Add protobuf publish setting slider (#1075)

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.

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

@@ -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);

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

@@ -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();
 }

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

@@ -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();
 }

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

@@ -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();
 }

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

@@ -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();
 }

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

@@ -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();
 }

photon-targeting/src/main/java/org/photonvision/targeting/proto/MultiTargetPNPResultProto.java

@@ -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));
+        }
+    }
+}

photon-targeting/src/main/java/org/photonvision/targeting/proto/PNPResultProto.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.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);
+    }
+}

photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java

@@ -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());
+    }
+}

photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonTrackedTargetProto.java

@@ -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);
+        }
+    }
+}

photon-targeting/src/main/java/org/photonvision/targeting/proto/TargetCornerProto.java

@@ -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);
+        }
+    }
+}