mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-23 01:21:40 +00:00
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.
This commit is contained in:
Sriman Achanta
@@ -0,0 +1,49 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.targeting.proto;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import java.util.List;
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import org.junit.jupiter.api.Test;
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import org.photonvision.targeting.MultiTargetPNPResult;
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import org.photonvision.targeting.PNPResult;
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public class MultiTargetPNPResultProtoTest {
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@Test
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public void protobufTest() {
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var result = new MultiTargetPNPResult();
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var serializedResult = MultiTargetPNPResult.proto.createMessage();
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MultiTargetPNPResult.proto.pack(serializedResult, result);
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var unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
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assertEquals(result, unpackedResult);
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result =
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new MultiTargetPNPResult(
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new PNPResult(
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
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List.of(1, 2, 3));
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serializedResult = MultiTargetPNPResult.proto.createMessage();
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MultiTargetPNPResult.proto.pack(serializedResult, result);
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unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
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assertEquals(result, unpackedResult);
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}
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}
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@@ -0,0 +1,42 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.targeting.proto;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import org.junit.jupiter.api.Test;
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import org.photonvision.targeting.PNPResult;
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public class PNPResultProtoTest {
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@Test
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public void protobufTest() {
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var pnpRes = new PNPResult();
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var serializedPNPRes = PNPResult.proto.createMessage();
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PNPResult.proto.pack(serializedPNPRes, pnpRes);
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var unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
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assertEquals(pnpRes, unpackedPNPRes);
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pnpRes = new PNPResult(new Transform3d(1, 2, 3, new Rotation3d(1, 2, 3)), 0.1);
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serializedPNPRes = PNPResult.proto.createMessage();
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PNPResult.proto.pack(serializedPNPRes, pnpRes);
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unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
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assertEquals(pnpRes, unpackedPNPRes);
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}
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}
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@@ -0,0 +1,139 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.targeting.proto;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import java.util.List;
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import org.junit.jupiter.api.Test;
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import org.photonvision.targeting.*;
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public class PhotonPipelineResultProtoTest {
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@Test
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public void protobufTest() {
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// Empty Result
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var result = new PhotonPipelineResult();
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var serializedResult = PhotonPipelineResult.proto.createMessage();
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PhotonPipelineResult.proto.pack(serializedResult, result);
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var unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
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assertEquals(result, unpackedResult);
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// non multitag result
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result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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2,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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3,
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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serializedResult = PhotonPipelineResult.proto.createMessage();
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PhotonPipelineResult.proto.pack(serializedResult, result);
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unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
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assertEquals(result, unpackedResult);
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// multitag result
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result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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2,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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3,
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))),
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new MultiTargetPNPResult(
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new PNPResult(
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
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List.of(1, 2, 3)));
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serializedResult = PhotonPipelineResult.proto.createMessage();
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PhotonPipelineResult.proto.pack(serializedResult, result);
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unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
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assertEquals(result, unpackedResult);
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}
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}
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@@ -0,0 +1,115 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.targeting.proto;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import java.util.List;
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import org.junit.jupiter.api.Test;
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import org.photonvision.proto.Photon.ProtobufPhotonTrackedTarget;
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import org.photonvision.targeting.PhotonTrackedTarget;
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import org.photonvision.targeting.TargetCorner;
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import us.hebi.quickbuf.RepeatedMessage;
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public class PhotonTrackedTargetProtoTest {
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@Test
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public void protobufTest() {
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var target =
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new PhotonTrackedTarget(
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3.0,
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4.0,
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9.0,
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-5.0,
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-1,
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new Transform3d(new Translation3d(), new Rotation3d()),
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new Transform3d(new Translation3d(), new Rotation3d()),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)));
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var serializedTarget = PhotonTrackedTarget.proto.createMessage();
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PhotonTrackedTarget.proto.pack(serializedTarget, target);
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var unpackedTarget = PhotonTrackedTarget.proto.unpack(serializedTarget);
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assertEquals(target, unpackedTarget);
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}
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@Test
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public void protobufListTest() {
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List<PhotonTrackedTarget> targets = List.of();
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var serializedTargets =
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RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
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PhotonTrackedTarget.proto.pack(serializedTargets, targets);
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var unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
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assertEquals(targets, unpackedTargets);
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targets =
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List.of(
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new PhotonTrackedTarget(
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3.0,
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4.0,
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9.0,
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-5.0,
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-1,
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new Transform3d(new Translation3d(), new Rotation3d()),
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new Transform3d(new Translation3d(), new Rotation3d()),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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7.0,
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2.0,
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1.0,
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-9.0,
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-1,
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new Transform3d(new Translation3d(), new Rotation3d()),
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new Transform3d(new Translation3d(), new Rotation3d()),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))));
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serializedTargets = RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
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PhotonTrackedTarget.proto.pack(serializedTargets, targets);
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unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
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assertEquals(targets, unpackedTargets);
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}
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}
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@@ -0,0 +1,34 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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||||
* 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.
|
||||
*
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* 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/>.
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||||
*/
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package org.photonvision.targeting.proto;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import org.junit.jupiter.api.Test;
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import org.photonvision.targeting.TargetCorner;
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public class TargetCornerProtoTest {
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@Test
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public void protobufTest() {
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var corner = new TargetCorner(0, 1);
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var serializedCorner = TargetCorner.proto.createMessage();
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TargetCorner.proto.pack(serializedCorner, corner);
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var unpackedCorner = TargetCorner.proto.unpack(serializedCorner);
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assertEquals(corner, unpackedCorner);
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}
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}
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Reference in New Issue
Block a user