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

import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
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;

class PacketTest {
    @Test
    void testSimpleTrackedTarget() {
        var target =
                new PhotonTrackedTarget(
                        3.0, 4.0, 9.0, -5.0, new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)));
        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,
                                        new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5))),
                                new PhotonTrackedTarget(
                                        3.0,
                                        -4.0,
                                        9.1,
                                        6.7,
                                        new Transform2d(new Translation2d(1, 5), new Rotation2d(1.5)))));
        var p2 = new Packet(result2.getPacketSize());
        result2.populatePacket(p2);

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

        Assertions.assertEquals(result2, b2);
    }

    @Test
    void testBytePackFromCpp() {
        byte[] bytePack = {
            64, 8, 0, 0, 0, 0, 0, 0, 64, 16, 0, 0, 0, 0, 0, 0, 64, 34, 0, 0, 0, 0, 0, 0, -64, 20, 0, 0, 0,
            0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0, 0, 0, 64, 85, 124, 101, 19, -54, -47,
            122
        };
        var t = new PhotonTrackedTarget();
        t.createFromPacket(new Packet(bytePack));

        var target =
                new PhotonTrackedTarget(
                        3.0, 4.0, 9.0, -5.0, new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)));

        Assertions.assertEquals(t, target);
    }

    @Test
    void testPacketv2021_1_6() {
        // From v2021.1.6
        var simplified =
                new PhotonPipelineResult(
                        12.34,
                        List.of(
                                new PhotonTrackedTarget(
                                        -23, -10, 6, 1, new Transform2d(new Translation2d(1, 2), new Rotation2d(3)))));
        byte[] bytes = {
            64, 40, -82, 20, 122, -31, 71, -82, 1, -64, 55, 0, 0, 0, 0, 0, 0, -64, 36, 0, 0, 0, 0, 0, 0,
            64, 24, 0, 0, 0, 0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0,
            0, 0, 0, 0, 64, 101, 124, 101, 19, -54, -47, 122, 0
        };

        // Let's check that those bytes still mean the same thing
        Packet packet = new Packet(1);
        packet.clear();
        packet.setData(bytes);
        var ret = new PhotonPipelineResult();
        ret.createFromPacket(packet);
        System.out.println(ret);
        Assertions.assertEquals(simplified, ret);
    }
}