Add photonlibpy (#1040)

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

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

photon-lib/py/photonlibpy/photonTrackedTarget.py

@@ -0,0 +1,82 @@
+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