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Add protobuf publish setting slider (#1075)

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Allows logging software and live data view to see results. Also removes the requirement for AScope to keep up with the packet serde schema and instead just use the Protobuf descriptor.
This commit is contained in:
Sriman Achanta
2023-12-31 00:14:21 -05:00
committed by GitHub
parent e3eff8731f
commit 2ecd988628
41 changed files with 1630 additions and 41 deletions
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1
build.gradle
View File

@@ -4,6 +4,7 @@ plugins {
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
id 'com.google.protobuf' version '0.9.4' apply false
}
allprojects {

88
photon-client/src/components/settings/NetworkingCard.vue
View File

@@ -5,10 +5,12 @@ import PvInput from "@/components/common/pv-input.vue";
import PvRadio from "@/components/common/pv-radio.vue";
import PvSwitch from "@/components/common/pv-switch.vue";
import PvSelect from "@/components/common/pv-select.vue";
import { NetworkConnectionType } from "@/types/SettingTypes";
import { NetworkConnectionType, type NetworkSettings } from "@/types/SettingTypes";
import { useStateStore } from "@/stores/StateStore";
const settingsValid = ref(true);
// Copy object to remove reference to store
const tempSettingsStruct = ref<NetworkSettings>(Object.assign({}, useSettingsStore().network));
const isValidNetworkTablesIP = (v: string | undefined): boolean => {
// Check if it is a valid team number between 1-9999
const teamNumberRegex = /^[1-9][0-9]{0,3}$/;
@@ -38,9 +40,31 @@ const isValidHostname = (v: string | undefined) => {
return hostnameRegex.test(v);
};
const settingsHaveChanged = (): boolean => {
const a = useSettingsStore().network;
const b = tempSettingsStruct.value;
return (
a.ntServerAddress !== b.ntServerAddress ||
a.connectionType !== b.connectionType ||
a.staticIp !== b.staticIp ||
a.hostname !== b.hostname ||
a.runNTServer !== b.runNTServer ||
a.shouldManage !== b.shouldManage ||
a.shouldPublishProto !== b.shouldPublishProto ||
a.canManage !== b.canManage ||
a.networkManagerIface !== b.networkManagerIface ||
a.setStaticCommand !== b.setStaticCommand ||
a.setDHCPcommand !== b.setDHCPcommand
);
};
const saveGeneralSettings = () => {
const changingStaticIp = useSettingsStore().network.connectionType === NetworkConnectionType.Static;
// Update with new values
Object.assign(useSettingsStore().network, tempSettingsStruct.value);
useSettingsStore()
.saveGeneralSettings()
.then((response) => {
@@ -80,7 +104,7 @@ const saveGeneralSettings = () => {
const currentNetworkInterfaceIndex = computed<number>({
get: () => useSettingsStore().networkInterfaceNames.indexOf(useSettingsStore().network.networkManagerIface || ""),
set: (v) => (useSettingsStore().network.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
set: (v) => (tempSettingsStruct.value.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
});
</script>
@@ -90,11 +114,11 @@ const currentNetworkInterfaceIndex = computed<number>({
<div class="ml-5">
<v-form ref="form" v-model="settingsValid">
<pv-input
v-model="useSettingsStore().network.ntServerAddress"
v-model="tempSettingsStruct.ntServerAddress"
label="Team Number/NetworkTables Server Address"
tooltip="Enter the Team Number or the IP address of the NetworkTables Server"
:label-cols="4"
:disabled="useSettingsStore().network.runNTServer"
:disabled="tempSettingsStruct.runNTServer"
:rules="[
(v) =>
isValidNetworkTablesIP(v) ||
@@ -102,10 +126,7 @@ const currentNetworkInterfaceIndex = computed<number>({
]"
/>
<v-banner
v-show="
!isValidNetworkTablesIP(useSettingsStore().network.ntServerAddress) &&
!useSettingsStore().network.runNTServer
"
v-show="!isValidNetworkTablesIP(tempSettingsStruct.ntServerAddress) && !tempSettingsStruct.runNTServer"
rounded
color="red"
text-color="white"
@@ -115,33 +136,33 @@ const currentNetworkInterfaceIndex = computed<number>({
The NetworkTables Server Address is not set or is invalid. NetworkTables is unable to connect.
</v-banner>
<pv-radio
v-model="useSettingsStore().network.connectionType"
v-model="tempSettingsStruct.connectionType"
label="IP Assignment Mode"
tooltip="DHCP will make the radio (router) automatically assign an IP address; this may result in an IP address that changes across reboots. Static IP assignment means that you pick the IP address and it won't change."
:input-cols="12 - 4"
:list="['DHCP', 'Static']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
/>
<pv-input
v-if="useSettingsStore().network.connectionType === NetworkConnectionType.Static"
v-model="useSettingsStore().network.staticIp"
v-if="tempSettingsStruct.connectionType === NetworkConnectionType.Static"
v-model="tempSettingsStruct.staticIp"
:input-cols="12 - 4"
label="Static IP"
:rules="[(v) => isValidIPv4(v) || 'Invalid IPv4 address']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
/>
<pv-input
v-model="useSettingsStore().network.hostname"
v-model="tempSettingsStruct.hostname"
label="Hostname"
:input-cols="12 - 4"
:rules="[(v) => isValidHostname(v) || 'Invalid hostname']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
/>
<v-divider class="pb-3" />
<span style="font-weight: 700">Advanced Networking</span>
<pv-switch
v-model="useSettingsStore().network.shouldManage"
:disabled="!useSettingsStore().network.canManage"
v-model="tempSettingsStruct.shouldManage"
:disabled="!tempSettingsStruct.canManage"
label="Manage Device Networking"
tooltip="If enabled, Photon will manage device hostname and network settings."
:label-cols="4"
@@ -150,7 +171,7 @@ const currentNetworkInterfaceIndex = computed<number>({
<pv-select
v-model="currentNetworkInterfaceIndex"
label="NetworkManager interface"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
:select-cols="12 - 4"
tooltip="Name of the interface PhotonVision should manage the IP address of"
:items="useSettingsStore().networkInterfaceNames"
@@ -158,8 +179,8 @@ const currentNetworkInterfaceIndex = computed<number>({
<v-banner
v-show="
!useSettingsStore().networkInterfaceNames.length &&
useSettingsStore().network.shouldManage &&
useSettingsStore().network.canManage
tempSettingsStruct.shouldManage &&
tempSettingsStruct.canManage
"
rounded
color="red"
@@ -169,14 +190,14 @@ const currentNetworkInterfaceIndex = computed<number>({
Photon cannot detect any wired connections! Please send program logs to the developers for help.
</v-banner>
<pv-switch
v-model="useSettingsStore().network.runNTServer"
v-model="tempSettingsStruct.runNTServer"
label="Run NetworkTables Server (Debugging Only)"
tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
class="mt-3 mb-3"
class="mt-3 mb-2"
:label-cols="4"
/>
<v-banner
v-show="useSettingsStore().network.runNTServer"
v-show="tempSettingsStruct.runNTServer"
rounded
color="red"
text-color="white"
@@ -184,12 +205,29 @@ const currentNetworkInterfaceIndex = computed<number>({
>
This mode is intended for debugging; it should be off for proper usage. PhotonLib will NOT work!
</v-banner>
<pv-switch
v-model="tempSettingsStruct.shouldPublishProto"
label="Also Publish Protobuf"
tooltip="If enabled, Photon will publish all pipeline results in both the Packet and Protobuf formats. This is useful for visualizing pipeline results from NT viewers such as glass and logging software such as AdvantageScope. Note: photon-lib will ignore this value and is not recommended on the field for performance."
class="mt-3 mb-2"
:label-cols="4"
/>
<v-banner
v-show="tempSettingsStruct.shouldPublishProto"
rounded
color="red"
class="mb-3"
text-color="white"
icon="mdi-information-outline"
>
This mode is intended for debugging; it should be off for field use. You may notice a performance hit by using
this mode.
</v-banner>
</v-form>
<v-btn
color="accent"
:class="useSettingsStore().network.runNTServer ? 'mt-3' : ''"
style="color: black; width: 100%"
:disabled="!settingsValid && !useSettingsStore().network.runNTServer"
:disabled="!settingsValid || !settingsHaveChanged()"
@click="saveGeneralSettings"
>
Save

