Add Photonlib (#231)

Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.
2026-06-23 01:21:40 +00:00 · 2021-01-16 20:41:47 -08:00
parent 58b39f47aa
commit 2e1b3d0f83
79 changed files with 5867 additions and 142 deletions
--- a/photon-lib/src/test/java/org/photonvision/PacketTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PacketTest.java
@@ -0,0 +1,98 @@
+/*
+ * 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);
+    }
+}