Add tests

photon-targeting/src/test/java/org/photonvision/targeting/proto/MultiTargetPNPResultProtoTest.java

@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.targeting.proto;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.List;
+import org.junit.jupiter.api.Test;
+import org.photonvision.targeting.MultiTargetPNPResult;
+import org.photonvision.targeting.PNPResult;
+
+public class MultiTargetPNPResultProtoTest {
+    @Test
+    public void protobufTest() {
+        var result = new MultiTargetPNPResult();
+        var serializedResult = MultiTargetPNPResult.proto.createMessage();
+        MultiTargetPNPResult.proto.pack(serializedResult, result);
+        var unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+
+        result =
+                new MultiTargetPNPResult(
+                        new PNPResult(
+                                new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
+                        List.of(1, 2, 3));
+        serializedResult = MultiTargetPNPResult.proto.createMessage();
+        MultiTargetPNPResult.proto.pack(serializedResult, result);
+        unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+    }
+}

photon-targeting/src/test/java/org/photonvision/targeting/proto/PNPResultProtoTest.java

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.targeting.proto;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import org.junit.jupiter.api.Test;
+import org.photonvision.targeting.PNPResult;
+
+public class PNPResultProtoTest {
+    @Test
+    public void protobufTest() {
+        var pnpRes = new PNPResult();
+        var serializedPNPRes = PNPResult.proto.createMessage();
+        PNPResult.proto.pack(serializedPNPRes, pnpRes);
+        var unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
+        assertEquals(pnpRes, unpackedPNPRes);
+
+        pnpRes = new PNPResult(new Transform3d(1, 2, 3, new Rotation3d(1, 2, 3)), 0.1);
+        serializedPNPRes = PNPResult.proto.createMessage();
+        PNPResult.proto.pack(serializedPNPRes, pnpRes);
+        unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
+        assertEquals(pnpRes, unpackedPNPRes);
+    }
+}

photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonPipelineResultProtoTest.java

@@ -0,0 +1,139 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.targeting.proto;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.List;
+import org.junit.jupiter.api.Test;
+import org.photonvision.targeting.*;
+
+public class PhotonPipelineResultProtoTest {
+    @Test
+    public void protobufTest() {
+        // Empty Result
+        var result = new PhotonPipelineResult();
+        var serializedResult = PhotonPipelineResult.proto.createMessage();
+        PhotonPipelineResult.proto.pack(serializedResult, result);
+        var unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+
+        // non multitag result
+        result =
+                new PhotonPipelineResult(
+                        2,
+                        List.of(
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.0,
+                                        4.0,
+                                        2,
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8))),
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.1,
+                                        6.7,
+                                        3,
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)))));
+        serializedResult = PhotonPipelineResult.proto.createMessage();
+        PhotonPipelineResult.proto.pack(serializedResult, result);
+        unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+
+        // multitag result
+        result =
+                new PhotonPipelineResult(
+                        2,
+                        List.of(
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.0,
+                                        4.0,
+                                        2,
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8))),
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.1,
+                                        6.7,
+                                        3,
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)))),
+                        new MultiTargetPNPResult(
+                                new PNPResult(
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
+                                List.of(1, 2, 3)));
+        serializedResult = PhotonPipelineResult.proto.createMessage();
+        PhotonPipelineResult.proto.pack(serializedResult, result);
+        unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+    }
+}

photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonTrackedTargetProtoTest.java

@@ -0,0 +1,115 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.targeting.proto;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.List;
+import org.junit.jupiter.api.Test;
+import org.photonvision.proto.Photon.ProtobufPhotonTrackedTarget;
+import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
+import us.hebi.quickbuf.RepeatedMessage;
+
+public class PhotonTrackedTargetProtoTest {
+    @Test
+    public void protobufTest() {
+        var target =
+                new PhotonTrackedTarget(
+                        3.0,
+                        4.0,
+                        9.0,
+                        -5.0,
+                        -1,
+                        new Transform3d(new Translation3d(), new Rotation3d()),
+                        new Transform3d(new Translation3d(), new Rotation3d()),
+                        0.25,
+                        List.of(
+                                new TargetCorner(1, 2),
+                                new TargetCorner(3, 4),
+                                new TargetCorner(5, 6),
+                                new TargetCorner(7, 8)),
+                        List.of(
+                                new TargetCorner(1, 2),
+                                new TargetCorner(3, 4),
+                                new TargetCorner(5, 6),
+                                new TargetCorner(7, 8)));
+        var serializedTarget = PhotonTrackedTarget.proto.createMessage();
+        PhotonTrackedTarget.proto.pack(serializedTarget, target);
+        var unpackedTarget = PhotonTrackedTarget.proto.unpack(serializedTarget);
+        assertEquals(target, unpackedTarget);
+    }
+
+    @Test
+    public void protobufListTest() {
+        List<PhotonTrackedTarget> targets = List.of();
+        var serializedTargets =
+                RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
+        PhotonTrackedTarget.proto.pack(serializedTargets, targets);
+        var unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
+        assertEquals(targets, unpackedTargets);
+
+        targets =
+                List.of(
+                        new PhotonTrackedTarget(
+                                3.0,
+                                4.0,
+                                9.0,
+                                -5.0,
+                                -1,
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                0.25,
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8)),
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8))),
+                        new PhotonTrackedTarget(
+                                7.0,
+                                2.0,
+                                1.0,
+                                -9.0,
+                                -1,
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                0.25,
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8)),
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8))));
+        serializedTargets = RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
+        PhotonTrackedTarget.proto.pack(serializedTargets, targets);
+        unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
+        assertEquals(targets, unpackedTargets);
+    }
+}

photon-targeting/src/test/java/org/photonvision/targeting/proto/TargetCornerProtoTest.java

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.targeting.proto;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import org.junit.jupiter.api.Test;
+import org.photonvision.targeting.TargetCorner;
+
+public class TargetCornerProtoTest {
+    @Test
+    public void protobufTest() {
+        var corner = new TargetCorner(0, 1);
+        var serializedCorner = TargetCorner.proto.createMessage();
+        TargetCorner.proto.pack(serializedCorner, corner);
+        var unpackedCorner = TargetCorner.proto.unpack(serializedCorner);
+        assertEquals(corner, unpackedCorner);
+    }
+}