2
photon-client/src/stores/settings/GeneralSettingsStore.ts
View File

@@ -36,6 +36,7 @@ export const useSettingsStore = defineStore("settings", {
staticIp: "",
hostname: "photonvision",
runNTServer: false,
shouldPublishProto: false,
networkInterfaceNames: [
{
connName: "Example Wired Connection",
@@ -112,6 +113,7 @@ export const useSettingsStore = defineStore("settings", {
setDHCPcommand: this.network.setDHCPcommand || "",
setStaticCommand: this.network.setStaticCommand || "",
shouldManage: this.network.shouldManage,
shouldPublishProto: this.network.shouldPublishProto,
staticIp: this.network.staticIp
};
return axios.post("/settings/general", payload);

1
photon-client/src/types/SettingTypes.ts
View File

@@ -36,6 +36,7 @@ export interface NetworkSettings {
hostname: string;
runNTServer: boolean;
shouldManage: boolean;
shouldPublishProto: boolean;
canManage: boolean;
networkManagerIface?: string;
setStaticCommand?: string;

3
photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
View File

@@ -37,6 +37,7 @@ public class NetworkConfig {
public String hostname = "photonvision";
public boolean runNTServer = false;
public boolean shouldManage;
public boolean shouldPublishProto = false;
@JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
@JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
@@ -72,6 +73,7 @@ public class NetworkConfig {
@JsonProperty("hostname") String hostname,
@JsonProperty("runNTServer") boolean runNTServer,
@JsonProperty("shouldManage") boolean shouldManage,
@JsonProperty("shouldPublishProto") boolean shouldPublishProto,
@JsonProperty("networkManagerIface") String networkManagerIface,
@JsonProperty("setStaticCommand") String setStaticCommand,
@JsonProperty("setDHCPcommand") String setDHCPcommand) {
@@ -80,6 +82,7 @@ public class NetworkConfig {
this.staticIp = staticIp;
this.hostname = hostname;
this.runNTServer = runNTServer;
this.shouldPublishProto = shouldPublishProto;
this.networkManagerIface = networkManagerIface;
this.setStaticCommand = setStaticCommand;
this.setDHCPcommand = setDHCPcommand;

4
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
View File

@@ -22,6 +22,7 @@ import edu.wpi.first.networktables.NetworkTableEvent;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.Supplier;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.dataflow.CVPipelineResultConsumer;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
@@ -135,6 +136,9 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
result.multiTagResult);
ts.resultPublisher.accept(simplified, simplified.getPacketSize());
if (ConfigManager.getInstance().getConfig().getNetworkConfig().shouldPublishProto) {
ts.protoResultPublisher.set(simplified);
}
ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());

29
photon-lib/build.gradle
View File

@@ -60,6 +60,35 @@ task writeCurrentVersion {
}
build.mustRunAfter writeCurrentVersion
cppHeadersZip.dependsOn writeCurrentVersion
// Building photon-lib requires photon-targeting to generate its proto files. This technically shouldn't be required but is needed for it to build.
model {
components {
all {
it.sources.each {
it.exportedHeaders {
srcDirs "src/main/native/include"
srcDirs "src/generate/native/include"
}
}
it.binaries.all {
it.tasks.withType(CppCompile) {
it.dependsOn ":photon-targeting:generateProto"
}
}
}
}
testSuites {
all {
it.binaries.all {
it.tasks.withType(CppCompile) {
it.dependsOn ":photon-targeting:generateProto"
}
}
}
}
}
def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))

6
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
View File

@@ -26,6 +26,7 @@ import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
import edu.wpi.first.networktables.IntegerTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.ProtobufPublisher;
import edu.wpi.first.networktables.PubSubOption;
import org.photonvision.targeting.PhotonPipelineResult;
@@ -41,6 +42,7 @@ public class NTTopicSet {
public NetworkTable subTable;
public PacketPublisher<PhotonPipelineResult> resultPublisher;
public ProtobufPublisher<PhotonPipelineResult> protoResultPublisher;
public IntegerPublisher pipelineIndexPublisher;
public IntegerSubscriber pipelineIndexRequestSub;
@@ -76,6 +78,10 @@ public class NTTopicSet {
.publish("rawBytes", PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
resultPublisher = new PacketPublisher<>(rawBytesEntry, PhotonPipelineResult.serde);
protoResultPublisher =
subTable
.getProtobufTopic("result_proto", PhotonPipelineResult.proto)
.publish(PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
pipelineIndexPublisher = subTable.getIntegerTopic("pipelineIndexState").publish();
pipelineIndexRequestSub = subTable.getIntegerTopic("pipelineIndexRequest").subscribe(0);

