Initial message generation work

photon-targeting/build.gradle

@@ -17,6 +17,8 @@ nativeUtils {
     }
 }
 
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
+
 model {
     components {
         "${nativeName}"(NativeLibrarySpec) {

photon-targeting/generate_messages.py

@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+import argparse
+import hashlib
+import json
+import os
+import sys
+from pathlib import Path
+from typing import Any, Dict, List, TypedDict, cast
+
+import yaml
+from jinja2 import Environment, FileSystemLoader
+from jinja2.environment import Template
+
+
+class SerdeField(TypedDict):
+    name: str
+    type: str
+
+class MessageType(TypedDict):
+    name: str
+    fields: List[SerdeField]
+
+
+def yaml_to_dict(path: str):
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    yaml_file_path = os.path.join(script_dir, path)
+
+    with open(yaml_file_path, "r") as file:
+        file_dict: List[MessageType] = yaml.safe_load(file)
+
+    # Print for testing
+    print(file_dict)
+
+    return file_dict
+
+
+data_types = yaml_to_dict("src/generate/message_data_types.yaml")
+
+def parse_yaml():
+    config = yaml_to_dict("src/generate/messages.yaml")
+
+    # Hash a comments-stripped version for message integrity checking
+    cleaned_yaml = yaml.dump(config, default_flow_style=False).strip()
+    message_hash = hashlib.md5(cleaned_yaml.encode("ascii")).digest()
+    message_hash = list(message_hash)
+    print(message_hash)
+
+    return config, message_hash
+
+
+def generate_photon_messages(output_root, template_root):
+    messages, message_hash = parse_yaml()
+
+    env = Environment(
+        loader=FileSystemLoader(str(template_root)),
+        # autoescape=False,
+        # keep_trailing_newline=False,
+    )
+
+
+    # add our custom types
+    for message in messages:
+        name = message['name']
+        data_types[name] = {
+            'len': -1,
+            'java_type': name,
+            'cpp_type': name,
+        }
+
+    root_path = Path(output_root) / "main/java/org/photonvision/struct"
+    template = env.get_template("Message.java.jinja")
+
+    root_path.mkdir(parents=True, exist_ok=True)
+
+    for message in messages:
+        java_name = f"{message['name']}Serde.java"
+
+
+        output_file = root_path / java_name
+        output_file.write_text(template.render(message, type_map=data_types), encoding="utf-8")
+
+
+
+def main(argv):
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/generated",
+        type=Path,
+    )
+    parser.add_argument(
+        "--template_root",
+        help="Optional. If set, will use this directory as the root for the jinja templates",
+        default=dirname / "src/generate",
+        type=Path,
+    )
+    args = parser.parse_args(argv)
+
+    generate_photon_messages(args.output_directory, args.template_root)
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])

photon-targeting/src/generate/Message.java.jinja

@@ -0,0 +1,64 @@
+/*
+ * 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/>.
+ */
+
+// THIS FILE WAS AUTO-GENERATED BY ./photon-targeting/generate_messages.py. DO NOT MODIFY
+
+package org.photonvision.struct;
+
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.common.dataflow.structures.PacketSerde;
+
+// Assume that the base class lives here and we can import it
+import org.photonvision.targeting.*;
+
+
+/**
+ * This is a test
+ */
+public class {{ name }}Serde implements PacketSerde<{{name}}> {
+
+
+    {% for field in fields %}public {{ type_map[field.type].java_type }} {{ field.name }};
+    {% endfor %}
+
+    @Override
+    public int getMaxByteSize() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'getMaxByteSize'");
+    }
+
+    @Override
+    public void pack(Packet packet, {{ name }} value) {
+        // explicitly cast to avoid accidentally encoding the wrong thing
+        {% for field in fields -%} 
+        packet.encode(({{type_map[field.type].java_type}}) value.{{field.name}});
+        {%- if not loop.last %}
+        {% endif -%} 
+        {% endfor %}
+    }
+
+    @Override
+    public {{ name }} unpack(Packet packet) {
+        var ret = new {{ name }}();
+        {% for field in fields -%} 
+        ret.{{field.name}} = packet.{{type_map[field.type].java_decode_method}}();
+        {%- if not loop.last %}
+        {% endif -%} 
+        {% endfor %}
+        return ret;
+    }
+}

