Auto-generate packet dataclasses with Jinja (#1374)

photon-lib/py/photonlibpy/__init__.py

@@ -1 +1,6 @@
 # No one here but us chickens
+
+from .packet import Packet  # noqa
+from .estimatedRobotPose import EstimatedRobotPose  # noqa
+from .photonPoseEstimator import PhotonPoseEstimator, PoseStrategy  # noqa
+from .photonCamera import PhotonCamera  # noqa

photon-lib/py/photonlibpy/estimatedRobotPose.py

@@ -3,7 +3,7 @@ from typing import TYPE_CHECKING
 
 from wpimath.geometry import Pose3d
 
-from .photonTrackedTarget import PhotonTrackedTarget
+from .targeting.photonTrackedTarget import PhotonTrackedTarget
 
 if TYPE_CHECKING:
     from .photonPoseEstimator import PoseStrategy

photon-lib/py/photonlibpy/generated/MultiTargetPNPResultSerde.py

@@ -0,0 +1,46 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class MultiTargetPNPResultSerde:
+
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "ffc1cb847deb6e796a583a5b1885496b"
+    MESSAGE_FORMAT = "PnpResult estimatedPose;int16[?] fiducialIDsUsed;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "MultiTargetPNPResult":
+        ret = MultiTargetPNPResult()
+
+        # estimatedPose is of non-intrinsic type PnpResult
+        ret.estimatedPose = PnpResult.photonStruct.unpack(packet)
+
+        # fiducialIDsUsed is a custom VLA!
+        ret.fiducialIDsUsed = packet.decodeShortList()
+
+        return ret
+
+
+# Hack ourselves into the base class
+MultiTargetPNPResult.photonStruct = MultiTargetPNPResultSerde()

photon-lib/py/photonlibpy/generated/PhotonPipelineMetadataSerde.py

@@ -0,0 +1,51 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PhotonPipelineMetadataSerde:
+
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "2a7039527bda14d13028a1b9282d40a2"
+    MESSAGE_FORMAT = (
+        "int64 sequenceID;int64 captureTimestampMicros;int64 publishTimestampMicros;"
+    )
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonPipelineMetadata":
+        ret = PhotonPipelineMetadata()
+
+        # sequenceID is of intrinsic type int64
+        ret.sequenceID = packet.decodeLong()
+
+        # captureTimestampMicros is of intrinsic type int64
+        ret.captureTimestampMicros = packet.decodeLong()
+
+        # publishTimestampMicros is of intrinsic type int64
+        ret.publishTimestampMicros = packet.decodeLong()
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonPipelineMetadata.photonStruct = PhotonPipelineMetadataSerde()

photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -0,0 +1,49 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PhotonPipelineResultSerde:
+
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "cb3e1605048ba49325888eb797399fe2"
+    MESSAGE_FORMAT = "PhotonPipelineMetadata metadata;PhotonTrackedTarget[?] targets;MultiTargetPNPResult? multiTagResult;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonPipelineResult":
+        ret = PhotonPipelineResult()
+
+        # metadata is of non-intrinsic type PhotonPipelineMetadata
+        ret.metadata = PhotonPipelineMetadata.photonStruct.unpack(packet)
+
+        # targets is a custom VLA!
+        ret.targets = packet.decodeList(PhotonTrackedTarget.photonStruct)
+
+        # multiTagResult is optional! it better not be a VLA too
+        ret.multiTagResult = packet.decodeOptional(MultiTargetPNPResult.photonStruct)
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonPipelineResult.photonStruct = PhotonPipelineResultSerde()

photon-lib/py/photonlibpy/generated/PhotonTrackedTargetSerde.py

@@ -0,0 +1,76 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PhotonTrackedTargetSerde:
+
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "8fdada56b9162f2e32bd24f0055d7b60"
+    MESSAGE_FORMAT = "float64 yaw;float64 pitch;float64 area;float64 skew;int32 fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d bestCameraToTarget;Transform3d altCameraToTarget;float64 poseAmbiguity;TargetCorner[?] minAreaRectCorners;TargetCorner[?] detectedCorners;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonTrackedTarget":
+        ret = PhotonTrackedTarget()
+
+        # yaw is of intrinsic type float64
+        ret.yaw = packet.decodeDouble()
+
+        # pitch is of intrinsic type float64
+        ret.pitch = packet.decodeDouble()
+
+        # area is of intrinsic type float64
+        ret.area = packet.decodeDouble()
+
+        # skew is of intrinsic type float64
+        ret.skew = packet.decodeDouble()
+
+        # fiducialId is of intrinsic type int32
+        ret.fiducialId = packet.decodeInt()
+
+        # objDetectId is of intrinsic type int32
+        ret.objDetectId = packet.decodeInt()
+
+        # objDetectConf is of intrinsic type float32
+        ret.objDetectConf = packet.decodeFloat()
+
+        # field is shimmed!
+        ret.bestCameraToTarget = packet.decodeTransform()
+
+        # field is shimmed!
+        ret.altCameraToTarget = packet.decodeTransform()
+
+        # poseAmbiguity is of intrinsic type float64
+        ret.poseAmbiguity = packet.decodeDouble()
+
+        # minAreaRectCorners is a custom VLA!
+        ret.minAreaRectCorners = packet.decodeList(TargetCorner.photonStruct)
+
+        # detectedCorners is a custom VLA!
+        ret.detectedCorners = packet.decodeList(TargetCorner.photonStruct)
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonTrackedTarget.photonStruct = PhotonTrackedTargetSerde()

