Fix everything

PhotonVision · Dec 27, 2023 · 7034bb9 · 7034bb9
1 parent 112f3ca
commit 7034bb9
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Showing 9 changed files with 28 additions and 13 deletions.
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
@@ -19,12 +19,12 @@
 
 namespace photon {
 PhotonPipelineResult::PhotonPipelineResult(
-    units::second_t latency, std::span<const PhotonTrackedTarget> targets)
+    units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets)
     : latency(latency),
       targets(targets.data(), targets.data() + targets.size()) {}
 
 PhotonPipelineResult::PhotonPipelineResult(
-    units::second_t latency, std::span<const PhotonTrackedTarget> targets,
+    units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets,
     MultiTargetPNPResult multitagResult)
     : latency(latency),
       targets(targets.data(), targets.data() + targets.size()),
@@ -37,7 +37,7 @@ bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
 
 Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
   // Encode latency and number of targets.
-  packet << result.latency.value() * 1000 << result.multitagResult
+  packet << result.latency.value() << result.multitagResult
          << static_cast<int8_t>(result.targets.size());
 
   // Encode the information of each target.
@@ -52,7 +52,7 @@ Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
   double latencyMillis = 0;
   int8_t targetCount = 0;
   packet >> latencyMillis >> result.multitagResult >> targetCount;
-  result.latency = units::second_t(latencyMillis / 1000.0);
+  result.latency = units::millisecond_t(latencyMillis);
 
   result.targets.clear();
 

diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/MultiTargetPNPResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/MultiTargetPNPResultProto.cpp
@@ -18,6 +18,7 @@
 #include "photon/targeting/proto/MultiTargetPNPResultProto.h"
 
 #include "photon.pb.h"
+#include "photon/targeting/proto/PNPResultProto.h"
 
 google::protobuf::Message* wpi::Protobuf<photon::MultiTargetPNPResult>::New(
     google::protobuf::Arena* arena) {

diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PNPResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PNPResultProto.cpp
@@ -33,10 +33,12 @@ photon::PNPResult wpi::Protobuf<photon::PNPResult>::Unpack(
     return photon::PNPResult();
   }
 
-  return photon::PNPResult{wpi::UnpackProtobuf<frc::Transform3d>(m->best()),
+  return photon::PNPResult{true,
+                           wpi::UnpackProtobuf<frc::Transform3d>(m->best()),
                            m->best_reproj_err(),
                            wpi::UnpackProtobuf<frc::Transform3d>(m->alt()),
-                           m->alt_reproj_err(), m->ambiguity()};
+                           m->alt_reproj_err(),
+                           m->ambiguity()};
 }
 
 void wpi::Protobuf<photon::PNPResult>::Pack(google::protobuf::Message* msg,

diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp
@@ -18,6 +18,8 @@
 #include "photon/targeting/proto/PhotonPipelineResultProto.h"
 
 #include "photon.pb.h"
+#include "photon/targeting/proto/MultiTargetPNPResultProto.h"
+#include "photon/targeting/proto/PhotonTrackedTargetProto.h"
 
 google::protobuf::Message* wpi::Protobuf<photon::PhotonPipelineResult>::New(
     google::protobuf::Arena* arena) {

diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
@@ -44,7 +44,7 @@ class PhotonPipelineResult {
    * @param latency The latency in the pipeline.
    * @param targets The list of targets identified by the pipeline.
    */
-  PhotonPipelineResult(units::second_t latency,
+  PhotonPipelineResult(units::millisecond_t latency,
                        std::span<const PhotonTrackedTarget> targets);
 
   /**
@@ -53,7 +53,7 @@ class PhotonPipelineResult {
    * @param targets The list of targets identified by the pipeline.
    * @param multitagResult The multitarget result
    */
-  PhotonPipelineResult(units::second_t latency,
+  PhotonPipelineResult(units::millisecond_t latency,
                        std::span<const PhotonTrackedTarget> targets,
                        MultiTargetPNPResult multitagResult);
 
