Add Photonlib (#231)

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

photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java

@@ -0,0 +1,167 @@
+/*
+ * 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.targeting;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+import org.photonvision.common.dataflow.structures.Packet;
+
+/** Represents a pipeline result from a PhotonCamera. */
+public class PhotonPipelineResult {
+
+    private static boolean HAS_WARNED = false;
+
+    // Targets to store.
+    public final List<PhotonTrackedTarget> targets = new ArrayList<>();
+
+    // Latency in milliseconds.
+    private double latencyMillis;
+
+    // Whether targets exist.
+    private boolean hasTargets;
+
+    /** Constructs an empty pipeline result. */
+    public PhotonPipelineResult() {}
+
+    /**
+    * Constructs a pipeline result.
+    *
+    * @param latencyMillis The latency in the pipeline.
+    * @param targets The list of targets identified by the pipeline.
+    */
+    public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets) {
+        this.latencyMillis = latencyMillis;
+        this.hasTargets = targets.size() != 0;
+        this.targets.addAll(targets);
+    }
+
+    /**
+    * Returns the size of the packet needed to store this pipeline result.
+    *
+    * @return The size of the packet needed to store this pipeline result.
+    */
+    public int getPacketSize() {
+        return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2;
+    }
+
+    /**
+    * 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.
+    *
+    * @return The best target of the pipeline result.
+    */
+    public PhotonTrackedTarget getBestTarget() {
+        if (!hasTargets && !HAS_WARNED) {
+            String errStr =
+                    "This PhotonPipelineResult object has no targets associated with it! Please check hasTargets() "
+                            + "before calling this method. For more information, please review the PhotonLib "
+                            + "documentation at http://docs.photonvision.org";
+            System.err.println(errStr);
+            new Exception().printStackTrace();
+            HAS_WARNED = true;
+        }
+        return hasTargets ? targets.get(0) : null;
+    }
+
+    /**
+    * Returns the latency in the pipeline.
+    *
+    * @return The latency in the pipeline.
+    */
+    public double getLatencyMillis() {
+        return latencyMillis;
+    }
+
+    /**
+    * Returns whether the pipeline has targets.
+    *
+    * @return Whether the pipeline has targets.
+    */
+    public boolean hasTargets() {
+        return hasTargets;
+    }
+
+    /**
+    * Returns a copy of the vector of targets.
+    *
+    * @return A copy of the vector of targets.
+    */
+    public List<PhotonTrackedTarget> getTargets() {
+        return new ArrayList<>(targets);
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        PhotonPipelineResult that = (PhotonPipelineResult) o;
+        boolean latencyMatch = Double.compare(that.latencyMillis, latencyMillis) == 0;
+        boolean hasTargetsMatch = that.hasTargets == hasTargets;
+        boolean targetsMatch = that.targets.equals(targets);
+        return latencyMatch && hasTargetsMatch && targetsMatch;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(latencyMillis, hasTargets, targets);
+    }
+
+    /**
+    * Populates the fields of the pipeline result from the packet.
+    *
+    * @param packet The incoming packet.
+    * @return The incoming packet.
+    */
+    public Packet createFromPacket(Packet packet) {
+        // Decode latency, existence of targets, and number of targets.
+        latencyMillis = packet.decodeDouble();
+        hasTargets = packet.decodeBoolean();
+        byte targetCount = packet.decodeByte();
+
+        targets.clear();
+
+        // Decode the information of each target.
+        for (int i = 0; i < (int) targetCount; ++i) {
+            var target = new PhotonTrackedTarget();
+            target.createFromPacket(packet);
+            targets.add(target);
+        }
+
+        return packet;
+    }
+
+    /**
+    * Populates the outgoing packet with information from this pipeline result.
+    *
+    * @param packet The outgoing packet.
+    * @return The outgoing packet.
+    */
+    public Packet populatePacket(Packet packet) {
+        // Encode latency, existence of targets, and number of targets.
+        packet.encode(latencyMillis);
+        packet.encode(hasTargets);
+        packet.encode((byte) targets.size());
+
+        // Encode the information of each target.
+        for (var target : targets) target.populatePacket(packet);
+
+        // Return the packet.
+        return packet;
+    }
+}

photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java

@@ -0,0 +1,115 @@
+/*
+ * 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.targeting;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Transform2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import java.util.Objects;
+import org.photonvision.common.dataflow.structures.Packet;
+
+public class PhotonTrackedTarget {
+    public static final int PACK_SIZE_BYTES = Double.BYTES * 7;
+
+    private double yaw;
+    private double pitch;
+    private double area;
+    private double skew;
+    private Transform2d cameraToTarget = new Transform2d();
+
+    public PhotonTrackedTarget() {}
+
+    public PhotonTrackedTarget(double yaw, double pitch, double area, double skew, Transform2d pose) {
+        this.yaw = yaw;
+        this.pitch = pitch;
+        this.area = area;
+        this.skew = skew;
+        cameraToTarget = pose;
+    }
+
+    public double getYaw() {
+        return yaw;
+    }
+
+    public double getPitch() {
+        return pitch;
+    }
+
+    public double getArea() {
+        return area;
+    }
+
+    public Transform2d getCameraToTarget() {
+        return cameraToTarget;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        PhotonTrackedTarget that = (PhotonTrackedTarget) o;
+        return Double.compare(that.yaw, yaw) == 0
+                && Double.compare(that.pitch, pitch) == 0
+                && Double.compare(that.area, area) == 0
+                && Objects.equals(cameraToTarget, that.cameraToTarget);
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(yaw, pitch, area, cameraToTarget);
+    }
+
+    /**
+    * Populates the fields of this class with information from the incoming packet.
+    *
+    * @param packet The incoming packet.
+    * @return The incoming packet.
+    */
+    public Packet createFromPacket(Packet packet) {
+        yaw = packet.decodeDouble();
+        pitch = packet.decodeDouble();
+        area = packet.decodeDouble();
+        skew = packet.decodeDouble();
+
+        double x = packet.decodeDouble();
+        double y = packet.decodeDouble();
+        double r = packet.decodeDouble();
+
+        cameraToTarget = new Transform2d(new Translation2d(x, y), Rotation2d.fromDegrees(r));
+
+        return packet;
+    }
+
+    /**
+    * Populates the outgoing packet with information from the current target.
+    *
+    * @param packet The outgoing packet.
+    * @return The outgoing packet.
+    */
+    public Packet populatePacket(Packet packet) {
+        packet.encode(yaw);
+        packet.encode(pitch);
+        packet.encode(area);
+        packet.encode(skew);
+        packet.encode(cameraToTarget.getTranslation().getX());
+        packet.encode(cameraToTarget.getTranslation().getY());
+        packet.encode(cameraToTarget.getRotation().getDegrees());
+
+        return packet;
+    }
+}