mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-27 02:01:40 +00:00
Bump to WPILib 2025 Beta 1 & remove C++ protobuf (#1484)
Remove C++ protobuf support until https://github.com/wpilibsuite/allwpilib/issues/7250 is addressed. Developers should upgrade to wpilib vscode 2025 beta 1. --------- Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Cameron (3539)
@@ -1,60 +0,0 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "photon/targeting/proto/MultiTargetPNPResultProto.h"
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#include <vector>
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#include "photon.pb.h"
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#include "photon/targeting/proto/PNPResultProto.h"
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google::protobuf::Message* wpi::Protobuf<photon::MultiTargetPNPResult>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<
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photonvision::proto::ProtobufMultiTargetPNPResult>(arena);
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}
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photon::MultiTargetPNPResult
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wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(
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const google::protobuf::Message& msg) {
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auto m =
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static_cast<const photonvision::proto::ProtobufMultiTargetPNPResult*>(
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&msg);
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std::vector<int16_t> fiducialIdsUsed;
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fiducialIdsUsed.reserve(32);
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for (int i = 0; i < m->fiducial_ids_used_size(); i++) {
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fiducialIdsUsed.push_back(m->fiducial_ids_used(i));
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}
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return photon::MultiTargetPNPResult{photon::MultiTargetPNPResult_PhotonStruct{
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wpi::UnpackProtobuf<photon::PnpResult>(m->estimated_pose()),
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fiducialIdsUsed}};
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}
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void wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(
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google::protobuf::Message* msg, const photon::MultiTargetPNPResult& value) {
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auto m = static_cast<photonvision::proto::ProtobufMultiTargetPNPResult*>(msg);
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wpi::PackProtobuf(m->mutable_estimated_pose(), value.estimatedPose);
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m->clear_fiducial_ids_used();
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for (const auto& t : value.fiducialIDsUsed) {
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m->add_fiducial_ids_used(t);
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}
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}
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@@ -1,48 +0,0 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "photon/targeting/proto/PNPResultProto.h"
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#include "photon.pb.h"
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google::protobuf::Message* wpi::Protobuf<photon::PnpResult>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<
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photonvision::proto::ProtobufPNPResult>(arena);
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}
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photon::PnpResult wpi::Protobuf<photon::PnpResult>::Unpack(
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const google::protobuf::Message& msg) {
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auto m = static_cast<const photonvision::proto::ProtobufPNPResult*>(&msg);
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return photon::PnpResult{photon::PnpResult_PhotonStruct{
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wpi::UnpackProtobuf<frc::Transform3d>(m->best()),
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wpi::UnpackProtobuf<frc::Transform3d>(m->alt()), m->best_reproj_err(),
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m->alt_reproj_err(), m->ambiguity()}};
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}
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void wpi::Protobuf<photon::PnpResult>::Pack(google::protobuf::Message* msg,
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const photon::PnpResult& value) {
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auto m = static_cast<photonvision::proto::ProtobufPNPResult*>(msg);
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// m->set_is_present(value.isPresent);
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wpi::PackProtobuf(m->mutable_best(), value.best);
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m->set_best_reproj_err(value.bestReprojErr);
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wpi::PackProtobuf(m->mutable_alt(), value.alt);
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m->set_alt_reproj_err(value.altReprojErr);
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m->set_ambiguity(value.ambiguity);
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}
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@@ -1,80 +0,0 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "photon/targeting/proto/PhotonPipelineResultProto.h"
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#include <vector>
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#include "photon.pb.h"
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#include "photon/targeting/proto/MultiTargetPNPResultProto.h"
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#include "photon/targeting/proto/PhotonTrackedTargetProto.h"
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google::protobuf::Message* wpi::Protobuf<photon::PhotonPipelineResult>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<
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photonvision::proto::ProtobufPhotonPipelineResult>(arena);
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}
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photon::PhotonPipelineResult
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wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(
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const google::protobuf::Message& msg) {
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auto m =
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static_cast<const photonvision::proto::ProtobufPhotonPipelineResult*>(
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&msg);
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std::vector<photon::PhotonTrackedTarget> targets;
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targets.reserve(m->targets_size());
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for (const auto& t : m->targets()) {
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targets.emplace_back(wpi::UnpackProtobuf<photon::PhotonTrackedTarget>(t));
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}
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return photon::PhotonPipelineResult{photon::PhotonPipelineResult_PhotonStruct{
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photon::PhotonPipelineMetadata{
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photon::PhotonPipelineMetadata_PhotonStruct{
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m->sequence_id(),
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m->capture_timestamp_micros(),
