review comments pt 1

.github/workflows/python.yml

@@ -17,18 +17,22 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Set up Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v5
         with:
           python-version: 3.8  # CHose earliest that robotpy supports
 
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install setuptools wheel
-          pip install robotpy
+          pip install setuptools wheel pytest
+          
+      - name: Run Unit Tests
+        working-directory: ./photon-lib/py
+        run: |
+          pytest
 
       - name: Build wheel
         working-directory: ./photon-lib/py
@@ -37,7 +41,7 @@ jobs:
           python setup.py sdist bdist_wheel
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@master
         with:
           name: dist
           path: ./photon-lib/py/dist/

photon-lib/py/.gitignore

@@ -1,3 +1,4 @@
 photonlibpy.egg-info/
 dist/
-build/
+build/
+.eggs/

photon-lib/py/photonlibpy/multiTargetPNPResult.py

@@ -1,18 +1,19 @@
+from dataclasses import dataclass
 from wpimath.geometry import Transform3d
 from photonlibpy.packet import Packet
 
+@dataclass
 class PNPResult:
 
     _NUM_BYTES_IN_FLOAT = 8
     PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT* 3)
 
-    def __init__(self):
-        self.isPresent = False
-        self.best = Transform3d()
-        self.alt = Transform3d()
-        self.ambiguity = 0.0
-        self.bestReprojError = 0.0
-        self.altReprojError = 0.0
+    isPresent:bool = False
+    best:Transform3d = Transform3d()
+    alt:Transform3d = Transform3d()
+    ambiguity:float = 0.0
+    bestReprojError:float = 0.0
+    altReprojError:float = 0.0
 
     def createFromPacket(self, packet:Packet) -> Packet:
         self.isPresent = packet.decodeBoolean()
@@ -23,29 +24,23 @@ def createFromPacket(self, packet:Packet) -> Packet:
         self.ambiguity = packet.decodeDouble()
         return packet
 
-    def __str__(self) -> str:
-        return f"PNPResult {{isPresent={self.isPresent}, best={self.best}, bestReprojError={self.bestReprojError}, alt={self.alt}, altReprojError={self.altReprojError}, ambiguity={self.ambiguity}}}"
-
-
+@dataclass
 class MultiTargetPNPResult:
 
-    MAX_IDS = 32
+    _MAX_IDS = 32
     # pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
-    PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (1 * MAX_IDS)
+    _PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (1 * _MAX_IDS)
 
-    def __init__(self):
-        self.estimatedPose = PNPResult()
-        self.fiducialIDsUsed = []
+    estimatedPose:PNPResult = PNPResult()
+    fiducialIDsUsed:list[int] = []
 
     def createFromPacket(self, packet:Packet) -> Packet:
         self.estimatedPose = PNPResult()
         self.estimatedPose.createFromPacket(packet)
         self.fiducialIDsUsed = []
-        for _ in range(MultiTargetPNPResult.MAX_IDS):
+        for _ in range(MultiTargetPNPResult._MAX_IDS):
             fidId = packet.decode16()
             if(fidId >= 0):
                 self.fiducialIDsUsed.append(fidId)
         return packet
 
-    def __str__(self) -> str:
-        return f"MultiTargetPNPResult {{estimatedPose={self.estimatedPose},fiducialIDsUsed={self.fiducialIDsUsed}}}"

photon-lib/py/photonlibpy/packet.py

@@ -4,20 +4,21 @@
 
 class Packet:
 
-    """
-     * Constructs an empty packet.
-     *
-     * @param self.size The self.size of the packet buffer.
-    """
+
     def __init__(self, data:list[int]):
+        """
+         * Constructs an empty packet.
+         *
+         * @param self.size The self.size of the packet buffer.
+        """
         self.packetData = data
         self.size = len(data)
         self.readPos = 0
         self.outOfBytes = False
 
