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[photon-targeting][photon-lib] Add tests to the targeting classes and cleanup photon-lib & photon-targeting (#1007)

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* Make MultiTagPNPResult and PNPResult singular

* add java tests

* Formatting fixes

* bring in the rest of the little stuff

* final things

* Formatting fixes

* add multisubscriber back

* Formatting fixes

* make comments better about x and y relationship
This commit is contained in:
Sriman Achanta
2023-11-15 18:28:26 -05:00
committed by GitHub
parent 524b135142
commit 308fd801d4
31 changed files with 833 additions and 191 deletions
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20
photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
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@@ -35,7 +35,7 @@ public class PhotonPipelineResult {
private double timestampSeconds = -1;
// Multi-tag result
private MultiTargetPNPResults multiTagResult = new MultiTargetPNPResults();
private MultiTargetPNPResult multiTagResult = new MultiTargetPNPResult();
/** Constructs an empty pipeline result. */
public PhotonPipelineResult() {}
@@ -59,7 +59,7 @@ public class PhotonPipelineResult {
* @param result Result from multi-target PNP.
*/
public PhotonPipelineResult(
double latencyMillis, List<PhotonTrackedTarget> targets, MultiTargetPNPResults result) {
double latencyMillis, List<PhotonTrackedTarget> targets, MultiTargetPNPResult result) {
this.latencyMillis = latencyMillis;
this.targets.addAll(targets);
this.multiTagResult = result;
@@ -73,7 +73,7 @@ public class PhotonPipelineResult {
public int getPacketSize() {
return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES
+ 8 // latency
+ MultiTargetPNPResults.PACK_SIZE_BYTES
+ MultiTargetPNPResult.PACK_SIZE_BYTES
+ 1; // target count
}
@@ -130,7 +130,7 @@ public class PhotonPipelineResult {
* @return Whether the pipeline has targets.
*/
public boolean hasTargets() {
return targets.size() > 0;
return !targets.isEmpty();
}
/**
@@ -143,10 +143,10 @@ public class PhotonPipelineResult {
}
/**
* Return the latest mulit-target result. Be sure to check
* Return the latest multi-target result. Be sure to check
* getMultiTagResult().estimatedPose.isPresent before using the pose estimate!
*/
public MultiTargetPNPResults getMultiTagResult() {
public MultiTargetPNPResult getMultiTagResult() {
return multiTagResult;
}
@@ -159,7 +159,7 @@ public class PhotonPipelineResult {
public Packet createFromPacket(Packet packet) {
// Decode latency, existence of targets, and number of targets.
latencyMillis = packet.decodeDouble();
this.multiTagResult = MultiTargetPNPResults.createFromPacket(packet);
this.multiTagResult = MultiTargetPNPResult.createFromPacket(packet);
byte targetCount = packet.decodeByte();
targets.clear();
@@ -197,7 +197,7 @@ public class PhotonPipelineResult {
public int hashCode() {
final int prime = 31;
int result = 1;
result = prime * result + ((targets == null) ? 0 : targets.hashCode());
result = prime * result + targets.hashCode();
long temp;
temp = Double.doubleToLongBits(latencyMillis);
result = prime * result + (int) (temp ^ (temp >>> 32));
@@ -213,9 +213,7 @@ public class PhotonPipelineResult {
if (obj == null) return false;
if (getClass() != obj.getClass()) return false;
PhotonPipelineResult other = (PhotonPipelineResult) obj;
if (targets == null) {
if (other.targets != null) return false;
} else if (!targets.equals(other.targets)) return false;
if (!targets.equals(other.targets)) return false;
if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis))
return false;
if (Double.doubleToLongBits(timestampSeconds)