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m->nt_publish_timestamp_micros(),
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}},
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targets,
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// TODO need to pull this into an optional
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m->has_multi_target_result()
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? std::optional<photon::MultiTargetPNPResult>{wpi::UnpackProtobuf<
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photon::MultiTargetPNPResult>(m->multi_target_result())}
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: std::nullopt,
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}};
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}
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void wpi::Protobuf<photon::PhotonPipelineResult>::Pack(
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google::protobuf::Message* msg, const photon::PhotonPipelineResult& value) {
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auto m = static_cast<photonvision::proto::ProtobufPhotonPipelineResult*>(msg);
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m->set_sequence_id(value.metadata.sequenceID);
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m->set_capture_timestamp_micros(value.metadata.captureTimestampMicros);
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m->set_nt_publish_timestamp_micros(value.metadata.publishTimestampMicros);
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m->clear_targets();
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for (const auto& t : value.GetTargets()) {
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wpi::PackProtobuf(m->add_targets(), t);
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}
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// TODO this is dumb and bad
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if (value.multitagResult) {
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wpi::PackProtobuf(m->mutable_multi_target_result(), *value.multitagResult);
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} else {
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m->clear_multi_target_result();
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}
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}
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@@ -1,90 +0,0 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "photon/targeting/proto/PhotonTrackedTargetProto.h"
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#include <utility>
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#include <vector>
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#include "photon.pb.h"
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using photon::TargetCorner;
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using photon::TargetCorner_PhotonStruct;
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google::protobuf::Message* wpi::Protobuf<photon::PhotonTrackedTarget>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<
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photonvision::proto::ProtobufPhotonTrackedTarget>(arena);
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}
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photon::PhotonTrackedTarget wpi::Protobuf<photon::PhotonTrackedTarget>::Unpack(
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const google::protobuf::Message& msg) {
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auto m = static_cast<const photonvision::proto::ProtobufPhotonTrackedTarget*>(
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&msg);
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std::vector<photon::TargetCorner> minAreaRectCorners;
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minAreaRectCorners.reserve(4);
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for (const auto& t : m->min_area_rect_corners()) {
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minAreaRectCorners.emplace_back(
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TargetCorner{TargetCorner_PhotonStruct{t.x(), t.y()}});
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}
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std::vector<photon::TargetCorner> detectedCorners;
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detectedCorners.reserve(m->detected_corners_size());
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for (const auto& t : m->detected_corners()) {
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minAreaRectCorners.emplace_back(
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TargetCorner{TargetCorner_PhotonStruct{t.x(), t.y()}});
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}
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return photon::PhotonTrackedTarget{photon::PhotonTrackedTarget_PhotonStruct{
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m->yaw(), m->pitch(), m->area(), m->skew(), m->fiducial_id(),
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m->obj_detection_id(), m->obj_detection_conf(),
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wpi::UnpackProtobuf<frc::Transform3d>(m->best_camera_to_target()),
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wpi::UnpackProtobuf<frc::Transform3d>(m->alt_camera_to_target()),
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m->pose_ambiguity(), minAreaRectCorners, detectedCorners}};
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}
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void wpi::Protobuf<photon::PhotonTrackedTarget>::Pack(
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google::protobuf::Message* msg, const photon::PhotonTrackedTarget& value) {
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auto m = static_cast<photonvision::proto::ProtobufPhotonTrackedTarget*>(msg);
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m->set_yaw(value.yaw);
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m->set_pitch(value.pitch);
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m->set_area(value.area);
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m->set_skew(value.skew);
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m->set_fiducial_id(value.fiducialId);
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m->set_obj_detection_id(value.objDetectId);
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m->set_obj_detection_conf(value.objDetectConf);
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wpi::PackProtobuf(m->mutable_best_camera_to_target(),
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value.bestCameraToTarget);
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wpi::PackProtobuf(m->mutable_alt_camera_to_target(), value.altCameraToTarget);
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m->set_pose_ambiguity(value.poseAmbiguity);
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m->clear_min_area_rect_corners();
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for (const auto& t : value.GetMinAreaRectCorners()) {
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auto* corner = m->add_min_area_rect_corners();
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corner->set_x(t.x);
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corner->set_y(t.y);
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}
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m->clear_detected_corners();
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for (const auto& t : value.GetDetectedCorners()) {
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auto* corner = m->add_detected_corners();
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corner->set_x(t.x);
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corner->set_y(t.y);
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}
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}
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