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/native/include/geometry3d.pb.h

@@ -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"

photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h

@@ -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;

photon-targeting/src/main/native/include/photon/targeting/proto/MultiTargetPNPResultProto.h

@@ -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);
+};

photon-targeting/src/main/native/include/photon/targeting/proto/PNPResultProto.h

@@ -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);
+};

photon-targeting/src/main/native/include/photon/targeting/proto/PhotonPipelineResultProto.h

@@ -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);
+};

photon-targeting/src/main/native/include/photon/targeting/proto/PhotonTrackedTargetProto.h

@@ -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);
+};