Add Photonlib (#231)

Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.
2026-06-21 01:01:41 +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/native/cpp/PacketTest.cpp
+++ b/photon-lib/src/test/native/cpp/PacketTest.cpp
@@ -0,0 +1,91 @@
+/*
+ * 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/>.
+ */
+
+#include <iostream>
+
+#include <units/angle.h>
+
+#include "gtest/gtest.h"
+#include "photonlib/PhotonPipelineResult.h"
+#include "photonlib/PhotonTrackedTarget.h"
+
+TEST(PacketTest, PhotonTrackedTarget) {
+  photonlib::PhotonTrackedTarget target{
+      3.0, 4.0, 9.0, -5.0,
+      frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)};
+  photonlib::Packet p;
+  p << target;
+
+  photonlib::PhotonTrackedTarget b;
+  p >> b;
+
+  for (auto& c : p.GetData()) {
+    std::cout << static_cast<int>(c) << ",";
+  }
+
+  EXPECT_EQ(target, b);
+}
+
+TEST(PacketTest, PhotonPipelineResult) {
+  photonlib::PhotonPipelineResult result{1_s, {}};
+  photonlib::Packet p;
+  p << result;
+
+  photonlib::PhotonPipelineResult b;
+  p >> b;
+
+  EXPECT_EQ(result, b);
+
+  wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
+      photonlib::PhotonTrackedTarget{
+          3.0, -4.0, 9.0, 4.0,
+          frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)},
+      photonlib::PhotonTrackedTarget{
+          3.0, -4.0, 9.1, 6.7,
+          frc::Transform2d(frc::Translation2d(1_m, 5_m), 1.5_rad)}};
+
+  photonlib::PhotonPipelineResult result2{2_s, targets};
+  photonlib::Packet p2;
+  p2 << result2;
+
+  photonlib::PhotonPipelineResult b2;
+  p2 >> b2;
+
+  EXPECT_EQ(result2, b2);
+}
+
+TEST(PacketTest, BytePackFromJava) {
+  std::vector<signed char> 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};
+
+  std::vector<char> bytes;
+  for (auto a : bytePack) bytes.emplace_back(static_cast<char>(a));
+
+  photonlib::Packet packet{bytes};
+
+  photonlib::PhotonTrackedTarget res;
+  packet >> res;
+
+  photonlib::PhotonTrackedTarget target{
+      3.0, 4.0, 9.0, -5.0,
+      frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)};
+
+  EXPECT_EQ(res, target);
+}