2
photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
View File

@@ -21,6 +21,7 @@ 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.targeting.proto.MultiTargetPNPResultProto;
public class MultiTargetPNPResult {
// Seeing 32 apriltags at once seems like a sane limit
@@ -103,4 +104,5 @@ public class MultiTargetPNPResult {
}
public static final APacketSerde serde = new APacketSerde();
public static final MultiTargetPNPResultProto proto = new MultiTargetPNPResultProto();
}

2
photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
View File

@@ -20,6 +20,7 @@ package org.photonvision.targeting;
import edu.wpi.first.math.geometry.Transform3d;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.dataflow.structures.PacketSerde;
import org.photonvision.targeting.proto.PNPResultProto;
import org.photonvision.utils.PacketUtils;
/**
@@ -180,4 +181,5 @@ public class PNPResult {
}
public static final APacketSerde serde = new APacketSerde();
public static final PNPResultProto proto = new PNPResultProto();
}

2
photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
View File

@@ -21,6 +21,7 @@ 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.targeting.proto.PhotonPipelineResultProto;
/** Represents a pipeline result from a PhotonCamera. */
public class PhotonPipelineResult {
@@ -225,4 +226,5 @@ public class PhotonPipelineResult {
}
public static final APacketSerde serde = new APacketSerde();
public static final PhotonPipelineResultProto proto = new PhotonPipelineResultProto();
}

2
photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
View File

@@ -22,6 +22,7 @@ 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.targeting.proto.PhotonTrackedTargetProto;
import org.photonvision.utils.PacketUtils;
public class PhotonTrackedTarget {
@@ -278,4 +279,5 @@ public class PhotonTrackedTarget {
}
public static final APacketSerde serde = new APacketSerde();
public static final PhotonTrackedTargetProto proto = new PhotonTrackedTargetProto();
}

2
photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
View File

@@ -20,6 +20,7 @@ package org.photonvision.targeting;
import java.util.Objects;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.dataflow.structures.PacketSerde;
import org.photonvision.targeting.proto.TargetCornerProto;
/**
* Represents a point in an image at the corner of the minimum-area bounding rectangle, in pixels.
@@ -71,4 +72,5 @@ public class TargetCorner {
}
public static final APacketSerde serde = new APacketSerde();
public static final TargetCornerProto proto = new TargetCornerProto();
}

69
photon-targeting/src/main/java/org/photonvision/targeting/proto/MultiTargetPNPResultProto.java Normal file
View File

@@ -0,0 +1,69 @@
/*
* 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.proto;
import edu.wpi.first.util.protobuf.Protobuf;
import java.util.ArrayList;
import org.photonvision.proto.Photon.ProtobufMultiTargetPNPResult;
import org.photonvision.targeting.MultiTargetPNPResult;
import org.photonvision.targeting.PNPResult;
import us.hebi.quickbuf.Descriptors.Descriptor;
import us.hebi.quickbuf.RepeatedInt;
public class MultiTargetPNPResultProto
implements Protobuf<MultiTargetPNPResult, ProtobufMultiTargetPNPResult> {
@Override
public Class<MultiTargetPNPResult> getTypeClass() {
return MultiTargetPNPResult.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufMultiTargetPNPResult.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {PNPResult.proto};
}
@Override
public ProtobufMultiTargetPNPResult createMessage() {
return ProtobufMultiTargetPNPResult.newInstance();
}
@Override
public MultiTargetPNPResult unpack(ProtobufMultiTargetPNPResult msg) {
ArrayList<Integer> fidIdsUsed = new ArrayList<>(msg.getFiducialIdsUsed().length());
for (var packedFidId : msg.getFiducialIdsUsed()) {
fidIdsUsed.add(packedFidId);
}
return new MultiTargetPNPResult(PNPResult.proto.unpack(msg.getEstimatedPose()), fidIdsUsed);
}
@Override
public void pack(ProtobufMultiTargetPNPResult msg, MultiTargetPNPResult value) {
PNPResult.proto.pack(msg.getMutableEstimatedPose(), value.estimatedPose);
RepeatedInt idsUsed = msg.getMutableFiducialIdsUsed().reserve(value.fiducialIDsUsed.size());
for (int i = 0; i < value.fiducialIDsUsed.size(); i++) {
idsUsed.add(value.fiducialIDsUsed.get(i));
}
}
}

70
photon-targeting/src/main/java/org/photonvision/targeting/proto/PNPResultProto.java Normal file
View File

@@ -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.targeting.proto;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.util.protobuf.Protobuf;
import org.photonvision.proto.Photon.ProtobufPNPResult;
import org.photonvision.targeting.PNPResult;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class PNPResultProto implements Protobuf<PNPResult, ProtobufPNPResult> {
@Override
public Class<PNPResult> getTypeClass() {
return PNPResult.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufPNPResult.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {Transform3d.proto};
}
@Override
public ProtobufPNPResult createMessage() {
return ProtobufPNPResult.newInstance();
}
@Override
public PNPResult unpack(ProtobufPNPResult msg) {
if (!msg.getIsPresent()) {
return new PNPResult();
}
return new PNPResult(
Transform3d.proto.unpack(msg.getBest()),
Transform3d.proto.unpack(msg.getAlt()),
msg.getAmbiguity(),
msg.getBestReprojErr(),
msg.getAltReprojErr());
}
@Override
public void pack(ProtobufPNPResult msg, PNPResult value) {
Transform3d.proto.pack(msg.getMutableBest(), value.best);
Transform3d.proto.pack(msg.getMutableAlt(), value.alt);
msg.setAmbiguity(value.ambiguity)
.setBestReprojErr(value.bestReprojErr)
.setAltReprojErr(value.altReprojErr)
.setIsPresent(value.isPresent);
}
}

64
photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java Normal file
View File

