mirror of
https://github.com/PhotonVision/photonvision
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25 lines
1.9 KiB
Markdown
25 lines
1.9 KiB
Markdown
# Photon Serde Autocode
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Like Rosmsg. But worse.
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## Goals
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- As fast as possible (only slightly slower than packed structs, ideally)
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- Support for variable length arrays and optional types
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- Allow deserialization into user-defined, possibly nested, types. See [ResultList](src/targeting/resultlist.h) for an example of this.
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## Design
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The code for a single type is split across 3 files. Let's look at PnpResult:
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- [The struct definition](src/struct/pnpresult_struct.h): This is the data the object holds. Auto-generated. The data this object holds can be primitives or other, fully-deserialized types (like Vec2)
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- [The user class](src/targeting/pnpresult_struct.h): This is the fully-deserialized PnpResult type. This contains extra functions users might need to expose like `Amgiguity`, or other computed helper things.
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- [The serde interface](src/serde/pnpresult_struct.h): This is a template specilization for converting the user class to/from bytes
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## Prior art
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- Protobuf: slow on embedded platforms (at least quickbuf is)
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- Wpi's struct: no VLAs/optionals
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- Rosmsg: I'm not using ros, but I'm stealing their message hash idea
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