From b729d9e9172e11ad0225438e8a6504c4b12543c5 Mon Sep 17 00:00:00 2001
From: ArchB1W <44449514+ArchB1W@users.noreply.github.com>
Date: Sat, 13 Jan 2024 22:35:57 -0500
Subject: [PATCH] [photon-lib java] Implement ProtobufSerializable (#1156)

* [photon-lib java] Fix classes with protobuf support not "announcing it"

Since they didn't implement `ProtobufSerializable` this meant that most other software didn't even know protobufs were even implemented.
In AdvantageKit for example this would cause it to not work it all and crash.

* Run `spotlessJavaApply`
---
 .../java/org/photonvision/targeting/MultiTargetPNPResult.java  | 3 ++-
 .../src/main/java/org/photonvision/targeting/PNPResult.java    | 3 ++-
 .../java/org/photonvision/targeting/PhotonPipelineResult.java  | 3 ++-
 .../java/org/photonvision/targeting/PhotonTrackedTarget.java   | 3 ++-
 .../src/main/java/org/photonvision/targeting/TargetCorner.java | 3 ++-
 5 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
index 8cf84eb6a..380fe63ba 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
@@ -17,13 +17,14 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.MultiTargetPNPResultProto;
 
-public class MultiTargetPNPResult {
+public class MultiTargetPNPResult implements ProtobufSerializable {
     // Seeing 32 apriltags at once seems like a sane limit
     private static final int MAX_IDS = 32;
 
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
index e7038cca4..632e36d2b 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
@@ -18,6 +18,7 @@
 package org.photonvision.targeting;
 
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.PNPResultProto;
@@ -32,7 +33,7 @@ import org.photonvision.utils.PacketUtils;
  * <p>Note that the coordinate frame of these transforms depends on the implementing solvePnP
  * method.
  */
-public class PNPResult {
+public class PNPResult implements ProtobufSerializable {
     /**
      * If this result is valid. A false value indicates there was an error in estimation, and this
      * result should not be used.
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
index 7f70f3bbb..34f0602b1 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
@@ -17,6 +17,7 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
@@ -24,7 +25,7 @@ import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.PhotonPipelineResultProto;
 
 /** Represents a pipeline result from a PhotonCamera. */
-public class PhotonPipelineResult {
+public class PhotonPipelineResult implements ProtobufSerializable {
     private static boolean HAS_WARNED = false;
 
     // Targets to store.
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
index b559fec5f..bd59cb4b3 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
@@ -18,6 +18,7 @@
 package org.photonvision.targeting;
 
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
@@ -25,7 +26,7 @@ import org.photonvision.common.dataflow.structures.PacketSerde;
 import org.photonvision.targeting.proto.PhotonTrackedTargetProto;
 import org.photonvision.utils.PacketUtils;
 
-public class PhotonTrackedTarget {
+public class PhotonTrackedTarget implements ProtobufSerializable {
     private static final int MAX_CORNERS = 8;
 
     private final double yaw;
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java b/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
index 0e27c51b8..cd5ebfec7 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
@@ -17,6 +17,7 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.Objects;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.dataflow.structures.PacketSerde;
@@ -26,7 +27,7 @@ import org.photonvision.targeting.proto.TargetCornerProto;
  * Represents a point in an image at the corner of the minimum-area bounding rectangle, in pixels.
  * Origin at the top left, plus-x to the right, plus-y down.
  */
-public class TargetCorner {
+public class TargetCorner implements ProtobufSerializable {
     public final double x;
     public final double y;