photon-lib/py/photonlibpy/generated/PnpResultSerde.py

@@ -0,0 +1,55 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class PnpResultSerde:
+
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "0d1f2546b00f24718e30f38d206d4491"
+    MESSAGE_FORMAT = "Transform3d best;Transform3d alt;float64 bestReprojErr;float64 altReprojErr;float64 ambiguity;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PnpResult":
+        ret = PnpResult()
+
+        # field is shimmed!
+        ret.best = packet.decodeTransform()
+
+        # field is shimmed!
+        ret.alt = packet.decodeTransform()
+
+        # bestReprojErr is of intrinsic type float64
+        ret.bestReprojErr = packet.decodeDouble()
+
+        # altReprojErr is of intrinsic type float64
+        ret.altReprojErr = packet.decodeDouble()
+
+        # ambiguity is of intrinsic type float64
+        ret.ambiguity = packet.decodeDouble()
+
+        return ret
+
+
+# Hack ourselves into the base class
+PnpResult.photonStruct = PnpResultSerde()

photon-lib/py/photonlibpy/generated/TargetCornerSerde.py

@@ -0,0 +1,46 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+
+
+class TargetCornerSerde:
+
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "22b1ff7551d10215af6fb3672fe4eda8"
+    MESSAGE_FORMAT = "float64 x;float64 y;"
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "TargetCorner":
+        ret = TargetCorner()
+
+        # x is of intrinsic type float64
+        ret.x = packet.decodeDouble()
+
+        # y is of intrinsic type float64
+        ret.y = packet.decodeDouble()
+
+        return ret
+
+
+# Hack ourselves into the base class
+TargetCorner.photonStruct = TargetCornerSerde()

photon-lib/py/photonlibpy/generated/__init__.py

@@ -0,0 +1,9 @@
+# no one but us chickens
+
+from .MultiTargetPNPResultSerde import MultiTargetPNPResultSerde  # noqa
+from .PhotonPipelineMetadataSerde import PhotonPipelineMetadataSerde  # noqa
+from .PhotonPipelineMetadataSerde import PhotonPipelineMetadataSerde  # noqa
+from .PhotonPipelineResultSerde import PhotonPipelineResultSerde  # noqa
+from .PhotonTrackedTargetSerde import PhotonTrackedTargetSerde  # noqa
+from .PnpResultSerde import PnpResultSerde  # noqa
+from .TargetCornerSerde import TargetCornerSerde  # noqa

photon-lib/py/photonlibpy/multiTargetPNPResult.py

@@ -1,49 +0,0 @@
-from dataclasses import dataclass, field
-from wpimath.geometry import Transform3d
-from photonlibpy.packet import Packet
-
-
-@dataclass
-class PNPResult:
-    _NUM_BYTES_IN_FLOAT = 8
-    PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT * 3)
-
-    isPresent: bool = False
-    best: Transform3d = field(default_factory=Transform3d)
-    alt: Transform3d = field(default_factory=Transform3d)
-    ambiguity: float = 0.0
-    bestReprojError: float = 0.0
-    altReprojError: float = 0.0
-
-    def createFromPacket(self, packet: Packet) -> Packet:
-        self.isPresent = packet.decodeBoolean()
-
-        if not self.isPresent:
-            return packet
-
-        self.best = packet.decodeTransform()
-        self.alt = packet.decodeTransform()
-        self.bestReprojError = packet.decodeDouble()
-        self.altReprojError = packet.decodeDouble()
-        self.ambiguity = packet.decodeDouble()
-        return packet
-
-
-@dataclass
-class MultiTargetPNPResult:
-    _MAX_IDS = 32
-    # pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
-    _PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (1 * _MAX_IDS)
-
-    estimatedPose: PNPResult = field(default_factory=PNPResult)
-    fiducialIDsUsed: list[int] = field(default_factory=list)
-
-    def createFromPacket(self, packet: Packet) -> Packet:
-        self.estimatedPose = PNPResult()
-        self.estimatedPose.createFromPacket(packet)
-        self.fiducialIDsUsed = []
-        for _ in range(MultiTargetPNPResult._MAX_IDS):
-            fidId = packet.decode16()
-            if fidId >= 0:
-                self.fiducialIDsUsed.append(fidId)
-        return packet

