PhotonVision/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp

/*
 * Copyright (C) Photon Vision.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#include "photon/targeting/PhotonPipelineResult.h"

namespace photon {
PhotonPipelineResult::PhotonPipelineResult(
    units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets)
    : latency(latency),
      targets(targets.data(), targets.data() + targets.size()) {}

PhotonPipelineResult::PhotonPipelineResult(
    units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets,
    MultiTargetPNPResult multitagResult)
    : latency(latency),
      targets(targets.data(), targets.data() + targets.size()),
      multitagResult(multitagResult) {}

bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
  return latency == other.latency && targets == other.targets &&
         multitagResult == other.multitagResult;
}

Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
  // Encode latency and number of targets.
  packet << result.latency.value() << result.multitagResult
         << static_cast<int8_t>(result.targets.size());

  // Encode the information of each target.
  for (auto& target : result.targets) packet << target;

  // Return the packet
  return packet;
}

Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
  // Decode latency, existence of targets, and number of targets.
  double latencyMillis = 0;
  int8_t targetCount = 0;
  packet >> latencyMillis >> result.multitagResult >> targetCount;
  result.latency = units::millisecond_t(latencyMillis);

  result.targets.clear();

  // Decode the information of each target.
  for (int i = 0; i < targetCount; ++i) {
    PhotonTrackedTarget target;
    packet >> target;
    result.targets.push_back(target);
  }
  return packet;
}
}  // namespace photon