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Add photonlibpy (#1040)

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* Added a pure-python implementation of photonlib, named photonlibpy and hosted on pypi

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Chris Gerth
2023-12-16 12:32:49 -06:00
committed by GitHub
parent 2e39549771
commit 47aea29b6b
12 changed files with 899 additions and 0 deletions
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62
.github/workflows/python.yml vendored Normal file
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name: Build and Distribute PhotonLibPy
permissions:
id-token: write # IMPORTANT: this permission is mandatory for trusted publishing
on:
push:
branches: [ master ]
tags:
- 'v*'
pull_request:
branches: [ master ]
jobs:
buildAndDeploy:
runs-on: ubuntu-latest
steps:
- name: Checkout code
uses: actions/checkout@v3
with:
sparse-checkout-cone-mode: false
fetch-tags: true
fetch-depth: 99999
- name: Set up Python
uses: actions/setup-python@v5
with:
python-version: 3.11
- name: Install dependencies
run: |
python -m pip install --upgrade pip
pip install setuptools wheel pytest
- name: Build wheel
working-directory: ./photon-lib/py
run: |
python setup.py sdist bdist_wheel
- name: Run Unit Tests
working-directory: ./photon-lib/py
run: |
pip install --no-cache-dir dist/*.whl
pytest
- name: Upload artifacts
uses: actions/upload-artifact@master
with:
name: dist
path: ./photon-lib/py/dist/
- name: Publish package distributions to TestPyPI
# Only upload on tags
if: startsWith(github.ref, 'refs/tags/v')
uses: pypa/gh-action-pypi-publish@release/v1
with:
packages_dir: ./photon-lib/py/dist/
permissions:
id-token: write # IMPORTANT: this permission is mandatory for trusted publishing

5
photon-lib/py/.gitignore vendored Normal file
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photonlibpy.egg-info/
dist/
build/
.eggs/
photonlibpy/version.py

14
photon-lib/py/buildAndTest.bat Normal file
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:: Uninstall if it already was installed
pip uninstall -y photonlibpy
:: Build wheel
python setup.py bdist_wheel
:: Install whatever wheel was made
for %%f in (dist/*.whl) do (
echo installing dist/%%f
pip install --no-cache-dir dist/%%f
)
:: Run the test suite
pytest

1
photon-lib/py/photonlibpy/__init__.py Normal file
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# No one here but us chickens

45
photon-lib/py/photonlibpy/multiTargetPNPResult.py Normal file
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from dataclasses import dataclass, field
from wpimath.geometry import Transform3d
from photonlibpy.packet import Packet
@dataclass
class PNPResult:
_NUM_BYTES_IN_FLOAT = 8
PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT * 3)
isPresent: bool = False
best: Transform3d = field(default_factory=Transform3d)
alt: Transform3d = field(default_factory=Transform3d)
ambiguity: float = 0.0
bestReprojError: float = 0.0
altReprojError: float = 0.0
def createFromPacket(self, packet: Packet) -> Packet:
self.isPresent = packet.decodeBoolean()
self.best = packet.decodeTransform()
self.alt = packet.decodeTransform()
self.bestReprojError = packet.decodeDouble()
self.altReprojError = packet.decodeDouble()
self.ambiguity = packet.decodeDouble()
return packet
@dataclass
class MultiTargetPNPResult:
_MAX_IDS = 32
# pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
_PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (1 * _MAX_IDS)
estimatedPose: PNPResult = field(default_factory=PNPResult)
fiducialIDsUsed: list[int] = field(default_factory=list)
def createFromPacket(self, packet: Packet) -> Packet:
self.estimatedPose = PNPResult()
self.estimatedPose.createFromPacket(packet)
self.fiducialIDsUsed = []
for _ in range(MultiTargetPNPResult._MAX_IDS):
fidId = packet.decode16()
if fidId >= 0:
self.fiducialIDsUsed.append(fidId)
return packet