@@ -0,0 +1,64 @@
/*
* 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.proto;
import edu.wpi.first.util.protobuf.Protobuf;
import org.photonvision.proto.Photon.ProtobufPhotonPipelineResult;
import org.photonvision.targeting.MultiTargetPNPResult;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class PhotonPipelineResultProto
implements Protobuf<PhotonPipelineResult, ProtobufPhotonPipelineResult> {
@Override
public Class<PhotonPipelineResult> getTypeClass() {
return PhotonPipelineResult.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufPhotonPipelineResult.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {PhotonTrackedTarget.proto, MultiTargetPNPResult.proto};
}
@Override
public ProtobufPhotonPipelineResult createMessage() {
return ProtobufPhotonPipelineResult.newInstance();
}
@Override
public PhotonPipelineResult unpack(ProtobufPhotonPipelineResult msg) {
return new PhotonPipelineResult(
msg.getLatencyMs(),
PhotonTrackedTarget.proto.unpack(msg.getTargets()),
MultiTargetPNPResult.proto.unpack(msg.getMultiTargetResult()));
}
@Override
public void pack(ProtobufPhotonPipelineResult msg, PhotonPipelineResult value) {
PhotonTrackedTarget.proto.pack(msg.getMutableTargets(), value.getTargets());
MultiTargetPNPResult.proto.pack(msg.getMutableMultiTargetResult(), value.getMultiTagResult());
msg.setLatencyMs(value.getLatencyMillis());
}
}

99
photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonTrackedTargetProto.java Normal file
View File

@@ -0,0 +1,99 @@
/*
* 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.proto;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.util.protobuf.Protobuf;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.proto.Photon.ProtobufPhotonTrackedTarget;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
import us.hebi.quickbuf.Descriptors.Descriptor;
import us.hebi.quickbuf.RepeatedMessage;
public class PhotonTrackedTargetProto
implements Protobuf<PhotonTrackedTarget, ProtobufPhotonTrackedTarget> {
@Override
public Class<PhotonTrackedTarget> getTypeClass() {
return PhotonTrackedTarget.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufPhotonTrackedTarget.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {Transform3d.proto, TargetCorner.proto};
}
@Override
public ProtobufPhotonTrackedTarget createMessage() {
return ProtobufPhotonTrackedTarget.newInstance();
}
@Override
public PhotonTrackedTarget unpack(ProtobufPhotonTrackedTarget msg) {
return new PhotonTrackedTarget(
msg.getYaw(),
msg.getPitch(),
msg.getArea(),
msg.getSkew(),
msg.getFiducialId(),
Transform3d.proto.unpack(msg.getBestCameraToTarget()),
Transform3d.proto.unpack(msg.getAltCameraToTarget()),
msg.getPoseAmbiguity(),
TargetCorner.proto.unpack(msg.getMinAreaRectCorners()),
TargetCorner.proto.unpack(msg.getDetectedCorners()));
}
public List<PhotonTrackedTarget> unpack(RepeatedMessage<ProtobufPhotonTrackedTarget> msg) {
ArrayList<PhotonTrackedTarget> targets = new ArrayList<>(msg.length());
for (ProtobufPhotonTrackedTarget target : msg) {
targets.add(unpack(target));
}
return targets;
}
@Override
public void pack(ProtobufPhotonTrackedTarget msg, PhotonTrackedTarget value) {
msg.setYaw(value.getYaw())
.setPitch(value.getPitch())
.setSkew(value.getSkew())
.setArea(value.getArea())
.setFiducialId(value.getFiducialId())
.setPoseAmbiguity(value.getPoseAmbiguity());
Transform3d.proto.pack(msg.getMutableBestCameraToTarget(), value.getBestCameraToTarget());
Transform3d.proto.pack(msg.getMutableAltCameraToTarget(), value.getAlternateCameraToTarget());
TargetCorner.proto.pack(msg.getMutableMinAreaRectCorners(), value.getMinAreaRectCorners());
TargetCorner.proto.pack(msg.getMutableDetectedCorners(), value.getDetectedCorners());
}
public void pack(
RepeatedMessage<ProtobufPhotonTrackedTarget> msg, List<PhotonTrackedTarget> value) {
var targets = msg.reserve(value.size());
for (PhotonTrackedTarget trackedTarget : value) {
var target = targets.next();
pack(target, trackedTarget);
}
}
}

69
photon-targeting/src/main/java/org/photonvision/targeting/proto/TargetCornerProto.java Normal file
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@@ -0,0 +1,69 @@
/*
* 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.proto;
import edu.wpi.first.util.protobuf.Protobuf;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.proto.Photon.ProtobufTargetCorner;
import org.photonvision.targeting.TargetCorner;
import us.hebi.quickbuf.Descriptors.Descriptor;
import us.hebi.quickbuf.RepeatedMessage;
public class TargetCornerProto implements Protobuf<TargetCorner, ProtobufTargetCorner> {
@Override
public Class<TargetCorner> getTypeClass() {
return TargetCorner.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufTargetCorner.getDescriptor();
}
@Override
public ProtobufTargetCorner createMessage() {
return ProtobufTargetCorner.newInstance();
}
@Override
public TargetCorner unpack(ProtobufTargetCorner msg) {
return new TargetCorner(msg.getX(), msg.getY());
}
public List<TargetCorner> unpack(RepeatedMessage<ProtobufTargetCorner> msg) {
ArrayList<TargetCorner> corners = new ArrayList<>(msg.length());
for (ProtobufTargetCorner corner : msg) {
corners.add(unpack(corner));
}
return corners;
}
@Override
public void pack(ProtobufTargetCorner msg, TargetCorner value) {
msg.setX(value.x).setY(value.y);
}
public void pack(RepeatedMessage<ProtobufTargetCorner> msg, List<TargetCorner> value) {
var corners = msg.reserve(value.size());
for (TargetCorner targetCorner : value) {
var corner = corners.next();
pack(corner, targetCorner);
}
}
}

