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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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59
photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
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@@ -20,12 +20,11 @@ package org.photonvision.targeting;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.dataflow.structures.PacketSerde;
public class MultiTargetPNPResult {
// Seeing 32 apriltags at once seems like a sane limit
private static final int MAX_IDS = 32;
// pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
public static final int PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (Short.BYTES * MAX_IDS);
public PNPResult estimatedPose = new PNPResult();
public List<Integer> fiducialIDsUsed = List.of();
@@ -37,27 +36,6 @@ public class MultiTargetPNPResult {
fiducialIDsUsed = ids;
}
public static MultiTargetPNPResult createFromPacket(Packet packet) {
var results = PNPResult.createFromPacket(packet);
var ids = new ArrayList<Integer>(MAX_IDS);
for (int i = 0; i < MAX_IDS; i++) {
int targetId = packet.decodeShort();
if (targetId > -1) ids.add(targetId);
}
return new MultiTargetPNPResult(results, ids);
}
public void populatePacket(Packet packet) {
estimatedPose.populatePacket(packet);
for (int i = 0; i < MAX_IDS; i++) {
if (i < fiducialIDsUsed.size()) {
packet.encode((short) fiducialIDsUsed.get(i).byteValue());
} else {
packet.encode((short) -1);
}
}
}
@Override
public int hashCode() {
final int prime = 31;
@@ -90,4 +68,39 @@ public class MultiTargetPNPResult {
+ fiducialIDsUsed
+ "]";
}
public static final class APacketSerde implements PacketSerde<MultiTargetPNPResult> {
@Override
public int getMaxByteSize() {
// PNPResult + MAX_IDS possible targets (arbitrary upper limit that should never be hit,
// ideally)
return PNPResult.serde.getMaxByteSize() + (Short.BYTES * MAX_IDS);
}
@Override
public void pack(Packet packet, MultiTargetPNPResult result) {
PNPResult.serde.pack(packet, result.estimatedPose);
for (int i = 0; i < MAX_IDS; i++) {
if (i < result.fiducialIDsUsed.size()) {
packet.encode((short) result.fiducialIDsUsed.get(i).byteValue());
} else {
packet.encode((short) -1);
}
}
}
@Override
public MultiTargetPNPResult unpack(Packet packet) {
var results = PNPResult.serde.unpack(packet);
var ids = new ArrayList<Integer>(MAX_IDS);
for (int i = 0; i < MAX_IDS; i++) {
int targetId = packet.decodeShort();
if (targetId > -1) ids.add(targetId);
}
return new MultiTargetPNPResult(results, ids);
}
}
public static final APacketSerde serde = new APacketSerde();
}