From aa8f0f5d02fbc3cab66cc6811ae54fd4c93d9ed7 Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Wed, 15 Nov 2023 22:33:06 -0500
Subject: [PATCH] wot

---
 .../src/main/native/cpp/photonlib/PhotonCamera.cpp     | 10 ++++++----
 .../main/native/cpp/photonlib/PhotonTrackedTarget.cpp  | 10 +++++++++-
 .../src/main/native/include/photonlib/PhotonCamera.h   |  2 +-
 .../main/native/include/photonlib/SimPhotonCamera.h    |  3 ++-
 4 files changed, 18 insertions(+), 7 deletions(-)

diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
index 41bf88dbd0..4d45b6d47e 100644
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
@@ -41,8 +41,9 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
     : mainTable(instance.GetTable("photonvision")),
       rootTable(mainTable->GetSubTable(cameraName)),
       pipelineResultsSubscriber(
-        rootTable->GetProtobufTopic<PhotonPipelineResult>("result_proto").Subscribe(PhotonPipelineResult(), {.periodic = 0.01, .sendAll = true})
-      ),
+          rootTable->GetProtobufTopic<PhotonPipelineResult>("result_proto")
+              .Subscribe(PhotonPipelineResult(),
+                         {.periodic = 0.01, .sendAll = true})),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
       inputSaveImgSubscriber(
@@ -87,8 +88,9 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
   // Create the new result;
   PhotonPipelineResult result = pipelineResultsSubscriber.Get();
 
-  result.SetTimestamp(units::microsecond_t(pipelineResultsSubscriber.GetLastChange()) -
-                      result.GetLatency());
+  result.SetTimestamp(
+      units::microsecond_t(pipelineResultsSubscriber.GetLastChange()) -
+      result.GetLatency());
 
   return result;
 }
diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp
index 68f70aa9a5..25b1ea2dfd 100644
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp
@@ -162,7 +162,15 @@ wpi::Protobuf<photonlib::PhotonTrackedTarget>::Unpack(
 
   auto m = static_cast<const ProtobufPhotonTrackedTarget*>(&msg);
 
-  return photonlib::PhotonTrackedTarget{};
+  return photonlib::PhotonTrackedTarget(
+      m->yaw(), m->pitch(), m->area(), m->skew(), m->fiducialid(),
+      wpi::UnpackProtobuf<frc::Transform3d>(m->bestcameratotarget()),
+      wpi::UnpackProtobuf<frc::Transform3d>(m->altcameratotarget()),
+      m->poseambiguity(),
+      // corners
+      {},
+      // detected corners
+      {});
 }
 
 void wpi::Protobuf<photonlib::PhotonTrackedTarget>::Pack(
diff --git a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
index 0a4cb98e8b..8acef300cf 100644
--- a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
+++ b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
@@ -27,7 +27,6 @@
 #include <memory>
 #include <string>
 
-#include <networktables/ProtobufTopic.h>
 #include <networktables/BooleanTopic.h>
 #include <networktables/DoubleArrayTopic.h>
 #include <networktables/DoubleTopic.h>
@@ -35,6 +34,7 @@
 #include <networktables/MultiSubscriber.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
+#include <networktables/ProtobufTopic.h>
 #include <networktables/StringTopic.h>
 #include <units/time.h>
 #include <wpi/deprecated.h>
diff --git a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
index 22d7c5c9a7..ff96bbd5c9 100644
--- a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
+++ b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
@@ -48,7 +48,8 @@ class SimPhotonCamera : public PhotonCamera {
     targetAreaEntry = rootTable->GetEntry("targetAreaEntry");
     targetSkewEntry = rootTable->GetEntry("targetSkewEntry");
     targetPoseEntry = rootTable->GetEntry("targetPoseEntry");
-    // rawBytesPublisher = rootTable->GetRawTopic("rawBytes").Publish("rawBytes");
+    // rawBytesPublisher =
+    // rootTable->GetRawTopic("rawBytes").Publish("rawBytes");
     versionEntry = instance.GetTable("photonvision")->GetEntry("version");
   }