8
photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
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@@ -19,12 +19,12 @@
namespace photon {
PhotonPipelineResult::PhotonPipelineResult(
units::second_t latency, std::span<const PhotonTrackedTarget> targets)
units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets)
: latency(latency),
targets(targets.data(), targets.data() + targets.size()) {}
PhotonPipelineResult::PhotonPipelineResult(
units::second_t latency, std::span<const PhotonTrackedTarget> targets,
units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets,
MultiTargetPNPResult multitagResult)
: latency(latency),
targets(targets.data(), targets.data() + targets.size()),
@@ -37,7 +37,7 @@ bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
// Encode latency and number of targets.
packet << result.latency.value() * 1000 << result.multitagResult
packet << result.latency.value() << result.multitagResult
<< static_cast<int8_t>(result.targets.size());
// Encode the information of each target.
@@ -52,7 +52,7 @@ Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
double latencyMillis = 0;
int8_t targetCount = 0;
packet >> latencyMillis >> result.multitagResult >> targetCount;
result.latency = units::second_t(latencyMillis / 1000.0);
result.latency = units::millisecond_t(latencyMillis);
result.targets.clear();

56
photon-targeting/src/main/native/cpp/photon/targeting/proto/MultiTargetPNPResultProto.cpp Normal file
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@@ -0,0 +1,56 @@
/*
* 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 "photon/targeting/proto/MultiTargetPNPResultProto.h"
#include "photon.pb.h"
#include "photon/targeting/proto/PNPResultProto.h"
google::protobuf::Message* wpi::Protobuf<photon::MultiTargetPNPResult>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
photonvision::proto::ProtobufMultiTargetPNPResult>(arena);
}
photon::MultiTargetPNPResult
wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(
const google::protobuf::Message& msg) {
auto m =
static_cast<const photonvision::proto::ProtobufMultiTargetPNPResult*>(
&msg);
wpi::SmallVector<int16_t, 32> fiducialIdsUsed;
for (int i = 0; i < m->fiducial_ids_used_size(); i++) {
fiducialIdsUsed.push_back(m->fiducial_ids_used(i));
}
return photon::MultiTargetPNPResult{
wpi::UnpackProtobuf<photon::PNPResult>(m->estimated_pose()),
fiducialIdsUsed};
}
void wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(
google::protobuf::Message* msg, const photon::MultiTargetPNPResult& value) {
auto m = static_cast<photonvision::proto::ProtobufMultiTargetPNPResult*>(msg);
wpi::PackProtobuf(m->mutable_estimated_pose(), value.result);
m->clear_fiducial_ids_used();
for (const auto& t : value.fiducialIdsUsed) {
m->add_fiducial_ids_used(t);
}
}

54
photon-targeting/src/main/native/cpp/photon/targeting/proto/PNPResultProto.cpp Normal file
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@@ -0,0 +1,54 @@
/*
* 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 "photon/targeting/proto/PNPResultProto.h"
#include "photon.pb.h"
google::protobuf::Message* wpi::Protobuf<photon::PNPResult>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
photonvision::proto::ProtobufPNPResult>(arena);
}
photon::PNPResult wpi::Protobuf<photon::PNPResult>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const photonvision::proto::ProtobufPNPResult*>(&msg);
if (!m->is_present()) {
return photon::PNPResult();
}
return photon::PNPResult{true,
wpi::UnpackProtobuf<frc::Transform3d>(m->best()),
m->best_reproj_err(),
wpi::UnpackProtobuf<frc::Transform3d>(m->alt()),
m->alt_reproj_err(),
m->ambiguity()};
}
void wpi::Protobuf<photon::PNPResult>::Pack(google::protobuf::Message* msg,
const photon::PNPResult& value) {
auto m = static_cast<photonvision::proto::ProtobufPNPResult*>(msg);
m->set_is_present(value.isPresent);
wpi::PackProtobuf(m->mutable_best(), value.best);
m->set_best_reproj_err(value.bestReprojErr);
wpi::PackProtobuf(m->mutable_alt(), value.alt);
m->set_alt_reproj_err(value.altReprojErr);
m->set_ambiguity(value.ambiguity);
}

61
photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp Normal file
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@@ -0,0 +1,61 @@
/*
* 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 "photon/targeting/proto/PhotonPipelineResultProto.h"
#include "photon.pb.h"
#include "photon/targeting/proto/MultiTargetPNPResultProto.h"
#include "photon/targeting/proto/PhotonTrackedTargetProto.h"
google::protobuf::Message* wpi::Protobuf<photon::PhotonPipelineResult>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
photonvision::proto::ProtobufPhotonPipelineResult>(arena);
}
photon::PhotonPipelineResult
wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(
const google::protobuf::Message& msg) {
auto m =
static_cast<const photonvision::proto::ProtobufPhotonPipelineResult*>(
&msg);
std::vector<photon::PhotonTrackedTarget> targets;
targets.reserve(m->targets_size());
for (const auto& t : m->targets()) {
targets.emplace_back(wpi::UnpackProtobuf<photon::PhotonTrackedTarget>(t));
}
return photon::PhotonPipelineResult{
units::millisecond_t{m->latency_ms()}, targets,
wpi::UnpackProtobuf<photon::MultiTargetPNPResult>(
m->multi_target_result())};
}
void wpi::Protobuf<photon::PhotonPipelineResult>::Pack(
google::protobuf::Message* msg, const photon::PhotonPipelineResult& value) {
auto m = static_cast<photonvision::proto::ProtobufPhotonPipelineResult*>(msg);
m->set_latency_ms(value.latency.value());
m->clear_targets();
for (const auto& t : value.GetTargets()) {
wpi::PackProtobuf(m->add_targets(), t);
}
wpi::PackProtobuf(m->mutable_multi_target_result(), value.multitagResult);
}