 
-    """ Clears the packet and resets the read and write positions."""
     def clear(self): 
+        """ Clears the packet and resets the read and write positions."""
         self.packetData = [0]*self.size
         self.readPos = 0
         self.outOfBytes = False
@@ -45,21 +46,20 @@ def _getNextByte(self) -> int:
 
         return retVal
 
-    """
-     * Returns the packet data. 
-     *
-     * @return The packet data.
-    """
-    def getData(self) -> list[int]: 
+    def getData(self) -> list[int]:      
+        """
+        * Returns the packet data. 
+        *
+        * @return The packet data.
+        """
         return self.packetData
 
-
-    """
-     * Sets the packet data.
-     *
-     * @param data The packet data.
-    """
     def setData(self, data:list[int]):
+        """
+        * Sets the packet data.
+        *
+        * @param data The packet data.
+        """
         self.clear()
         self.packetData = data
         self.size = len(self.packetData)
@@ -76,55 +76,64 @@ def _decodeGeneric(self, unpackFormat, numBytes):
 
         return value
 
-
-    """
-     * Returns a single decoded byte from the packet.
-     *
-     * @return A decoded byte from the packet.
-    """
     def decode8(self) -> int: 
+        """
+        * Returns a single decoded byte from the packet.
+        *
+        * @return A decoded byte from the packet.
+        """
         return self._decodeGeneric(">b", 1)
 
-    """
-     * Returns a single decoded byte from the packet.
-     *
-     * @return A decoded byte from the packet.
-    """
     def decode16(self) -> int: 
+        """
+        * Returns a single decoded byte from the packet.
+        *
+        * @return A decoded byte from the packet.
+        """
         return self._decodeGeneric(">h", 2)
 
-
-    """
-     * Returns a decoded int (32 bytes) from the packet.
-     *
-     * @return A decoded int from the packet.
-    """
     def decode32(self) -> int: 
+        """
+        * Returns a decoded int (32 bytes) from the packet.
+        *
+        * @return A decoded int from the packet.
+        """
         return self._decodeGeneric(">l", 4)
 
-    """
-     * Returns a decoded double from the packet.
-     *
-     * @return A decoded double from the packet.
-    """
     def decodeDouble(self) -> float: 
+        """
+        * Returns a decoded double from the packet.
+        *
+        * @return A decoded double from the packet.
+        """
         return self._decodeGeneric(">d", 8)
 
-    """
-     * Returns a decoded boolean from the packet.
-     *
-     * @return A decoded boolean from the packet.
-    """
+
     def decodeBoolean(self) -> bool:
+        """
+        * Returns a decoded boolean from the packet.
+        *
+        * @return A decoded boolean from the packet.
+        """
         return (self.decode8() == 1)
 
     def decodeDoubleArray(self, length:int) -> list[float]:
+        """
+        * Returns a decoded array of floats from the packet.
+        *
+        * @return A decoded array of floats from the packet.
+        """
         ret = []
         for _ in range(length):
             ret.append(self.decodeDouble())
         return ret
 
     def decodeTransform(self) -> Transform3d:
+        """
+        * Returns a decoded Transform3d
+        *
+        * @return A decoded Tansform3d from the packet.
+        """
         x = self.decodeDouble()
         y = self.decodeDouble()
         z = self.decodeDouble()

photon-lib/py/photonlibpy/photonPipelineResult.py

@@ -1,13 +1,15 @@
+from dataclasses import dataclass
+
 from photonlibpy.multiTargetPNPResult import MultiTargetPNPResult
 from photonlibpy.packet import Packet
 from photonlibpy.photonTrackedTarget import PhotonTrackedTarget
 
+@dataclass
 class PhotonPipelineResult:
-    def __init__(self):
-        self.latencyMillis = -0.0
-        self.timestampSec = -1.0
-        self.targets:list[PhotonTrackedTarget] = []
-        self.multiTagResult = MultiTargetPNPResult()
+    latencyMillis:float = -1.0
+    timestampSec:float = -1.0
+    targets:list[PhotonTrackedTarget] = []
+    multiTagResult:MultiTargetPNPResult = MultiTargetPNPResult()
 
     def populateFromPacket(self, packet:Packet) -> Packet:
         self.targets = []

photon-lib/py/photonlibpy/photonTrackedTarget.py

@@ -1,33 +1,31 @@
+from dataclasses import dataclass
 from wpimath.geometry import Transform3d
 from photonlibpy.packet import Packet
 