photon-lib/py/photonlibpy/packet.py

@@ -1,4 +1,5 @@
 import struct
+from typing import Any, Optional, Type
 from wpimath.geometry import Transform3d, Translation3d, Rotation3d, Quaternion
 import wpilib
 
@@ -82,13 +83,13 @@ class Packet:
 
     def decode16(self) -> int:
         """
-        * Returns a single decoded byte from the packet.
+        * Returns a single decoded short from the packet.
         *
-        * @return A decoded byte from the packet.
+        * @return A decoded short from the packet.
         """
         return self._decodeGeneric(">h", 2)
 
-    def decode32(self) -> int:
+    def decodeInt(self) -> int:
         """
         * Returns a decoded int (32 bytes) from the packet.
         *
@@ -104,7 +105,7 @@ class Packet:
         """
         return self._decodeGeneric(">f", 4)
 
-    def decodei64(self) -> int:
+    def decodeLong(self) -> int:
         """
         * Returns a decoded int64 from the packet.
         *
@@ -131,14 +132,22 @@ class Packet:
     def decodeDoubleArray(self, length: int) -> list[float]:
         """
         * Returns a decoded array of floats from the packet.
-        *
-        * @return A decoded array of floats from the packet.
         """
         ret = []
         for _ in range(length):
             ret.append(self.decodeDouble())
         return ret
 
+    def decodeShortList(self) -> list[float]:
+        """
+        * Returns a decoded array of shorts from the packet.
+        """
+        length = self.decode8()
+        ret = []
+        for _ in range(length):
+            ret.append(self.decode16())
+        return ret
+
     def decodeTransform(self) -> Transform3d:
         """
         * Returns a decoded Transform3d
@@ -157,3 +166,16 @@ class Packet:
         rotation = Rotation3d(Quaternion(w, x, y, z))
 
         return Transform3d(translation, rotation)
+
+    def decodeList(self, serde: Type):
+        retList = []
+        arr_len = self.decode8()
+        for _ in range(arr_len):
+            retList.append(serde.unpack(self))
+        return retList
+
+    def decodeOptional(self, serde: Type) -> Optional[Any]:
+        if self.decodeBoolean():
+            return serde.unpack(self)
+        else:
+            return None

photon-lib/py/photonlibpy/photonCamera.py

@@ -3,9 +3,12 @@ from typing import List
 import ntcore
 from wpilib import RobotController, Timer
 import wpilib
-from photonlibpy.packet import Packet
-from photonlibpy.photonPipelineResult import PhotonPipelineResult
-from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION  # type: ignore[import-untyped]
+from .packet import Packet
+from .targeting.photonPipelineResult import PhotonPipelineResult
+from .version import PHOTONVISION_VERSION, PHOTONLIB_VERSION  # type: ignore[import-untyped]
+
+# magical import to make serde stuff work
+import photonlibpy.generated  # noqa
 
 
 class VisionLEDMode(Enum):
@@ -100,11 +103,9 @@ class PhotonCamera:
             else:
                 newResult = PhotonPipelineResult()
                 pkt = Packet(byteList)
-                newResult.populateFromPacket(pkt)
+                newResult = PhotonPipelineResult.photonStruct.unpack(pkt)
                 # NT4 allows us to correct the timestamp based on when the message was sent
-                newResult.setTimestampSeconds(
-                    timestamp / 1e6 - newResult.getLatencyMillis() / 1e3
-                )
+                newResult.ntReceiveTimestampMicros = timestamp / 1e6
                 ret.append(newResult)
 
         return ret
@@ -113,18 +114,17 @@ class PhotonCamera:
         self._versionCheck()
 
         now = RobotController.getFPGATime()
-        retVal = PhotonPipelineResult()
         packetWithTimestamp = self._rawBytesEntry.getAtomic()
         byteList = packetWithTimestamp.value
-        timestamp = packetWithTimestamp.time
+        packetWithTimestamp.time
 
         if len(byteList) < 1:
-            return retVal
+            return PhotonPipelineResult()
         else:
             pkt = Packet(byteList)
-            retVal.populateFromPacket(pkt)
+            retVal = PhotonPipelineResult.photonStruct.unpack(pkt)
             # We don't trust NT4 time, hack around
-            retVal.ntRecieveTimestampMicros = now
+            retVal.ntReceiveTimestampMicros = now
             return retVal
 
     def getDriverMode(self) -> bool:
@@ -233,6 +233,6 @@ class PhotonCamera:
 
             wpilib.reportWarning(bfw)
 
