Merge branch 'master' of github.com:mcm001/photonvision

Nobody reads these, right? This probably won't make things worse. Surely.

.github/workflows/build.yml

@@ -307,6 +307,8 @@ jobs:
           image_additional_mb: ${{ matrix.image_additional_mb }}
           optimize_image: yes
           cpu: ${{ matrix.cpu }}
+          # We do _not_ wanna copy photon into the image. Bind mount instead
+          bind_mount_repository: true
           commands: |
             chmod +x scripts/armrunner.sh
             ./scripts/armrunner.sh

build.gradle

@@ -1,7 +1,7 @@
 import edu.wpi.first.toolchain.*
 
 plugins {
-    id "com.diffplug.spotless" version "6.22.0"
+    id "com.diffplug.spotless" version "6.24.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.1.1"

photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java

@@ -40,6 +40,7 @@ public class MrCalJNILoader extends PhotonJNICommon {
                             "libccolamd",
                             "openblas",
                             "libgcc_s_seh-1",
+                            "libquadmath-0",
                             "libgfortran-5",
                             "liblapack",
                             "libcholmod",

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;
 

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.

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.

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;

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;