PhotonVision/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java

/*
 * 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/>.
 */
package org.photonvision.targeting;

import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import org.photonvision.common.dataflow.structures.Packet;

/** Represents a pipeline result from a PhotonCamera. */
public class PhotonPipelineResult {
    private static boolean HAS_WARNED = false;

    // Targets to store.
    public final List<PhotonTrackedTarget> targets = new ArrayList<>();

    // Latency in milliseconds.
    private double latencyMillis;

    /** Constructs an empty pipeline result. */
    public PhotonPipelineResult() {}

    /**
    * Constructs a pipeline result.
    *
    * @param latencyMillis The latency in the pipeline.
    * @param targets The list of targets identified by the pipeline.
    */
    public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets) {
        this.latencyMillis = latencyMillis;
        this.targets.addAll(targets);
    }

    /**
    * Returns the size of the packet needed to store this pipeline result.
    *
    * @return The size of the packet needed to store this pipeline result.
    */
    public int getPacketSize() {
        return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2;
    }

    /**
    * Returns the best target in this pipeline result. If there are no targets, this method will
    * return null. The best target is determined by the target sort mode in the PhotonVision UI.
    *
    * @return The best target of the pipeline result.
    */
    public PhotonTrackedTarget getBestTarget() {
        if (!hasTargets() && !HAS_WARNED) {
            String errStr =
                    "This PhotonPipelineResult object has no targets associated with it! Please check hasTargets() "
                            + "before calling this method. For more information, please review the PhotonLib "
                            + "documentation at http://docs.photonvision.org";
            System.err.println(errStr);
            new Exception().printStackTrace();
            HAS_WARNED = true;
        }
        return hasTargets() ? targets.get(0) : null;
    }

    /**
    * Returns the latency in the pipeline.
    *
    * @return The latency in the pipeline.
    */
    public double getLatencyMillis() {
        return latencyMillis;
    }

    /**
    * Returns whether the pipeline has targets.
    *
    * @return Whether the pipeline has targets.
    */
    public boolean hasTargets() {
        return targets.size() > 0;
    }

    /**
    * Returns a copy of the vector of targets.
    *
    * @return A copy of the vector of targets.
    */
    public List<PhotonTrackedTarget> getTargets() {
        return new ArrayList<>(targets);
    }

    @Override
    public boolean equals(Object o) {
        if (this == o) return true;
        if (o == null || getClass() != o.getClass()) return false;
        PhotonPipelineResult that = (PhotonPipelineResult) o;
        boolean latencyMatch = Double.compare(that.latencyMillis, latencyMillis) == 0;
        boolean targetsMatch = that.targets.equals(targets);
        return latencyMatch && targetsMatch;
    }

    @Override
    public int hashCode() {
        return Objects.hash(latencyMillis, targets);
    }

    /**
    * Populates the fields of the pipeline result from the packet.
    *
    * @param packet The incoming packet.
    * @return The incoming packet.
    */
    public Packet createFromPacket(Packet packet) {
        // Decode latency, existence of targets, and number of targets.
        latencyMillis = packet.decodeDouble();
        byte targetCount = packet.decodeByte();

        targets.clear();

        // Decode the information of each target.
        for (int i = 0; i < (int) targetCount; ++i) {
            var target = new PhotonTrackedTarget();
            target.createFromPacket(packet);
            targets.add(target);
        }

        return packet;
    }

    /**
    * Populates the outgoing packet with information from this pipeline result.
    *
    * @param packet The outgoing packet.
    * @return The outgoing packet.
    */
    public Packet populatePacket(Packet packet) {
        // Encode latency, existence of targets, and number of targets.
        packet.encode(latencyMillis);
        packet.encode((byte) targets.size());

        // Encode the information of each target.
        for (var target : targets) target.populatePacket(packet);

        // Return the packet.
        return packet;
    }
}