143
photon-lib/py/photonlibpy/packet.py Normal file
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import struct
from wpimath.geometry import Transform3d, Translation3d, Rotation3d, Quaternion
import wpilib
class Packet:
def __init__(self, data: list[int]):
"""
* Constructs an empty packet.
*
* @param self.size The self.size of the packet buffer.
"""
self.packetData = data
self.size = len(data)
self.readPos = 0
self.outOfBytes = False
def clear(self):
"""Clears the packet and resets the read and write positions."""
self.packetData = [0] * self.size
self.readPos = 0
self.outOfBytes = False
def getSize(self):
return self.size
_NO_MORE_BYTES_MESSAGE = """
Photonlib - Ran out of bytes while decoding.
Make sure the version of photonvision on the coprocessor
matches the version of photonlib running in the robot code.
"""
def _getNextByte(self) -> int:
retVal = 0x00
if not self.outOfBytes:
try:
retVal = 0x00FF & self.packetData[self.readPos]
self.readPos += 1
except IndexError:
wpilib.reportError(Packet._NO_MORE_BYTES_MESSAGE, True)
self.outOfBytes = True
return retVal
def getData(self) -> list[int]:
"""
* Returns the packet data.
*
* @return The packet data.
"""
return self.packetData
def setData(self, data: list[int]):
"""
* Sets the packet data.
*
* @param data The packet data.
"""
self.clear()
self.packetData = data
self.size = len(self.packetData)
def _decodeGeneric(self, unpackFormat, numBytes):
# Read ints in from the data buffer
intList = []
for _ in range(numBytes):
intList.append(self._getNextByte())
# Interpret the bytes as a floating point number
value = struct.unpack(unpackFormat, bytes(intList))[0]
return value
def decode8(self) -> int:
"""
* Returns a single decoded byte from the packet.
*
* @return A decoded byte from the packet.
"""
return self._decodeGeneric(">b", 1)
def decode16(self) -> int:
"""
* Returns a single decoded byte from the packet.
*
* @return A decoded byte from the packet.
"""
return self._decodeGeneric(">h", 2)
def decode32(self) -> int:
"""
* Returns a decoded int (32 bytes) from the packet.
*
* @return A decoded int from the packet.
"""
return self._decodeGeneric(">l", 4)
def decodeDouble(self) -> float:
"""
* Returns a decoded double from the packet.
*
* @return A decoded double from the packet.
"""
return self._decodeGeneric(">d", 8)
def decodeBoolean(self) -> bool:
"""
* Returns a decoded boolean from the packet.
*
* @return A decoded boolean from the packet.
"""
return self.decode8() == 1
def decodeDoubleArray(self, length: int) -> list[float]:
"""
* Returns a decoded array of floats from the packet.
*
* @return A decoded array of floats from the packet.
"""
ret = []
for _ in range(length):
ret.append(self.decodeDouble())
return ret
def decodeTransform(self) -> Transform3d:
"""
* Returns a decoded Transform3d
*
* @return A decoded Tansform3d from the packet.
"""
x = self.decodeDouble()
y = self.decodeDouble()
z = self.decodeDouble()
translation = Translation3d(x, y, z)
w = self.decodeDouble()
x = self.decodeDouble()
y = self.decodeDouble()
z = self.decodeDouble()
rotation = Rotation3d(Quaternion(w, x, y, z))
return Transform3d(translation, rotation)