84
photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp Normal file
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@@ -0,0 +1,84 @@
/*
* 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 "photon/targeting/proto/PhotonTrackedTargetProto.h"
#include "photon.pb.h"
google::protobuf::Message* wpi::Protobuf<photon::PhotonTrackedTarget>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
photonvision::proto::ProtobufPhotonTrackedTarget>(arena);
}
photon::PhotonTrackedTarget wpi::Protobuf<photon::PhotonTrackedTarget>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const photonvision::proto::ProtobufPhotonTrackedTarget*>(
&msg);
wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
for (const auto& t : m->min_area_rect_corners()) {
minAreaRectCorners.emplace_back(t.x(), t.y());
}
std::vector<std::pair<double, double>> detectedCorners;
detectedCorners.reserve(m->detected_corners_size());
for (const auto& t : m->detected_corners()) {
detectedCorners.emplace_back(t.x(), t.y());
}
return photon::PhotonTrackedTarget{
m->yaw(),
m->pitch(),
m->area(),
m->skew(),
m->fiducial_id(),
wpi::UnpackProtobuf<frc::Transform3d>(m->best_camera_to_target()),
wpi::UnpackProtobuf<frc::Transform3d>(m->alt_camera_to_target()),
m->pose_ambiguity(),
minAreaRectCorners,
detectedCorners};
}
void wpi::Protobuf<photon::PhotonTrackedTarget>::Pack(
google::protobuf::Message* msg, const photon::PhotonTrackedTarget& value) {
auto m = static_cast<photonvision::proto::ProtobufPhotonTrackedTarget*>(msg);
m->set_yaw(value.yaw);
m->set_pitch(value.pitch);
m->set_area(value.area);
m->set_skew(value.skew);
m->set_fiducial_id(value.fiducialId);
wpi::PackProtobuf(m->mutable_best_camera_to_target(),
value.bestCameraToTarget);
wpi::PackProtobuf(m->mutable_alt_camera_to_target(), value.altCameraToTarget);
m->set_pose_ambiguity(value.poseAmbiguity);
m->clear_min_area_rect_corners();
for (const auto& t : value.GetMinAreaRectCorners()) {
auto* corner = m->add_min_area_rect_corners();
corner->set_x(t.first);
corner->set_y(t.second);
}
m->clear_detected_corners();
for (const auto& t : value.GetDetectedCorners()) {
auto* corner = m->add_detected_corners();
corner->set_x(t.first);
corner->set_y(t.second);
}
}

22
photon-targeting/src/main/native/include/geometry3d.pb.h Normal file
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@@ -0,0 +1,22 @@
/*
* 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/>.
*/
#pragma once
// So wpilib publishes protbufs here at wpimath/protobuf. but generated code
// assumes that the protobuf includes are on your include path. So we need this
// stupid shim
#include "wpimath/protobuf/geometry3d.pb.h"

8
photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
View File

@@ -44,7 +44,7 @@ class PhotonPipelineResult {
* @param latency The latency in the pipeline.
* @param targets The list of targets identified by the pipeline.
*/
PhotonPipelineResult(units::second_t latency,
PhotonPipelineResult(units::millisecond_t latency,
std::span<const PhotonTrackedTarget> targets);
/**
@@ -53,7 +53,7 @@ class PhotonPipelineResult {
* @param targets The list of targets identified by the pipeline.
* @param multitagResult The multitarget result
*/
PhotonPipelineResult(units::second_t latency,
PhotonPipelineResult(units::millisecond_t latency,
std::span<const PhotonTrackedTarget> targets,
MultiTargetPNPResult multitagResult);
@@ -81,7 +81,7 @@ class PhotonPipelineResult {
* Returns the latency in the pipeline.
* @return The latency in the pipeline.
*/
units::second_t GetLatency() const { return latency; }
units::millisecond_t GetLatency() const { return latency; }
/**
* Returns the estimated time the frame was taken,
@@ -125,7 +125,7 @@ class PhotonPipelineResult {
friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
units::second_t latency = 0_s;
units::millisecond_t latency = 0_s;
units::second_t timestamp = -1_s;
wpi::SmallVector<PhotonTrackedTarget, 10> targets;
MultiTargetPNPResult multitagResult;

31
photon-targeting/src/main/native/include/photon/targeting/proto/MultiTargetPNPResultProto.h Normal file
View File

@@ -0,0 +1,31 @@
/*
* 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/>.
*/
#pragma once
#include <wpi/protobuf/Protobuf.h>
#include "photon/targeting/MultiTargetPNPResult.h"
template <>
struct wpi::Protobuf<photon::MultiTargetPNPResult> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static photon::MultiTargetPNPResult Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const photon::MultiTargetPNPResult& value);
};

30
photon-targeting/src/main/native/include/photon/targeting/proto/PNPResultProto.h Normal file
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@@ -0,0 +1,30 @@
/*
* 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/>.
*/
#pragma once
#include <wpi/protobuf/Protobuf.h>
#include "photon/targeting/PNPResult.h"
template <>
struct wpi::Protobuf<photon::PNPResult> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static photon::PNPResult Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const photon::PNPResult& value);
};

31
photon-targeting/src/main/native/include/photon/targeting/proto/PhotonPipelineResultProto.h Normal file
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@@ -0,0 +1,31 @@
/*
* 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/>.
*/
#pragma once
#include <wpi/protobuf/Protobuf.h>
#include "photon/targeting/PhotonPipelineResult.h"
template <>
struct wpi::Protobuf<photon::PhotonPipelineResult> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static photon::PhotonPipelineResult Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const photon::PhotonPipelineResult& value);
};

31
photon-targeting/src/main/native/include/photon/targeting/proto/PhotonTrackedTargetProto.h Normal file
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@@ -0,0 +1,31 @@
/*
* 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/>.
*/
#pragma once
#include <wpi/protobuf/Protobuf.h>
#include "photon/targeting/PhotonTrackedTarget.h"
template <>
struct wpi::Protobuf<photon::PhotonTrackedTarget> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static photon::PhotonTrackedTarget Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const photon::PhotonTrackedTarget& value);
};

63
photon-targeting/src/main/proto/photon.proto Normal file
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@@ -0,0 +1,63 @@
/*
* 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/>.
*/
syntax = "proto3";
package photonvision.proto;
import "geometry3d.proto";
option java_package = "org.photonvision.proto";
message ProtobufTargetCorner {
double x = 1;
double y = 2;
}
message ProtobufPNPResult {
bool is_present = 1;
wpi.proto.ProtobufTransform3d best = 2;
double best_reproj_err = 3;
optional wpi.proto.ProtobufTransform3d alt = 4;
optional double alt_reproj_err = 5;
double ambiguity = 6;
}
message ProtobufMultiTargetPNPResult {
ProtobufPNPResult estimated_pose = 1;
repeated int32 fiducial_ids_used = 2;
}
message ProtobufPhotonTrackedTarget {
double yaw = 1;
double pitch = 2;
double area = 3;
double skew = 4;
int32 fiducial_id = 5;
wpi.proto.ProtobufTransform3d best_camera_to_target = 6;
wpi.proto.ProtobufTransform3d alt_camera_to_target = 7;
double pose_ambiguity = 8;
repeated ProtobufTargetCorner min_area_rect_corners = 9;
repeated ProtobufTargetCorner detected_corners = 10;
}
message ProtobufPhotonPipelineResult {
double latency_ms = 1;
repeated ProtobufPhotonTrackedTarget targets = 2;
ProtobufMultiTargetPNPResult multi_target_result = 3;
}

