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/test/native/cpp/targeting/proto/MultiTargetPNPResultProtoTest.cpp

@@ -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);
+}

photon-targeting/src/test/native/cpp/targeting/proto/PNPResultProtoTest.cpp

@@ -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);
+}

photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp

@@ -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);
+}

photon-targeting/src/test/native/cpp/targeting/proto/PhotonTrackedTargetProtoTest.cpp

@@ -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);
+}