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photon-lib/py/photonlibpy/photonCamera.py Normal file
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from enum import Enum
import ntcore
from wpilib import Timer
import wpilib
from photonlibpy.packet import Packet
from photonlibpy.photonPipelineResult import PhotonPipelineResult
from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION
class VisionLEDMode(Enum):
kDefault = -1
kOff = 0
kOn = 1
kBlink = 2
lastVersionTimeCheck = 0.0
_VERSION_CHECK_ENABLED = True
def setVersionCheckEnabled(enabled: bool):
_VERSION_CHECK_ENABLED = enabled
class PhotonCamera:
def __init__(self, cameraName: str):
instance = ntcore.NetworkTableInstance.getDefault()
self.name = cameraName
self._tableName = "photonvision"
photonvision_root_table = instance.getTable(self._tableName)
self.cameraTable = photonvision_root_table.getSubTable(cameraName)
self.path = self.cameraTable.getPath()
self.rawBytesEntry = self.cameraTable.getRawTopic("rawBytes").subscribe(
"rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
)
self.driverModePublisher = self.cameraTable.getBooleanTopic(
"driverModeRequest"
).publish()
self.driverModeSubscriber = self.cameraTable.getBooleanTopic(
"driverMode"
).subscribe(False)
self.inputSaveImgEntry = self.cameraTable.getIntegerTopic(
"inputSaveImgCmd"
).getEntry(0)
self.outputSaveImgEntry = self.cameraTable.getIntegerTopic(
"outputSaveImgCmd"
).getEntry(0)
self.pipelineIndexRequest = self.cameraTable.getIntegerTopic(
"pipelineIndexRequest"
).publish()
self.pipelineIndexState = self.cameraTable.getIntegerTopic(
"pipelineIndexState"
).subscribe(0)
self.heartbeatEntry = self.cameraTable.getIntegerTopic("heartbeat").subscribe(
-1
)
self.ledModeRequest = photonvision_root_table.getIntegerTopic(
"ledModeRequest"
).publish()
self.ledModeState = photonvision_root_table.getIntegerTopic(
"ledModeState"
).subscribe(-1)
self.versionEntry = photonvision_root_table.getStringTopic("version").subscribe(
""
)
# Existing is enough to make this multisubscriber do its thing
self.topicNameSubscriber = ntcore.MultiSubscriber(
instance, ["/photonvision/"], ntcore.PubSubOptions(topicsOnly=True)
)
self.prevHeartbeat = 0
self.prevHeartbeatChangeTime = Timer.getFPGATimestamp()
def getLatestResult(self) -> PhotonPipelineResult:
self._versionCheck()
retVal = PhotonPipelineResult()
packetWithTimestamp = self.rawBytesEntry.getAtomic()
byteList = packetWithTimestamp.value
timestamp = packetWithTimestamp.time
if len(byteList) < 1:
return retVal
else:
retVal.populateFromPacket(Packet(byteList))
# NT4 allows us to correct the timestamp based on when the message was sent
retVal.setTimestampSeconds(
timestamp / 1e-6 - retVal.getLatencyMillis() / 1e-3
)
return retVal
def getDriverMode(self) -> bool:
return self.driverModeSubscriber.get()
def setDriverMode(self, driverMode: bool) -> None:
self.driverModePublisher.set(driverMode)
def takeInputSnapshot(self) -> None:
self.inputSaveImgEntry.set(self.inputSaveImgEntry.get() + 1)
def takeOutputSnapshot(self) -> None:
self.outputSaveImgEntry.set(self.outputSaveImgEntry.get() + 1)
def getPipelineIndex(self) -> int:
return self.pipelineIndexState.get(0)
def setPipelineIndex(self, index: int) -> None:
self.pipelineIndexRequest.set(index)
def getLEDMode(self) -> VisionLEDMode:
mode = self.ledModeState.get()
return VisionLEDMode(mode)
def setLEDMode(self, led: VisionLEDMode) -> None:
self.ledModeRequest.set(led.value)
def getName(self) -> str:
return self.name
def isConnected(self) -> bool:
curHeartbeat = self.heartbeatEntry.get()
now = Timer.getFPGATimestamp()
if curHeartbeat != self.prevHeartbeat:
self.prevHeartbeat = curHeartbeat
self.prevHeartbeatChangeTime = now
return (now - self.prevHeartbeatChangeTime) < 0.5
def _versionCheck(self) -> None:
if not _VERSION_CHECK_ENABLED:
return
if (Timer.getFPGATimestamp() - lastVersionTimeCheck) < 5.0:
return
if not self.heartbeatEntry.exists():
cameraNames = (
self.cameraTable.getInstance().getTable(self._tableName).getSubTables()
)
if len(cameraNames) == 0:
wpilib.reportError(
"Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
False,
)
else:
wpilib.reportError(
f"PhotonVision coprocessor at path {self.path} not found in Network Tables. Double check that your camera names match! Only the following camera names were found: { ''.join(cameraNames)}",
True,
)
elif not self.isConnected():
wpilib.reportWarning(
f"PhotonVision coprocessor at path {self.path} is not sending new data.",
True,
)
versionString = self.versionEntry.get(defaultValue="")
if len(versionString) > 0 and versionString != PHOTONVISION_VERSION:
wpilib.reportWarning(
"Photon version "
+ PHOTONVISION_VERSION
+ " does not match coprocessor version "
+ versionString
+ f"! Please install photonlibpy version {PHOTONLIB_VERSION}",
True,
)

