofthetarget.rst

@@ -29,23 +29,23 @@ This example uses P term of the PID loop and PhotonLib and the distance function
 
     .. tab-item:: Java
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/getinrange/src/main/java/frc/robot/Robot.java
          :language: java
          :lines: 42-107
          :linenos:
          :lineno-start: 42
 
     .. tab-item:: C++ (Header)
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/661f8b2c0495474015f6ea9a89d65f9788436a05/photonlib-cpp-examples/src/main/cpp/examples/getinrange/include/Robot.h
+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/getinrange/src/main/include/Robot.h
          :language: c++
          :lines: 27-67
          :linenos:
          :lineno-start: 27
 
     .. tab-item:: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/661f8b2c0495474015f6ea9a89d65f9788436a05/photonlib-cpp-examples/src/main/cpp/examples/getinrange/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/getinrange/src/main/cpp/Robot.cpp
          :language: c++
          :lines: 25-58
          :linenos:

source/docs/examples/simaimandrange.rst

@@ -30,18 +30,12 @@ First, in the main :code:`Robot` source file, we add support to periodically upd
 
 .. tab-set-code::
 
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+    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/Robot.java
       :language: java
       :lines: 118-128
       :linenos:
       :lineno-start: 118
 
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-      :language: c++
-      :lines: 72
-      :linenos:
-      :lineno-start: 72
-
 Then, we add in the implementation of our new `DrivetrainSim` class. Please reference the `WPILib documentation on physics simulation <https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/physics-sim.html>`_.
 
 Simulated Vision support is added with the following steps:
@@ -53,50 +47,32 @@ First, we create a new :code:`SimVisionSystem` to represent our camera and copro
 
 .. tab-set-code::
 
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+    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
       :language: java
-      :lines: 72-93
+      :lines: 73-93
       :linenos:
       :lineno-start: 72
 
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-      :language: c++
-      :lines: 78-92
-      :linenos:
-      :lineno-start: 78
-
-
 Next, we create objects to represent the physical location and size of the vision targets we are calibrated to detect. This example models the down-field high goal vision target from the 2020 and 2021 games.
 
 .. tab-set-code::
 
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+    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
       :language: java
-      :lines: 95-108
+      :lines: 95-111
       :linenos:
       :lineno-start: 95
 
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-      :language: c++
-      :lines: 94-109
-      :linenos:
-      :lineno-start: 94
-
 Finally, we add our target to the simulated vision system.
 
 .. tab-set-code::
 
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+    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
       :language: java
-      :lines: 113-114
+      :lines: 116-117
       :linenos:
       :lineno-start: 113
 
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-      :language: c++
-      :lines: 45-49
-      :linenos:
-      :lineno-start: 45
 
 If you have additional targets you want to detect, you can add them in the same way as the first one.
 
@@ -108,16 +84,11 @@ Once we have all the properties of our simulated vision system defined, the work
 
 .. tab-set-code::
 
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+    .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
       :language: java
-      :lines: 122-140
+      :lines: 124-142
       :linenos:
       :lineno-start: 122
 
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-      :language: c++
-      :lines: 31-50
-      :linenos:
-      :lineno-start: 31
 
 The rest is done behind the scenes.

source/docs/examples/simposeest.rst

@@ -40,36 +40,25 @@ For both simulation and on-robot code, we create objects to represent the physic
     .. tab-item:: Java
        :sync: java
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/80e16ece87c735e30755dea271a56a2ce217b588/photonlib-java-examples/simposeest/src/main/java/frc/robot/Constants.java
          :language: java
-         :lines: 79-101
+         :lines: 83-106
          :linenos:
-         :lineno-start: 79
+         :lineno-start: 83
 
 
-    .. tab-item:: C++
-       :sync: cpp
-
-       :code:`//Coming soon!`
-
 To incorporate Photon Vision, we need to create a :code:`PhotonCamera`:
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: java
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/80e16ece87c735e30755dea271a56a2ce217b588/photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainPoseEstimator.java
          :language: java
-         :lines: 49
+         :lines: 46
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-
-    .. tab-item:: C++
-       :sync: cpp
-
-       :code:`//Coming soon!`
+         :lineno-start: 46
 
 During periodic execution, we read back camera results. If we see a target in the image, we pass the camera-measured pose of the robot to the :code:`DifferentialDrivePoseEstimator`.
 