49
photon-targeting/src/test/java/org/photonvision/targeting/proto/MultiTargetPNPResultProtoTest.java Normal file
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@@ -0,0 +1,49 @@
/*
* 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.proto;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import java.util.List;
import org.junit.jupiter.api.Test;
import org.photonvision.targeting.MultiTargetPNPResult;
import org.photonvision.targeting.PNPResult;
public class MultiTargetPNPResultProtoTest {
@Test
public void protobufTest() {
var result = new MultiTargetPNPResult();
var serializedResult = MultiTargetPNPResult.proto.createMessage();
MultiTargetPNPResult.proto.pack(serializedResult, result);
var unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
assertEquals(result, unpackedResult);
result =
new MultiTargetPNPResult(
new PNPResult(
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
List.of(1, 2, 3));
serializedResult = MultiTargetPNPResult.proto.createMessage();
MultiTargetPNPResult.proto.pack(serializedResult, result);
unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
assertEquals(result, unpackedResult);
}
}

42
photon-targeting/src/test/java/org/photonvision/targeting/proto/PNPResultProtoTest.java Normal file
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@@ -0,0 +1,42 @@
/*
* 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.proto;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import org.junit.jupiter.api.Test;
import org.photonvision.targeting.PNPResult;
public class PNPResultProtoTest {
@Test
public void protobufTest() {
var pnpRes = new PNPResult();
var serializedPNPRes = PNPResult.proto.createMessage();
PNPResult.proto.pack(serializedPNPRes, pnpRes);
var unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
assertEquals(pnpRes, unpackedPNPRes);
pnpRes = new PNPResult(new Transform3d(1, 2, 3, new Rotation3d(1, 2, 3)), 0.1);
serializedPNPRes = PNPResult.proto.createMessage();
PNPResult.proto.pack(serializedPNPRes, pnpRes);
unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
assertEquals(pnpRes, unpackedPNPRes);
}
}

139
photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonPipelineResultProtoTest.java Normal file
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@@ -0,0 +1,139 @@
/*
* 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.proto;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import java.util.List;
import org.junit.jupiter.api.Test;
import org.photonvision.targeting.*;
public class PhotonPipelineResultProtoTest {
@Test
public void protobufTest() {
// Empty Result
var result = new PhotonPipelineResult();
var serializedResult = PhotonPipelineResult.proto.createMessage();
PhotonPipelineResult.proto.pack(serializedResult, result);
var unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
assertEquals(result, unpackedResult);
// non multitag result
result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
2,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))),
new PhotonTrackedTarget(
3.0,
-4.0,
9.1,
6.7,
3,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
serializedResult = PhotonPipelineResult.proto.createMessage();
PhotonPipelineResult.proto.pack(serializedResult, result);
unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
assertEquals(result, unpackedResult);
// multitag result
result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
2,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))),
new PhotonTrackedTarget(
3.0,
-4.0,
9.1,
6.7,
3,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))),
new MultiTargetPNPResult(
new PNPResult(
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
List.of(1, 2, 3)));
serializedResult = PhotonPipelineResult.proto.createMessage();
PhotonPipelineResult.proto.pack(serializedResult, result);
unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
assertEquals(result, unpackedResult);
}
}

115
photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonTrackedTargetProtoTest.java Normal file
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@@ -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.proto;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import java.util.List;
import org.junit.jupiter.api.Test;
import org.photonvision.proto.Photon.ProtobufPhotonTrackedTarget;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
import us.hebi.quickbuf.RepeatedMessage;
public class PhotonTrackedTargetProtoTest {
@Test
public void protobufTest() {
var target =
new PhotonTrackedTarget(
3.0,
4.0,
9.0,
-5.0,
-1,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)));
var serializedTarget = PhotonTrackedTarget.proto.createMessage();
PhotonTrackedTarget.proto.pack(serializedTarget, target);
var unpackedTarget = PhotonTrackedTarget.proto.unpack(serializedTarget);
assertEquals(target, unpackedTarget);
}
@Test
public void protobufListTest() {
List<PhotonTrackedTarget> targets = List.of();
var serializedTargets =
RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
PhotonTrackedTarget.proto.pack(serializedTargets, targets);
var unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
assertEquals(targets, unpackedTargets);
targets =
List.of(
new PhotonTrackedTarget(
3.0,
4.0,
9.0,
-5.0,
-1,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))),
new PhotonTrackedTarget(
7.0,
2.0,
1.0,
-9.0,
-1,
new Transform3d(new Translation3d(), new Rotation3d()),
new Transform3d(new Translation3d(), new Rotation3d()),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))));
serializedTargets = RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
PhotonTrackedTarget.proto.pack(serializedTargets, targets);
unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
assertEquals(targets, unpackedTargets);
}
}

34
photon-targeting/src/test/java/org/photonvision/targeting/proto/TargetCornerProtoTest.java Normal file
View File

@@ -0,0 +1,34 @@
/*
* 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.proto;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
import org.photonvision.targeting.TargetCorner;
public class TargetCornerProtoTest {
@Test
public void protobufTest() {
var corner = new TargetCorner(0, 1);
var serializedCorner = TargetCorner.proto.createMessage();
TargetCorner.proto.pack(serializedCorner, corner);
var unpackedCorner = TargetCorner.proto.unpack(serializedCorner);
assertEquals(corner, unpackedCorner);
}
}

55
photon-targeting/src/test/native/cpp/targeting/proto/MultiTargetPNPResultProtoTest.cpp Normal file
View File