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photon-lib/py/photonlibpy/photonPipelineResult.py Normal file
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from dataclasses import dataclass, field
from photonlibpy.multiTargetPNPResult import MultiTargetPNPResult
from photonlibpy.packet import Packet
from photonlibpy.photonTrackedTarget import PhotonTrackedTarget
@dataclass
class PhotonPipelineResult:
latencyMillis: float = -1.0
timestampSec: float = -1.0
targets: list[PhotonTrackedTarget] = field(default_factory=list)
multiTagResult: MultiTargetPNPResult = field(default_factory=MultiTargetPNPResult)
def populateFromPacket(self, packet: Packet) -> Packet:
self.targets = []
self.latencyMillis = packet.decodeDouble()
self.multiTagResult = MultiTargetPNPResult()
self.multiTagResult.createFromPacket(packet)
targetCount = packet.decode8()
for _ in range(targetCount):
target = PhotonTrackedTarget()
target.createFromPacket(packet)
self.targets.append(target)
return packet
def setTimestampSeconds(self, timestampSec: float) -> None:
self.timestampSec = timestampSec
def getLatencyMillis(self) -> float:
return self.latencyMillis
def getTimestamp(self) -> float:
return self.timestampSec
def getTargets(self) -> list[PhotonTrackedTarget]:
return self.targets

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photon-lib/py/photonlibpy/photonTrackedTarget.py Normal file
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from dataclasses import dataclass, field
from wpimath.geometry import Transform3d
from photonlibpy.packet import Packet
@dataclass
class TargetCorner:
x: float
y: float
@dataclass
class PhotonTrackedTarget:
_MAX_CORNERS = 8
_NUM_BYTES_IN_FLOAT = 8
_PACK_SIZE_BYTES = _NUM_BYTES_IN_FLOAT * (5 + 7 + 2 * 4 + 1 + 7 + 2 * _MAX_CORNERS)
yaw: float = 0.0
pitch: float = 0.0
area: float = 0.0
skew: float = 0.0
fiducialId: int = -1
bestCameraToTarget: Transform3d = field(default_factory=Transform3d)
altCameraToTarget: Transform3d = field(default_factory=Transform3d)
minAreaRectCorners: list[TargetCorner] | None = None
detectedCorners: list[TargetCorner] | None = None
poseAmbiguity: float = 0.0
def getYaw(self) -> float:
return self.yaw
def getPitch(self) -> float:
return self.pitch
def getArea(self) -> float:
return self.area
def getSkew(self) -> float:
return self.skew
def getFiducialId(self) -> int:
return self.fiducialId
def getPoseAmbiguity(self) -> float:
return self.poseAmbiguity
def getMinAreaRectCorners(self) -> list[TargetCorner] | None:
return self.minAreaRectCorners
def getDetectedCorners(self) -> list[TargetCorner] | None:
return self.detectedCorners
def getBestCameraToTarget(self) -> Transform3d:
return self.bestCameraToTarget
def getAlternateCameraToTarget(self) -> Transform3d:
return self.altCameraToTarget
def _decodeTargetList(self, packet: Packet, numTargets: int) -> list[TargetCorner]:
retList = []
for _ in range(numTargets):
cx = packet.decodeDouble()
cy = packet.decodeDouble()
retList.append(TargetCorner(cx, cy))
return retList
def createFromPacket(self, packet: Packet) -> Packet:
self.yaw = packet.decodeDouble()
self.pitch = packet.decodeDouble()
self.area = packet.decodeDouble()
self.skew = packet.decodeDouble()
self.fiducialId = packet.decode32()
self.bestCameraToTarget = packet.decodeTransform()
self.altCameraToTarget = packet.decodeTransform()
self.poseAmbiguity = packet.decodeDouble()
self.minAreaRectCorners = self._decodeTargetList(packet, 4) # always four
numCorners = packet.decode8()
self.detectedCorners = self._decodeTargetList(packet, numCorners)
return packet

