Auto-generate packet dataclasses with Jinja (#1374)

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

@@ -0,0 +1,65 @@
+from dataclasses import dataclass, field
+from typing import Optional
+
+from .multiTargetPNPResult import MultiTargetPNPResult
+from .photonTrackedTarget import PhotonTrackedTarget
+
+
+@dataclass
+class PhotonPipelineMetadata:
+    # Image capture and NT publish timestamp, in microseconds and in the coprocessor timebase. As
+    # reported by WPIUtilJNI::now.
+    captureTimestampMicros: int = -1
+    publishTimestampMicros: int = -1
+
+    # 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
+    ntReceiveTimestampMicros: int = -1
+
+    targets: list[PhotonTrackedTarget] = field(default_factory=list)
+    metadata: PhotonPipelineMetadata = field(default_factory=PhotonPipelineMetadata)
+    multiTagResult: Optional[MultiTargetPNPResult] = None
+
+    def getLatencyMillis(self) -> float:
+        return (
+            self.metadata.publishTimestampMicros - self.metadata.captureTimestampMicros
+        ) / 1e3
+
+    def getTimestampSeconds(self) -> float:
+        """
+        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 ntReceiveTimestampMicros
+        return (
+            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
+        return null. The best target is determined by the target sort mode in the PhotonVision UI.
+        """
+        if not self.hasTargets():
+            return None
+        return self.getTargets()[0]
+
+    photonStruct: "PhotonPipelineResultSerde" = None