-            errText = f"Photon version {PHOTONLIB_VERSION} does not match coprocessor version {versionString}. Please install photonlibpy version {PHOTONLIB_VERSION}."
+            errText = f"Photon version {PHOTONLIB_VERSION} does not match coprocessor version {versionString}. Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
             wpilib.reportError(errText, True)
             raise Exception(errText)

photon-lib/py/photonlibpy/photonPoseEstimator.py

@@ -5,7 +5,7 @@ import wpilib
 from robotpy_apriltag import AprilTagFieldLayout
 from wpimath.geometry import Transform3d, Pose3d, Pose2d
 
-from .photonPipelineResult import PhotonPipelineResult
+from .targeting.photonPipelineResult import PhotonPipelineResult
 from .photonCamera import PhotonCamera
 from .estimatedRobotPose import EstimatedRobotPose
 

photon-lib/py/photonlibpy/targeting/TargetCorner.py

@@ -0,0 +1,9 @@
+from dataclasses import dataclass
+
+
+@dataclass
+class TargetCorner:
+    x: float = 0
+    y: float = 9
+
+    photonStruct: "TargetCornerSerde" = None

photon-lib/py/photonlibpy/targeting/__init__.py

@@ -0,0 +1,6 @@
+# no one but us chickens
+
+from .TargetCorner import TargetCorner  # noqa
+from .multiTargetPNPResult import MultiTargetPNPResult, PnpResult  # noqa
+from .photonPipelineResult import PhotonPipelineMetadata, PhotonPipelineResult  # noqa
+from .photonTrackedTarget import PhotonTrackedTarget  # noqa

photon-lib/py/photonlibpy/targeting/multiTargetPNPResult.py

@@ -0,0 +1,34 @@
+from dataclasses import dataclass, field
+from wpimath.geometry import Transform3d
+from ..packet import Packet
+
+
+@dataclass
+class PnpResult:
+    best: Transform3d = field(default_factory=Transform3d)
+    alt: Transform3d = field(default_factory=Transform3d)
+    ambiguity: float = 0.0
+    bestReprojError: float = 0.0
+    altReprojError: float = 0.0
+
+    photonStruct: "PNPResultSerde" = None
+
+
+@dataclass
+class MultiTargetPNPResult:
+    _MAX_IDS = 32
+
+    estimatedPose: PnpResult = field(default_factory=PnpResult)
+    fiducialIDsUsed: list[int] = field(default_factory=list)
+
+    def createFromPacket(self, packet: Packet) -> Packet:
+        self.estimatedPose = PnpResult()
+        self.estimatedPose.createFromPacket(packet)
+        self.fiducialIDsUsed = []
+        for _ in range(MultiTargetPNPResult._MAX_IDS):
+            fidId = packet.decode16()
+            if fidId >= 0:
+                self.fiducialIDsUsed.append(fidId)
+        return packet
+
+    photonStruct: "MultiTargetPNPResultSerde" = None

photon-lib/py/photonlibpy/targeting/photonPipelineResult.py

@@ -1,12 +1,12 @@
 from dataclasses import dataclass, field
+from typing import Optional
 
-from photonlibpy.multiTargetPNPResult import MultiTargetPNPResult
-from photonlibpy.packet import Packet
-from photonlibpy.photonTrackedTarget import PhotonTrackedTarget
+from .multiTargetPNPResult import MultiTargetPNPResult
+from .photonTrackedTarget import PhotonTrackedTarget
 
 
 @dataclass
-class PhotonPipelineResult:
+class PhotonPipelineMetadata:
     # Image capture and NT publish timestamp, in microseconds and in the coprocessor timebase. As
     # reported by WPIUtilJNI::now.
     captureTimestampMicros: int = -1
@@ -15,49 +15,44 @@ class PhotonPipelineResult:
     # Mirror of the heartbeat entry -- monotonically increasing
     sequenceID: int = -1
 
