PhotonVision/photon-lib/src/test/java/org/photonvision/PacketTest.java

/*
 * MIT License
 *
 * Copyright (c) 2022 PhotonVision
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

package org.photonvision;

import edu.wpi.first.math.geometry.*;
import java.util.ArrayList;
import java.util.List;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;

class PacketTest {
    @Test
    void testSimpleTrackedTarget() {
        var target =
                new PhotonTrackedTarget(
                        3.0,
                        4.0,
                        9.0,
                        -5.0,
                        -1,
                        new Transform3d(new Translation3d(), new Rotation3d()),
                        0.25,
                        List.of(
                                new TargetCorner(1, 2),
                                new TargetCorner(3, 4),
                                new TargetCorner(5, 6),
                                new TargetCorner(7, 8)));
        var p = new Packet(PhotonTrackedTarget.PACK_SIZE_BYTES);
        target.populatePacket(p);

        var b = new PhotonTrackedTarget();
        b.createFromPacket(p);

        Assertions.assertEquals(target, b);
    }

    @Test
    void testSimplePipelineResult() {
        var result = new PhotonPipelineResult(1, new ArrayList<>());
        var p = new Packet(result.getPacketSize());
        result.populatePacket(p);

        var b = new PhotonPipelineResult();
        b.createFromPacket(p);

        Assertions.assertEquals(result, b);

        var result2 =
                new PhotonPipelineResult(
                        2,
                        List.of(
                                new PhotonTrackedTarget(
                                        3.0,
                                        -4.0,
                                        9.0,
                                        4.0,
                                        2,
                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
                                        0.25,
                                        List.of(
                                                new TargetCorner(1, 2),
                                                new TargetCorner(3, 4),
                                                new TargetCorner(5, 6),
                                                new TargetCorner(7, 8))),
                                new PhotonTrackedTarget(
                                        3.0,
                                        -4.0,
                                        9.1,
                                        6.7,
                                        3,
                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
                                        0.25,
                                        List.of(
                                                new TargetCorner(1, 2),
                                                new TargetCorner(3, 4),
                                                new TargetCorner(5, 6),
                                                new TargetCorner(7, 8)))));
        var p2 = new Packet(result2.getPacketSize());
        result2.populatePacket(p2);

        var b2 = new PhotonPipelineResult();
        b2.createFromPacket(p2);

        Assertions.assertEquals(result2, b2);
    }
}