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Auto-generate packet dataclasses with Jinja (#1374)

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Matt
2024-08-31 13:44:19 -04:00
committed by GitHub
parent c19d54c633
commit 169595e56e
140 changed files with 4445 additions and 2097 deletions
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55
photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
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@@ -18,22 +18,23 @@
package org.photonvision.targeting;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.dataflow.structures.PacketSerde;
import org.photonvision.struct.MultiTargetPNPResultSerde;
import org.photonvision.targeting.proto.MultiTargetPNPResultProto;
import org.photonvision.targeting.serde.PhotonStructSerializable;
public class MultiTargetPNPResult implements ProtobufSerializable {
public class MultiTargetPNPResult
implements ProtobufSerializable, PhotonStructSerializable<MultiTargetPNPResult> {
// Seeing 32 apriltags at once seems like a sane limit
private static final int MAX_IDS = 32;
public PNPResult estimatedPose = new PNPResult();
public List<Integer> fiducialIDsUsed = List.of();
public PnpResult estimatedPose = new PnpResult();
public List<Short> fiducialIDsUsed = List.of();
public MultiTargetPNPResult() {}
public MultiTargetPNPResult(PNPResult results, List<Integer> ids) {
public MultiTargetPNPResult(PnpResult results, List<Short> ids) {
estimatedPose = results;
fiducialIDsUsed = ids;
}
@@ -71,39 +72,13 @@ public class MultiTargetPNPResult implements ProtobufSerializable {
+ "]";
}
public static final class APacketSerde implements PacketSerde<MultiTargetPNPResult> {
@Override
public int getMaxByteSize() {
// PNPResult + MAX_IDS possible targets (arbitrary upper limit that should never be hit,
// ideally)
return PNPResult.serde.getMaxByteSize() + (Short.BYTES * MAX_IDS);
}
@Override
public void pack(Packet packet, MultiTargetPNPResult result) {
PNPResult.serde.pack(packet, result.estimatedPose);
for (int i = 0; i < MAX_IDS; i++) {
if (i < result.fiducialIDsUsed.size()) {
packet.encode((short) result.fiducialIDsUsed.get(i).byteValue());
} else {
packet.encode((short) -1);
}
}
}
@Override
public MultiTargetPNPResult unpack(Packet packet) {
var results = PNPResult.serde.unpack(packet);
var ids = new ArrayList<Integer>(MAX_IDS);
for (int i = 0; i < MAX_IDS; i++) {
int targetId = packet.decodeShort();
if (targetId > -1) ids.add(targetId);
}
return new MultiTargetPNPResult(results, ids);
}
}
public static final APacketSerde serde = new APacketSerde();
public static final MultiTargetPNPResultProto proto = new MultiTargetPNPResultProto();
// tODO!
public static final MultiTargetPNPResultSerde photonStruct = new MultiTargetPNPResultSerde();
@Override
public PacketSerde<MultiTargetPNPResult> getSerde() {
return photonStruct;
}
}