[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
2026-06-21 01:01:41 +00:00 · 2023-11-19 15:16:22 -05:00
parent 308fd801d4
commit 994ea1e76b
50 changed files with 1132 additions and 910 deletions
--- a/photon-targeting/src/test/native/cpp/PacketTest.cpp
+++ b/photon-targeting/src/test/native/cpp/PacketTest.cpp
@@ -0,0 +1,120 @@
+/*
+ * 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 <units/angle.h>
+
+#include "gtest/gtest.h"
+#include "photon/dataflow/structures/Packet.h"
+#include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
+#include "photon/targeting/PhotonPipelineResult.h"
+#include "photon/targeting/PhotonTrackedTarget.h"
+
+TEST(PacketTest, PNPResult) {
+  photon::PNPResult result;
+  photon::Packet p;
+  p << result;
+
+  photon::PNPResult b;
+  p >> b;
+
+  EXPECT_EQ(result, b);
+}
+
+TEST(PacketTest, MultiTargetPNPResult) {
+  photon::MultiTargetPNPResult result;
+  photon::Packet p;
+  p << result;
+
+  photon::MultiTargetPNPResult b;
+  p >> b;
+
+  EXPECT_EQ(result, b);
+}
+
+TEST(PacketTest, PhotonTrackedTarget) {
+  photon::PhotonTrackedTarget target{
+      3.0,
+      4.0,
+      9.0,
+      -5.0,
+      -1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      -1,
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
+
+  photon::Packet p;
+  p << target;
+
+  photon::PhotonTrackedTarget b;
+  p >> b;
+
+  EXPECT_EQ(target, b);
+}
+
+TEST(PacketTest, PhotonPipelineResult) {
+  photon::PhotonPipelineResult result{1_s, {}};
+  photon::Packet p;
+  p << result;
+
+  photon::PhotonPipelineResult b;
+  p >> b;
+
+  EXPECT_EQ(result, b);
+
+  wpi::SmallVector<photon::PhotonTrackedTarget, 2> targets{
+      photon::PhotonTrackedTarget{
+          3.0,
+          -4.0,
+          9.0,
+          4.0,
+          1,
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          -1,
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
+      photon::PhotonTrackedTarget{
+          3.0,
+          -4.0,
+          9.1,
+          6.7,
+          -1,
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          -1,
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
+           std::pair{7, 8}}}};
+
+  photon::PhotonPipelineResult result2{2_s, targets};
+  photon::Packet p2;
+  p2 << result2;
+
+  photon::PhotonPipelineResult b2;
+  p2 >> b2;
+
+  EXPECT_EQ(result2, b2);
+}
--- a/photon-targeting/src/test/native/cpp/main.cpp
+++ b/photon-targeting/src/test/native/cpp/main.cpp
@@ -0,0 +1,23 @@
+/*
+ * 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 "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
--- a/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp
@@ -0,0 +1,25 @@
+/*
+ * 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 "gtest/gtest.h"
+#include "photon/targeting/MultiTargetPNPResult.h"
+
+// TODO
+TEST(MultiTargetPNPResultTest, Equality) {}
+
+// TODO
+TEST(MultiTargetPNPResultTest, Inequality) {}
--- a/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp
@@ -0,0 +1,25 @@
+/*
+ * 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 "gtest/gtest.h"
+#include "photon/targeting/PNPResult.h"
+
+// TODO
+TEST(PNPResultTest, Equality) {}
+
+// TODO
+TEST(PNPResultTest, Inequality) {}
--- a/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp
@@ -0,0 +1,25 @@
+/*
+ * 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 "gtest/gtest.h"
+#include "photon/targeting/PhotonPipelineResult.h"
+
+// TODO
+TEST(PhotonPipelineResultTest, Equality) {}
+
+// TODO
+TEST(PhotonPipelineResultTest, Inequality) {}
--- a/photon-targeting/src/test/native/cpp/targeting/PhotonTrackedTargetTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/PhotonTrackedTargetTest.cpp
@@ -0,0 +1,25 @@
+/*
+ * 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 "gtest/gtest.h"
+#include "photon/targeting/PhotonTrackedTarget.h"
+
+// TODO
+TEST(PhotonTrackedTargetTest, Equality) {}
+
+// TODO
+TEST(PhotonTrackedTargetTest, Inequality) {}