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PhotonVision · Nov 6, 2023 · a87e9b1 · a87e9b1
1 parent 3fbab3a
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Showing 10 changed files with 32 additions and 27 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -51,8 +51,7 @@
 import java.util.Set;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.hardware.VisionLEDMode;
-import org.photonvision.proto.PhotonTypes.PhotonPipelineResult;
-import us.hebi.quickbuf.InvalidProtocolBufferException;
+import org.photonvision.targeting.PhotonPipelineResult;
 
 /** Represents a camera that is connected to PhotonVision. */
 public class PhotonCamera implements AutoCloseable {
@@ -141,12 +140,9 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
         path = cameraTable.getPath();
         rawBytesEntry =
                 cameraTable
-                        .getRawTopic("result_proto")
+                        .getRawTopic("rawBytes")
                         .subscribe(
-                                "proto:" + PhotonPipelineResult.getDescriptor().getFullName(),
-                                new byte[] {},
-                                PubSubOption.periodic(0.01),
-                                PubSubOption.sendAll(true));
+                                "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
         driverModePublisher = cameraTable.getBooleanTopic("driverModeRequest").publish();
         driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false);
         inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
@@ -187,26 +183,23 @@ public PhotonCamera(String cameraName) {
      * @return The latest pipeline result.
      */
     public PhotonPipelineResult getLatestResult() {
-        // verifyVersion(); // Protobufs _should_ deal with this for us
+        verifyVersion();
 
-        var ret = PhotonPipelineResult.newInstance();
+        // Clear the packet.
+        packet.clear();
 
-        var bytes = rawBytesEntry.get(new byte[] {});
-        if (bytes.length < 1) {
-            return PhotonPipelineResult.newInstance();
-        }
+        // Create latest result.
+        var ret = new PhotonPipelineResult();
 
-        try {
-            ret = PhotonPipelineResult.parseFrom(bytes);
-        } catch (InvalidProtocolBufferException e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-            return ret;
-        }
+        // Populate packet and create result.
+        packet.setData(rawBytesEntry.get(new byte[] {}));
+
+        if (packet.getSize() < 1) return ret;
+        ret.createFromPacket(packet);
 
         // Set the timestamp of the result.
         // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
-        ret.setTimestampSec((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMs() / 1e3);
+        ret.setTimestampSeconds((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
 
         // Return result.
         return ret;

diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -43,6 +43,8 @@
 import java.util.Set;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.estimation.VisionEstimation;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
 
 /**
  * The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a

diff --git a/photon-lib/src/main/java/org/photonvision/PhotonTargetSortMode.java b/photon-lib/src/main/java/org/photonvision/PhotonTargetSortMode.java
@@ -25,7 +25,7 @@
 package org.photonvision;
 
 import java.util.Comparator;
-import org.photonvision.proto.PhotonTypes.PhotonPipelineResult.PhotonTrackedTarget;
+import org.photonvision.targeting.PhotonTrackedTarget;
 
 public enum PhotonTargetSortMode {
     Smallest(Comparator.comparingDouble(PhotonTrackedTarget::getArea)),

diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -56,6 +56,8 @@
 import org.photonvision.estimation.VisionEstimation;
 import org.photonvision.targeting.MultiTargetPNPResults;
 import org.photonvision.targeting.PNPResults;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
 
 /**
  * A handle for simulating {@link PhotonCamera} values. Processing simulated targets through this

diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimVisionSystem.java b/photon-lib/src/main/java/org/photonvision/simulation/SimVisionSystem.java
@@ -38,6 +38,8 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.util.ArrayList;
 import java.util.List;
+import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
 
 /**
  * @deprecated Use {@link VisionSystemSim} instead

diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
@@ -40,9 +40,9 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
                            const std::string_view cameraName)
     : mainTable(instance.GetTable("photonvision")),
       rootTable(mainTable->GetSubTable(cameraName)),
-      rawBytesEntry(rootTable->GetRawTopic("result_proto")
-                        .Subscribe("asdfasdfasdf", {},
-                                   {.periodic = 0.01, .sendAll = true})),
+      rawBytesEntry(
+          rootTable->GetRawTopic("rawBytes")
+              .Subscribe("rawBytes", {}, {.periodic = 0.01, .sendAll = true})),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
       inputSaveImgSubscriber(

diff --git a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
@@ -48,8 +48,7 @@ class SimPhotonCamera : public PhotonCamera {
     targetAreaEntry = rootTable->GetEntry("targetAreaEntry");
     targetSkewEntry = rootTable->GetEntry("targetSkewEntry");
     targetPoseEntry = rootTable->GetEntry("targetPoseEntry");
-    rawBytesPublisher =
-        rootTable->GetRawTopic("result_proto").Publish("asdfasdfasdf");
+    rawBytesPublisher = rootTable->GetRawTopic("rawBytes").Publish("rawBytes");
     versionEntry = instance.GetTable("photonvision")->GetEntry("version");
     // versionEntry.SetString(PhotonVersion.versionString);
   }

diff --git a/photon-lib/src/test/java/org/photonvision/PacketTest.java b/photon-lib/src/test/java/org/photonvision/PacketTest.java
@@ -32,6 +32,9 @@
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.targeting.MultiTargetPNPResults;
 import org.photonvision.targeting.PNPResults;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
 
 class PacketTest {
     @Test

diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
@@ -27,6 +27,7 @@
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.targeting.PhotonPipelineResult;
 
 class PhotonCameraTest {
     @Test

diff --git a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
@@ -47,6 +47,9 @@
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
 
 class PhotonPoseEstimatorTest {
     static AprilTagFieldLayout aprilTags;