Add Photonlib (#231)

Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.

photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java

@@ -0,0 +1,70 @@
+/*
+ * 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.networktables.NetworkTable;
+import java.util.Arrays;
+import java.util.List;
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
+
+public class SimPhotonCamera extends PhotonCamera {
+    /**
+    * Constructs a Simulated PhotonCamera from a root table.
+    *
+    * @param rootTable The root table that the camera is broadcasting information over.
+    */
+    public SimPhotonCamera(NetworkTable rootTable) {
+        super(rootTable);
+    }
+
+    /**
+    * Constructs a Simulated PhotonCamera from the name of the camera.
+    *
+    * @param cameraName The nickname of the camera (found in the PhotonVision UI).
+    */
+    public SimPhotonCamera(String cameraName) {
+        super(cameraName);
+    }
+
+    /**
+    * Simulate one processed frame of vision data, putting one result to NT.
+    *
+    * @param latencyMillis
+    * @param targets Each target detected
+    */
+    public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) {
+        submitProcessedFrame(latencyMillis, Arrays.asList(targets));
+    }
+
+    /**
+    * Simulate one processed frame of vision data, putting one result to NT.
+    *
+    * @param latencyMillis
+    * @param tgtList List of targets detected
+    */
+    public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> tgtList) {
+        if (!getDriverMode()) {
+            PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, tgtList);
+            var newPacket = new Packet(newResult.getPacketSize());
+            newResult.populatePacket(newPacket);
+            rawBytesEntry.setRaw(newPacket.getData());
+        }
+    }
+}