@@ -81,7 +81,7 @@ class PhotonPipelineResult {
    * Returns the latency in the pipeline.
    * @return The latency in the pipeline.
    */
-  units::second_t GetLatency() const { return latency; }
+  units::millisecond_t GetLatency() const { return latency; }
 
   /**
    * Returns the estimated time the frame was taken,
@@ -125,7 +125,7 @@ class PhotonPipelineResult {
   friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
   friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
 
-  units::second_t latency = 0_s;
+  units::millisecond_t latency = 0_s;
   units::second_t timestamp = -1_s;
   wpi::SmallVector<PhotonTrackedTarget, 10> targets;
   MultiTargetPNPResult multitagResult;

diff --git a/photon-targeting/src/test/native/cpp/targeting/proto/MultiTargetPNPResultProtoTest.cpp b/photon-targeting/src/test/native/cpp/targeting/proto/MultiTargetPNPResultProtoTest.cpp
@@ -18,6 +18,7 @@
 #include "gtest/gtest.h"
 #include "photon.pb.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/proto/MultiTargetPNPResultProto.h"
 
 TEST(MultiTargetPNPResultTest, Roundtrip) {
   photon::MultiTargetPNPResult result;
@@ -33,12 +34,14 @@ TEST(MultiTargetPNPResultTest, Roundtrip) {
   EXPECT_EQ(result, unpacked_data);
 
   photon::PNPResult pnpRes{
+      true,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
       0.1,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1, 0};
+      0.1,
+      0};
 
   photon::MultiTargetPNPResult result1{pnpRes, {1, 2, 3, 4}};
 

diff --git a/photon-targeting/src/test/native/cpp/targeting/proto/PNPResultProtoTest.cpp b/photon-targeting/src/test/native/cpp/targeting/proto/PNPResultProtoTest.cpp
@@ -18,6 +18,7 @@
 #include "gtest/gtest.h"
 #include "photon.pb.h"
 #include "photon/targeting/PNPResult.h"
+#include "photon/targeting/proto/PNPResultProto.h"
 
 TEST(PNPResultTest, Roundtrip) {
   photon::PNPResult result;
@@ -33,12 +34,14 @@ TEST(PNPResultTest, Roundtrip) {
   EXPECT_EQ(result, unpacked_data);
 
   photon::PNPResult result1{
+      true,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
       0.1,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1, 0};
+      0.1,
+      0};
 
   proto = wpi::Protobuf<photon::PNPResult>::New(&arena);
   wpi::Protobuf<photon::PNPResult>::Pack(proto, result1);

diff --git a/photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp b/photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp
@@ -18,6 +18,7 @@
 #include "gtest/gtest.h"
 #include "photon.pb.h"
 #include "photon/targeting/PhotonPipelineResult.h"
+#include "photon/targeting/proto/PhotonPipelineResultProto.h"
 
 TEST(PhotonPipelineResultTest, Roundtrip) {
   photon::PhotonPipelineResult result{12_ms, {}};
@@ -72,12 +73,14 @@ TEST(PhotonPipelineResultTest, Roundtrip) {
   EXPECT_EQ(result2, unpacked_data2);
 
   photon::PNPResult pnpRes{
+      true,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
       0.1,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1, 0};
+      0.1,
+      0};
 
   photon::MultiTargetPNPResult multitagRes{pnpRes, {1, 2, 3, 4}};
 

diff --git a/photon-targeting/src/test/native/cpp/targeting/proto/PhotonTrackedTargetProtoTest.cpp b/photon-targeting/src/test/native/cpp/targeting/proto/PhotonTrackedTargetProtoTest.cpp
@@ -18,6 +18,7 @@
 #include "gtest/gtest.h"
 #include "photon.pb.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
+#include "photon/targeting/proto/PhotonTrackedTargetProto.h"
 
 TEST(PhotonTrackedTargetTest, Roundtrip) {
   photon::PhotonTrackedTarget target{