mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-23 01:21:40 +00:00
2ecd988628
Allows logging software and live data view to see results. Also removes the requirement for AScope to keep up with the packet serde schema and instead just use the Protobuf descriptor.
68 lines
2.4 KiB
C++
68 lines
2.4 KiB
C++
/*
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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/PhotonPipelineResult.h"
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namespace photon {
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PhotonPipelineResult::PhotonPipelineResult(
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units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets)
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: latency(latency),
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targets(targets.data(), targets.data() + targets.size()) {}
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PhotonPipelineResult::PhotonPipelineResult(
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units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets,
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MultiTargetPNPResult multitagResult)
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: latency(latency),
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targets(targets.data(), targets.data() + targets.size()),
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multitagResult(multitagResult) {}
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bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
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return latency == other.latency && targets == other.targets &&
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multitagResult == other.multitagResult;
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}
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Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
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// Encode latency and number of targets.
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packet << result.latency.value() << result.multitagResult
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<< static_cast<int8_t>(result.targets.size());
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// Encode the information of each target.
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for (auto& target : result.targets) packet << target;
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// Return the packet
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return packet;
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}
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Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
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// Decode latency, existence of targets, and number of targets.
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double latencyMillis = 0;
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int8_t targetCount = 0;
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packet >> latencyMillis >> result.multitagResult >> targetCount;
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result.latency = units::millisecond_t(latencyMillis);
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result.targets.clear();
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// Decode the information of each target.
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for (int i = 0; i < targetCount; ++i) {
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PhotonTrackedTarget target;
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packet >> target;
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result.targets.push_back(target);
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}
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return packet;
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}
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} // namespace photon
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