+    photonStruct: "PhotonPipelineMetadataSerde" = None
+
+
+@dataclass
+class PhotonPipelineResult:
     # Since we don't trust NT time sync, keep track of when we got this packet into robot code
-    ntRecieveTimestampMicros: int = -1
+    ntReceiveTimestampMicros: int = -1
 
     targets: list[PhotonTrackedTarget] = field(default_factory=list)
-    multiTagResult: MultiTargetPNPResult = field(default_factory=MultiTargetPNPResult)
-
-    def populateFromPacket(self, packet: Packet) -> Packet:
-        self.targets = []
-
-        self.sequenceID = packet.decodei64()
-        self.captureTimestampMicros = packet.decodei64()
-        self.publishTimestampMicros = packet.decodei64()
-
-        targetCount = packet.decode8()
-
-        for _ in range(targetCount):
-            target = PhotonTrackedTarget()
-            target.createFromPacket(packet)
-            self.targets.append(target)
-
-        self.multiTagResult = MultiTargetPNPResult()
-        self.multiTagResult.createFromPacket(packet)
-
-        return packet
+    metadata: PhotonPipelineMetadata = field(default_factory=PhotonPipelineMetadata)
+    multiTagResult: Optional[MultiTargetPNPResult] = None
 
     def getLatencyMillis(self) -> float:
-        return (self.publishTimestampMicros - self.captureTimestampMicros) / 1e3
+        return (
+            self.metadata.publishTimestampMicros - self.metadata.captureTimestampMicros
+        ) / 1e3
 
     def getTimestampSeconds(self) -> float:
         """
-        Returns the estimated time the frame was taken, in the recieved system's time base. This is
-        calculated as (NT recieve time (robot base) - (publish timestamp, coproc timebase - capture
+        Returns the estimated time the frame was taken, in the Received system's time base. This is
+        calculated as (NT Receive time (robot base) - (publish timestamp, coproc timebase - capture
         timestamp, coproc timebase))
         """
-        # TODO - we don't trust NT4 to correctly latency-compensate ntRecieveTimestampMicros
+        # TODO - we don't trust NT4 to correctly latency-compensate ntReceiveTimestampMicros
         return (
-            self.ntRecieveTimestampMicros
-            - (self.publishTimestampMicros - self.captureTimestampMicros)
+            self.ntReceiveTimestampMicros
+            - (
+                self.metadata.publishTimestampMicros
+                - self.metadata.captureTimestampMicros
+            )
         ) / 1e6
 
     def getTargets(self) -> list[PhotonTrackedTarget]:
         return self.targets
 
+    def hasTargets(self) -> bool:
+        return len(self.targets) > 0
+
     def getBestTarget(self) -> PhotonTrackedTarget:
         """
         Returns the best target in this pipeline result. If there are no targets, this method will
@@ -67,5 +62,4 @@ class PhotonPipelineResult:
             return None
         return self.getTargets()[0]
 
-    def hasTargets(self) -> bool:
-        return len(self.targets) > 0
+    photonStruct: "PhotonPipelineResultSerde" = None

photon-lib/py/photonlibpy/targeting/photonTrackedTarget.py

@@ -1,20 +1,11 @@
 from dataclasses import dataclass, field
 from wpimath.geometry import Transform3d
-from photonlibpy.packet import Packet
-
-
-@dataclass
-class TargetCorner:
-    x: float
-    y: float
+from ..packet import Packet
+from .TargetCorner import TargetCorner
 
 
 @dataclass
 class PhotonTrackedTarget:
-    _MAX_CORNERS = 8
-    _NUM_BYTES_IN_FLOAT = 8
-    _PACK_SIZE_BYTES = _NUM_BYTES_IN_FLOAT * (5 + 7 + 2 * 4 + 1 + 7 + 2 * _MAX_CORNERS)
-
     yaw: float = 0.0
     pitch: float = 0.0
     area: float = 0.0
@@ -64,22 +55,4 @@ class PhotonTrackedTarget:
             retList.append(TargetCorner(cx, cy))
         return retList
 
-    def createFromPacket(self, packet: Packet) -> Packet:
-        self.yaw = packet.decodeDouble()
-        self.pitch = packet.decodeDouble()
-        self.area = packet.decodeDouble()
-        self.skew = packet.decodeDouble()
-        self.fiducialId = packet.decode32()
-
-        self.classId = packet.decode32()
-        self.objDetectConf = packet.decodeFloat()
-
-        self.bestCameraToTarget = packet.decodeTransform()
-        self.altCameraToTarget = packet.decodeTransform()
-
-        self.poseAmbiguity = packet.decodeDouble()
-
-        self.minAreaRectCorners = self._decodeTargetList(packet, 4)  # always four
-        numCorners = packet.decode8()
-        self.detectedCorners = self._decodeTargetList(packet, numCorners)
-        return packet
+    photonStruct: "PhotonTrackedTargetSerde" = None