mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-23 01:21:40 +00:00
939283df0e
fixed the unpacking order to match the current pipelineresult data layout. * fix positioning of multitarget struct in pipelineresult unpack * fix encode order in PhotonPipelineResult.cpp
71 lines
2.4 KiB
C++
71 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()
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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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packet << result.multitagResult;
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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 >> 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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packet >> result.multitagResult;
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return packet;
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}
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} // namespace photon
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