@@ -0,0 +1,55 @@
/*
* 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 "gtest/gtest.h"
#include "photon.pb.h"
#include "photon/targeting/MultiTargetPNPResult.h"
#include "photon/targeting/proto/MultiTargetPNPResultProto.h"
TEST(MultiTargetPNPResultTest, Roundtrip) {
photon::MultiTargetPNPResult result;
google::protobuf::Arena arena;
google::protobuf::Message* proto =
wpi::Protobuf<photon::MultiTargetPNPResult>::New(&arena);
wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(proto, result);
photon::MultiTargetPNPResult unpacked_data =
wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(*proto);
EXPECT_EQ(result, unpacked_data);
photon::PNPResult pnpRes{
true,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.1,
0};
photon::MultiTargetPNPResult result1{pnpRes, {1, 2, 3, 4}};
proto = wpi::Protobuf<photon::MultiTargetPNPResult>::New(&arena);
wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(proto, result1);
photon::MultiTargetPNPResult unpacked_data1 =
wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(*proto);
EXPECT_EQ(result1, unpacked_data1);
}

53
photon-targeting/src/test/native/cpp/targeting/proto/PNPResultProtoTest.cpp Normal file
View File

@@ -0,0 +1,53 @@
/*
* 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 "gtest/gtest.h"
#include "photon.pb.h"
#include "photon/targeting/PNPResult.h"
#include "photon/targeting/proto/PNPResultProto.h"
TEST(PNPResultTest, Roundtrip) {
photon::PNPResult result;
google::protobuf::Arena arena;
google::protobuf::Message* proto =
wpi::Protobuf<photon::PNPResult>::New(&arena);
wpi::Protobuf<photon::PNPResult>::Pack(proto, result);
photon::PNPResult unpacked_data =
wpi::Protobuf<photon::PNPResult>::Unpack(*proto);
EXPECT_EQ(result, unpacked_data);
photon::PNPResult result1{
true,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.1,
0};
proto = wpi::Protobuf<photon::PNPResult>::New(&arena);
wpi::Protobuf<photon::PNPResult>::Pack(proto, result1);
photon::PNPResult unpacked_data2 =
wpi::Protobuf<photon::PNPResult>::Unpack(*proto);
EXPECT_EQ(result1, unpacked_data2);
}

96
photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp Normal file
View File

@@ -0,0 +1,96 @@
/*
* 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 "gtest/gtest.h"
#include "photon.pb.h"
#include "photon/targeting/PhotonPipelineResult.h"
#include "photon/targeting/proto/PhotonPipelineResultProto.h"
TEST(PhotonPipelineResultTest, Roundtrip) {
photon::PhotonPipelineResult result{12_ms, {}};
google::protobuf::Arena arena;
google::protobuf::Message* proto =
wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result);
photon::PhotonPipelineResult unpacked_data =
wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(*proto);
EXPECT_EQ(result, unpacked_data);
wpi::SmallVector<photon::PhotonTrackedTarget, 2> targets{
photon::PhotonTrackedTarget{
3.0,
-4.0,
9.0,
4.0,
1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
photon::PhotonTrackedTarget{
3.0,
-4.0,
9.1,
6.7,
-1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
photon::PhotonPipelineResult result2{12_ms, targets};
proto = wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result2);
photon::PhotonPipelineResult unpacked_data2 =
wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(*proto);
EXPECT_EQ(result2, unpacked_data2);
photon::PNPResult pnpRes{
true,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.1,
0};
photon::MultiTargetPNPResult multitagRes{pnpRes, {1, 2, 3, 4}};
photon::PhotonPipelineResult result3{12_ms, targets, multitagRes};
proto = wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result3);
photon::PhotonPipelineResult unpacked_data3 =
wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(*proto);
EXPECT_EQ(result3, unpacked_data3);
}

47
photon-targeting/src/test/native/cpp/targeting/proto/PhotonTrackedTargetProtoTest.cpp Normal file
View File

@@ -0,0 +1,47 @@
/*
* 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 "gtest/gtest.h"
#include "photon.pb.h"
#include "photon/targeting/PhotonTrackedTarget.h"
#include "photon/targeting/proto/PhotonTrackedTargetProto.h"
TEST(PhotonTrackedTargetTest, Roundtrip) {
photon::PhotonTrackedTarget target{
3.0,
4.0,
9.0,
-5.0,
-1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
google::protobuf::Arena arena;
google::protobuf::Message* proto =
wpi::Protobuf<photon::PhotonTrackedTarget>::New(&arena);
wpi::Protobuf<photon::PhotonTrackedTarget>::Pack(proto, target);
photon::PhotonTrackedTarget unpacked_data =
wpi::Protobuf<photon::PhotonTrackedTarget>::Unpack(*proto);
EXPECT_EQ(target, unpacked_data);
}

25
shared/javacommon.gradle
View File

@@ -1,6 +1,7 @@
apply plugin: 'maven-publish'
apply plugin: 'java-library'
apply plugin: 'jacoco'
apply plugin: 'com.google.protobuf'
java {
sourceCompatibility = JavaVersion.VERSION_11
@@ -138,3 +139,27 @@ jacocoTestReport {
html.required = true
}
}
protobuf {
protoc {
artifact = 'com.google.protobuf:protoc:3.21.12'
}
plugins {
quickbuf {
artifact = 'us.hebi.quickbuf:protoc-gen-quickbuf:1.3.3'
}
}
generateProtoTasks {
all().configureEach { task ->
task.builtins {
cpp {}
remove java
}
task.plugins {
quickbuf {
option "gen_descriptors=true"
}
}
}
}
}

22
shared/javacpp/setupBuild.gradle
View File

@@ -38,11 +38,11 @@ model {
sources {
cpp {
source {
srcDirs 'src/main/native/cpp'
include '**/*.cpp'
srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
include '**/*.cpp', '**/*.cc'
}
exportedHeaders {
srcDirs 'src/main/native/include'
srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
if (project.hasProperty('generatedHeaders')) {
srcDir generatedHeaders
}
@@ -51,8 +51,11 @@ model {
}
}
if(project.hasProperty('includePhotonTargeting')) {
binaries.all {
binaries.all {
it.tasks.withType(CppCompile) {
it.dependsOn generateProto
}
if(project.hasProperty('includePhotonTargeting')) {
lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
}
}
@@ -77,13 +80,16 @@ model {
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/test/native/include', 'src/main/native/cpp'
srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
}
}
}
if(project.hasProperty('includePhotonTargeting')) {
binaries.all {
binaries.all {
it.tasks.withType(CppCompile) {
it.dependsOn generateProto
}
if(project.hasProperty('includePhotonTargeting')) {
lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
}
}