add back old behavior

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -174,13 +174,13 @@ public PhotonCamera(String cameraName) {
     }
 
     /**
-     * The list of pipeline results sent by PhotonVision since the last call to GetAllUnreadResult().
+     * The list of pipeline results sent by PhotonVision since the last call to getAllUnreadResults().
      * Calling this function clears the internal FIFO queue, and multiple calls to
-     * GetAllUnreadResult() will return different (potentially empty) result arrays. Be careful to
+     * getAllUnreadResults() will return different (potentially empty) result arrays. Be careful to
      * call this exactly ONCE per loop of your robot code! FIFO depth is limited to 20 changes, so
      * make sure to call this frequently enough to avoid old results being discarded, too!
      */
-    List<PhotonPipelineResult> GetAllUnreadResult() {
+    List<PhotonPipelineResult> getAllUnreadResults() {
         List<PhotonPipelineResult> ret = new ArrayList<>();
 
         var changes = resultSubscriber.getAllChanges();
@@ -195,9 +195,8 @@ List<PhotonPipelineResult> GetAllUnreadResult() {
     }
 
     /**
-     * Returns the latest pipeline result.
-     *
-     * @return The latest pipeline result.
+     * Returns the latest pipeline result. This is simply the most recent result recieved via NT.
+     * Calling this multiple times will always return the most recent result.
      */
     @Deprecated(since = "2024", forRemoval = true)
     public PhotonPipelineResult getLatestResult() {

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -102,6 +102,34 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
 PhotonCamera::PhotonCamera(const std::string_view cameraName)
     : PhotonCamera(nt::NetworkTableInstance::GetDefault(), cameraName) {}
 
+PhotonPipelineResult PhotonCamera::GetLatestResult() {
+  if (test) {
+    if (testResult.size())
+      return testResult.back();
+    else
+      return PhotonPipelineResult{};
+  }
+
+  // Prints warning if not connected
+  VerifyVersion();
+
+  // Create the new result;
+  PhotonPipelineResult result;
+
+  // Fill the packet with latest data and populate result.
+  const auto value = rawBytesEntry.Get();
+  if (!value.size()) return result;
+
+  photon::Packet packet{value};
+
+  packet >> result;
+
+  result.SetTimestamp(units::microsecond_t(rawBytesEntry.GetLastChange()) -
+                      result.GetLatency());
+
+  return result;
+}
+
 std::vector<PhotonPipelineResult> PhotonCamera::GetAllUnreadResults() {
   if (test) {
     return testResult;
@@ -110,28 +138,24 @@ std::vector<PhotonPipelineResult> PhotonCamera::GetAllUnreadResults() {
   // Prints warning if not connected
   VerifyVersion();
 
-  // Clear the current packet.
-  packet.Clear();
+  const auto changes = rawBytesEntry.ReadQueue();
 
-  // Create the new result;
-  std::vector<PhotonPipelineResult> ret;
+  // Create the new result list -- these will be updated in-place
+  std::vector<PhotonPipelineResult> ret(changes.size());
 
-  const auto changes = rawBytesEntry.ReadQueue();
-  ret.reserve(changes.size());
+  for (size_t i = 0; i < changes.size(); i++) {
+    const nt::Timestamped<std::vector<uint8_t>>& value = changes[i];
 
-  for (const nt::Timestamped<std::vector<uint8_t>>& value : changes) {
     if (!value.value.size() || value.time == 0) {
       continue;
     }
 
     // Fill the packet with latest data and populate result.
     photon::Packet packet{value.value};
 
-    PhotonPipelineResult result;
+    PhotonPipelineResult& result = ret[i];
     packet >> result;
     result.SetTimestamp(units::microsecond_t(value.time) - result.GetLatency());
-
-    ret.emplace_back(std::move(result));
   }
 
   return ret;

photon-lib/src/main/native/include/photon/PhotonCamera.h

@@ -87,13 +87,8 @@ class PhotonCamera {
    */
   std::vector<PhotonPipelineResult> GetAllUnreadResults();
 
-  [[deprecated(
-      "Replace with GetAllUnreadResults")]] inline const PhotonPipelineResult
-  GetLatestResult() {
-    const auto ret = GetAllUnreadResults();
-    if (!ret.size()) return PhotonPipelineResult();
-    return ret.back();
-  }
+  [[deprecated("Replace with GetAllUnreadResults")]]
+  PhotonPipelineResult GetLatestResult();
 
   /**
    * Toggles driver mode.
@@ -200,8 +195,6 @@ class PhotonCamera {
   std::string path;
   std::string m_cameraName;
 
-  mutable Packet packet;
-
  private:
   units::second_t lastVersionCheckTime = 0_s;
   inline static bool VERSION_CHECK_ENABLED = true;

photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java

@@ -66,23 +66,17 @@ private PacketResult<T> parse(byte[] data, long timestamp) {
     }
 
     /**
-     * Get the latest value sent over NT. If no new value, a result with a timestamp of 0 and null
-     * value is provided.
+     * Get the latest value sent over NT. If the value has never been set, returns the provided
+     * default
      */
     public PacketResult<T> get() {
 
         // Get /all/ changes since last call to readQueue
-        var changes = subscriber.readQueue();
-
-        if (changes.length == 0) {
-            return new PacketResult<T>();
-        }
-
-        var data = changes[changes.length - 1];
+        var data = subscriber.getAtomic();
 
-        // No changes sent at all yet
+        // Topic has never been published to?
         if (data.timestamp == 0) {
-            return new PacketResult<T>();
+            return new PacketResult<>();
         }
 
         return parse(data.value, data.timestamp);