 
+@dataclass
 class TargetCorner:
-    def __init__(self, x:float, y:float):
-        self.x = x
-        self.y = y
+    x:float
+    y:float
 
+@dataclass
 class PhotonTrackedTarget:
 
     _MAX_CORNERS = 8
     _NUM_BYTES_IN_FLOAT = 8
     _PACK_SIZE_BYTES = _NUM_BYTES_IN_FLOAT * (5 + 7 + 2 * 4 + 1 + 7 + 2 * _MAX_CORNERS)
 
-    def __init__(self, yaw:float=0, pitch:float=0, area:float=0, skew:float=0, 
-                 id:int=0, pose:Transform3d=Transform3d(), altPose: Transform3d=Transform3d(), 
-                 ambiguity:float=0, 
-                 minAreaRectCorners: list[TargetCorner]|None = None, 
-                 detectedCorners: list[TargetCorner]|None = None):
-        self.yaw = yaw
-        self.pitch = pitch
-        self.area = area
-        self.skew = skew
-        self.fiducialId  = id
-        self.bestCameraToTarget  = pose
-        self.altCameraToTarget  = altPose
-        self.minAreaRectCorners = minAreaRectCorners
-        self.detectedCorners = detectedCorners
-        self.poseAmbiguity = ambiguity
+
+    yaw:float = 0.0
+    pitch:float = 0.0
+    area:float = 0.0
+    skew:float = 0.0
+    fiducialId:int  = -1
+    bestCameraToTarget:Transform3d  = Transform3d()
+    altCameraToTarget:Transform3d  = Transform3d()
+    minAreaRectCorners:list[TargetCorner]|None = None
+    detectedCorners:list[TargetCorner]|None = None
+    poseAmbiguity:float = 0.0
 
     def getYaw(self) -> float:
         return self.yaw
@@ -83,6 +81,3 @@ def createFromPacket(self, packet:Packet) -> Packet:
         numCorners = packet.decode8()
         self.detectedCorners = self._decodeTargetList(packet, numCorners)
         return packet
-
-    def __str__(self) -> str:
-        return f"PhotonTrackedTarget{{yaw={self.yaw},pitch={self.pitch},area={self.area},skew={self.skew},fiducialId={self.fiducialId},bestCameraToTarget={self.bestCameraToTarget}}}"

photon-server/src/main/resources/web/index.html

@@ -1 +1 @@
-<p>UI has not been copied!</p>
+<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta http-equiv="X-UA-Compatible" content="IE=edge"><meta name="viewport" content="width=device-width,initial-scale=1"><link rel="icon" href="/favicon.svg" type="image/png"><title>PhotonVision Client</title><link href="/js/chunk-2d216214.abe86b4f.js" rel="prefetch"><link href="/js/chunk-2d216257.69e90091.js" rel="prefetch"><link href="/js/chunk-4d2ae93b.899a385b.js" rel="prefetch"><link href="/css/app.31df8921.css" rel="preload" as="style"><link href="/css/chunk-vendors.cde03e66.css" rel="preload" as="style"><link href="/js/app.8657bc11.js" rel="preload" as="script"><link href="/js/chunk-vendors.8465e9af.js" rel="preload" as="script"><link href="/css/chunk-vendors.cde03e66.css" rel="stylesheet"><link href="/css/app.31df8921.css" rel="stylesheet"></head><body><noscript><strong>We're sorry but PhotonVision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id="app"></div><script src="/js/chunk-vendors.8465e9af.js"></script><script src="/js/app.8657bc11.js"></script></body></html>