@@ -78,17 +67,12 @@ During periodic execution, we read back camera results. If we see a target in th
     .. tab-item:: Java
        :sync: java
 
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          :language: java
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+         :lines: 81-92
          :linenos:
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-
-
-    .. tab-item:: C++
-       :sync: cpp
+         :lineno-start: 81
 
-       :code:`//Coming soon!`
 
 That's it!
 
@@ -102,36 +86,25 @@ First, we create a new :code:`SimVisionSystem` to represent our camera and copro
     .. tab-item:: Java
        :sync: java
 
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+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/80e16ece87c735e30755dea271a56a2ce217b588/photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainSim.java
          :language: java
-         :lines: 77-98
+         :lines: 76-95
          :linenos:
-         :lineno-start: 77
+         :lineno-start: 76
 
 
-    .. tab-item:: C++
-       :sync: cpp
-
-       :code:`//Coming soon!`
-
 Then, we add our target to the simulated vision system.
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: java
 
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-         :language: java
-         :lines: 100-102
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+         :lines: 97-99
          :linenos:
-         :lineno-start: 100
-
+         :lineno-start: 97
 
-    .. tab-item:: C++
-       :sync: cpp
-
-       :code:`//Coming soon!`
 
 If you have additional targets you want to detect, you can add them in the same way as the first one.
 
@@ -146,17 +119,12 @@ Once we have all the properties of our simulated vision system defined, the rema
     .. tab-item:: Java
        :sync: java
 
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          :language: java
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-
-    .. tab-item:: C++
-       :sync: cpp
+         :lineno-start: 138
 
-       :code:`//Coming soon!`
 
 The rest is done behind the scenes.
 

source/docs/programming/photonlib/simulation.rst

@@ -38,37 +38,26 @@ It requires a number of pieces of configuration to accurately simulate your phys
 
 .. tab-set-code::
 
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+     .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/80e16ece87c735e30755dea271a56a2ce217b588/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
         :language: java
-        :lines: 72-93
+        :lines: 73-93
 
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-        :language: c++
-        :lines: 78-92
 
 After declaring the system, you should create and add one ``SimVisionTarget`` per target on the field you are attempting to detect.
 
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-        :language: c++
-        :lines: 94-109, 45-49
+        :lines: 95-111
 
 Finally, while running the simulation, process simulated camera frames by providing the robot's pose to the system.
 
 .. tab-set-code::
 
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          :language: java
-         :lines: 136-137
-
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-         :language: c++
-         :lines: 46-47
+         :lines: 138-139
 
 This will cause most NetworkTables fields to update properly, representing any targets that are in view of the robot.
 
@@ -101,24 +90,4 @@ A ``SimPhotonCamera`` can be created for this purpose. It provides an interface
             //  ...
         }
 
-   .. code-block:: c++
-
-        #include "photonlib/SimPhotonCamera.h"
-
-        //  ...
-
-        void Robot::SimulationInit(){
-            //  ...
-            cam = SimPhotonCamera("MyCamera");
-            //  ...
-        }
-
-        void Robot::SimulationPeriodic(){
-            //  ...
-            std::vector<PhotonTrackedTarget> visibleTgtList = {};
-            visibleTgtList.push_back(PhotonTrackedTarget(yawAngle, pitchAngle, area, 0.0, camToTargetTrans));
-            cam.SubmitProcessedFrame(0_sec, wpi::MutableArrayRef<PhotonTrackedTarget>(visibleTgtList));
-            //  ...
-        }
-
 Note that while there is less code and configuration required to get basic data into the simulation, this approach will cause the user to need to implement much more code on their end to calculate the relative positions of the robot and target. If you already have this, the raw interface may be helpful. However, if you don't, you'll likely want to be looking at the Simulated Vision System first.