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photon-lib/py/setup.py Normal file
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from setuptools import setup, find_packages
import subprocess, re
gitDescribeResult = (
subprocess.check_output(["git", "describe", "--tags", "--match=v*", "--always"])
.decode("utf-8")
.strip()
)
m = re.search(
r"(v[0-9]{4}\.[0-9]{1}\.[0-9]{1})-?((?:beta)?(?:alpha)?)-?([0-9\.]*)",
gitDescribeResult,
)
# Extract the first portion of the git describe result
# which should be PEP440 compliant
if m:
versionString = m.group(0)
prefix = m.group(1)
maturity = m.group(2)
suffix = m.group(3).replace(".", "")
versionString = f"{prefix}.{maturity}.{suffix}"
else:
print("Warning, no valid version found")
versionString = gitDescribeResult
print(f"Building version {versionString}")
# Put the version info into a python file for runtime access
with open("photonlibpy/version.py", "w", encoding="utf-8") as fp:
fp.write(f'PHOTONLIB_VERSION="{versionString}"\n')
fp.write(f'PHOTONVISION_VERSION="{gitDescribeResult}"\n')
descriptionStr = f"""
Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors.
Implemented with PhotonVision version {gitDescribeResult} .
"""
setup(
name="photonlibpy",
packages=find_packages(),
version=versionString,
install_requires=[
"wpilib<2025,>=2024.0.0b2",
"robotpy-wpimath<2025,>=2024.0.0b2",
"pyntcore<2025,>=2024.0.0b2",
],
description=descriptionStr,
url="https://photonvision.org",
author="Photonvision Development Team",
)

239
photon-lib/py/test/data.py Normal file
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# fmt: off
rawBytes1 = [
64, 166, 117, 41, 225, 243, 165, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 0
]
rawBytes2 = [
64, 114, 72, 58, 227, 96, 141, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 0
]
rawBytes3 = [
64, 55, 65, 189, 215, 102, 131, 195, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 0
]
rawBytes4 = [
64, 115, 23, 245, 248, 9, 145, 121, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 1, 64, 41, 32, 212, 70, 53, 253, 38, 64, 19, 140,
198, 187, 206, 56, 251, 64, 38, 63, 170, 170, 170, 170, 170, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 17, 63, 226, 15, 19, 123, 229, 152, 236, 191, 191, 225,
27, 96, 1, 219, 30, 63, 168, 175, 103, 65, 172, 24, 8, 63, 115, 51, 123,
216, 202, 14, 128, 191, 155, 163, 119, 215, 217, 209, 224, 63, 212, 76, 79,
227, 166, 197, 80, 63, 238, 85, 211, 252, 64, 132, 136, 63, 226, 13, 126,
170, 219, 202, 209, 191, 190, 134, 80, 94, 25, 179, 17, 63, 168, 92, 53,
102, 36, 28, 64, 63, 204, 203, 52, 12, 186, 226, 51, 63, 148, 67, 104, 89,
131, 114, 208, 63, 211, 104, 18, 25, 149, 138, 78, 63, 237, 159, 242, 53,
211, 204, 51, 63, 217, 254, 169, 82, 190, 36, 22, 64, 123, 96, 0, 6, 100,
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46
photon-lib/py/test/photonlibpy_test.py Normal file
View File

@@ -0,0 +1,46 @@
from photonlibpy.packet import Packet
from photonlibpy.photonPipelineResult import PhotonPipelineResult
from data import rawBytes1
from data import rawBytes2
from data import rawBytes3
from data import rawBytes4
from data import rawBytes5
from data import rawBytes6
def setupCommon(bytesIn):
res = PhotonPipelineResult()
packet = Packet(bytesIn)
res.populateFromPacket(packet)
assert packet.outOfBytes is False
return res
def test_byteParse1():
res = setupCommon(rawBytes1)
assert len(res.getTargets()) == 0
def test_byteParse2():
res = setupCommon(rawBytes2)
assert len(res.getTargets()) == 0
def test_byteParse3():
res = setupCommon(rawBytes3)
assert len(res.getTargets()) == 0
def test_byteParse4():
res = setupCommon(rawBytes4)
assert len(res.getTargets()) == 1
def test_byteParse5():
res = setupCommon(rawBytes5)
assert len(res.getTargets()) == 1
def test_byteParse6():
res = setupCommon(rawBytes6)
assert len(res.getTargets()) > 6