mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +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.
57 lines
1.9 KiB
C++
57 lines
1.9 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/proto/MultiTargetPNPResultProto.h"
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#include "photon.pb.h"
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#include "photon/targeting/proto/PNPResultProto.h"
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google::protobuf::Message* wpi::Protobuf<photon::MultiTargetPNPResult>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<
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photonvision::proto::ProtobufMultiTargetPNPResult>(arena);
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}
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photon::MultiTargetPNPResult
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wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(
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const google::protobuf::Message& msg) {
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auto m =
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static_cast<const photonvision::proto::ProtobufMultiTargetPNPResult*>(
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&msg);
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wpi::SmallVector<int16_t, 32> fiducialIdsUsed;
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for (int i = 0; i < m->fiducial_ids_used_size(); i++) {
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fiducialIdsUsed.push_back(m->fiducial_ids_used(i));
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}
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return photon::MultiTargetPNPResult{
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wpi::UnpackProtobuf<photon::PNPResult>(m->estimated_pose()),
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fiducialIdsUsed};
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}
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void wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(
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google::protobuf::Message* msg, const photon::MultiTargetPNPResult& value) {
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auto m = static_cast<photonvision::proto::ProtobufMultiTargetPNPResult*>(msg);
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wpi::PackProtobuf(m->mutable_estimated_pose(), value.result);
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m->clear_fiducial_ids_used();
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for (const auto& t : value.fiducialIdsUsed) {
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m->add_fiducial_ids_used(t);
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}
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}
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