[photon-targeting] Move C++ targeting classes to photon-targetting (#1009)

* add classes to targeting and update gradle

* rename me

* Finish cleanup

* Formatting fixes

* just use common.gradle

* Update build.gradle

* Update config.gradle

* remove typo

* simplify

* Add Packet Headers

* move simulation classes into simulation folder

* draw in dependency

* fix

* Everything working minus tests cause im lazy

* formatting fixes

REMEMBER TO REMOVE UNUSED IMPORTS, IM JUST TOO LAZY TO CHECK RN

* move packet test to targeting

* Formatting fixes

* remove TargetCorner from c++

im not 100% sure but just doing std::pair<double, double> is sufficient and shouldnt conflict with protobuf

* think i added packet

* fix namespace issue

* organize imports in photon-targeting

* Formatting fixes

* remove ctors

* fix typo

* Add PNP and Multitag packet tests

* revert TargetCorner class

* Add Test placeholders

* remove annoying print

* Reorganize build and publish process

channeling inner Thad

* add targeting as flag

* Update config.gradle

* fix issue with platform binaries not building

* Update photonlib.json.in

casing still needs to be checked

* add minimum level back

* add back UTF-8 encoding of javadoc

* simplify publish model for photon-lib

* fix windows symbol generation

* formatting fixes

* move task from main gradle to config

* Update config.gradle

photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp

@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "photon/targeting/PhotonPipelineResult.h"
+
+namespace photon {
+PhotonPipelineResult::PhotonPipelineResult(
+    units::second_t latency, std::span<const PhotonTrackedTarget> targets)
+    : latency(latency),
+      targets(targets.data(), targets.data() + targets.size()) {}
+
+PhotonPipelineResult::PhotonPipelineResult(
+    units::second_t latency, std::span<const PhotonTrackedTarget> targets,
+    MultiTargetPNPResult multitagResult)
+    : latency(latency),
+      targets(targets.data(), targets.data() + targets.size()),
+      multitagResult(multitagResult) {}
+
+bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
+  return latency == other.latency && targets == other.targets &&
+         multitagResult == other.multitagResult;
+}
+
+Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
+  // Encode latency and number of targets.
+  packet << result.latency.value() * 1000 << result.multitagResult
+         << static_cast<int8_t>(result.targets.size());
+
+  // Encode the information of each target.
+  for (auto& target : result.targets) packet << target;
+
+  // Return the packet
+  return packet;
+}
+
+Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
+  // Decode latency, existence of targets, and number of targets.
+  double latencyMillis = 0;
+  int8_t targetCount = 0;
+  packet >> latencyMillis >> result.multitagResult >> targetCount;
+  result.latency = units::second_t(latencyMillis / 1000.0);
+
+  result.targets.clear();
+
+  // Decode the information of each target.
+  for (int i = 0; i < targetCount; ++i) {
+    PhotonTrackedTarget target;
+    packet >> target;
+    result.targets.push_back(target);
+  }
+  return packet;
+}
+}  // namespace photon