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Add PacketSerde interface and expand PacketUtils for more wpimath classes (#1058)

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Follows a similar system to the current Protobuf implementation that helps make code more readable and expandable. Also wraps the NT topic to be more useful. Impl stuff is hidden so it can't be extended. Optimizes AT-specific classes by only serializing data when needed, won't save on size but will on time.

closes #1003
This commit is contained in:
Sriman Achanta
2023-12-24 19:56:08 -05:00
committed by GitHub
parent 0356eeeb50
commit 5be9b8be2c
17 changed files with 792 additions and 433 deletions
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5
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -47,7 +47,6 @@ import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonTargetSortMode;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.networktables.NTTopicSet;
import org.photonvision.estimation.CameraTargetRelation;
import org.photonvision.estimation.OpenCVHelp;
@@ -564,9 +563,7 @@ public class PhotonCameraSim implements AutoCloseable {
public void submitProcessedFrame(PhotonPipelineResult result, long receiveTimestamp) {
ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
var newPacket = new Packet(result.getPacketSize());
result.populatePacket(newPacket);
ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp);
ts.resultPublisher.accept(result, result.getPacketSize());
boolean hasTargets = result.hasTargets();
ts.hasTargetEntry.set(hasTargets, receiveTimestamp);