photon-targeting/src/generate/message_data_types.yaml

@@ -0,0 +1,12 @@
+---
+bool:
+  # length in bytes
+  len: 1
+  java_type: bool
+  cpp_type: bool
+  java_decode_method: decodeBoolean
+int64:
+  len: 8
+  java_type: long
+  cpp_type: int64_t
+  java_decode_method: decodeLong

photon-targeting/src/generate/messages.yaml

@@ -0,0 +1,17 @@
+---
+- name: PhotonPipelineMetadata
+  fields:
+  - name: sequenceID
+    type: int64
+  - name: captureTimestampMicros
+    type: int64
+  - name: publishTimestampMicros
+    type: int64
+
+- name: PhotonPipelineResult
+  fields:
+  - name: metadata
+    type: PhotonPipelineMetadata
+  - name: targets
+    type: int64
+    list_len: VLA

photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineMetadataSerde.java

@@ -0,0 +1,62 @@
+/*
+ * 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/>.
+ */
+
+// THIS FILE WAS AUTO-GENERATED BY ./photon-targeting/generate_messages.py. DO NOT MODIFY
+
+package org.photonvision.struct;
+
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.common.dataflow.structures.PacketSerde;
+
+// Assume that the base class lives here and we can import it
+import org.photonvision.targeting.*;
+
+
+/**
+ * This is a test
+ */
+public class PhotonPipelineMetadataSerde implements PacketSerde<PhotonPipelineMetadata> {
+
+
+    public long sequenceID;
+    public long captureTimestampMicros;
+    public long publishTimestampMicros;
+
+
+    @Override
+    public int getMaxByteSize() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'getMaxByteSize'");
+    }
+
+    @Override
+    public void pack(Packet packet, PhotonPipelineMetadata value) {
+        // explicitly cast to avoid accidentally encoding the wrong thing
+        packet.encode((long) value.sequenceID);
+        packet.encode((long) value.captureTimestampMicros);
+        packet.encode((long) value.publishTimestampMicros);
+    }
+
+    @Override
+    public PhotonPipelineMetadata unpack(Packet packet) {
+        var ret = new PhotonPipelineMetadata();
+        ret.sequenceID = packet.decodeLong();
+        ret.captureTimestampMicros = packet.decodeLong();
+        ret.publishTimestampMicros = packet.decodeLong();
+        return ret;
+    }
+}

photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineResultSerde.java

@@ -0,0 +1,59 @@
+/*
+ * 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/>.
+ */
+
+// THIS FILE WAS AUTO-GENERATED BY ./photon-targeting/generate_messages.py. DO NOT MODIFY
+
+package org.photonvision.struct;
+
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.common.dataflow.structures.PacketSerde;
+
+// Assume that the base class lives here and we can import it
+import org.photonvision.targeting.*;
+
+
+/**
+ * This is a test
+ */
+public class PhotonPipelineResultSerde implements PacketSerde<PhotonPipelineResult> {
+
+
+    public PhotonPipelineMetadata metadata;
+    public long targets;
+
+
+    @Override
+    public int getMaxByteSize() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'getMaxByteSize'");
+    }
+
+    @Override
+    public void pack(Packet packet, PhotonPipelineResult value) {
+        // explicitly cast to avoid accidentally encoding the wrong thing
+        packet.encode((PhotonPipelineMetadata) value.metadata);
+        packet.encode((long) value.targets);
+    }
+
+    @Override
+    public PhotonPipelineResult unpack(Packet packet) {
+        var ret = new PhotonPipelineResult();
+        ret.metadata = packet.();
+        ret.targets = packet.decodeLong();
+        return ret;
+    }
+}

photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineMetadata.java

@@ -0,0 +1,50 @@
+package org.photonvision.targeting;
+
+import org.photonvision.struct.PhotonPacketSerdeStruct;
+
+public class PhotonPipelineMetadata {
+    // Mirror of the heartbeat entry -- monotonically increasing
+    public long sequenceID;
+
+    // Image capture and NT publish timestamp, in microseconds and in the
+    // coprocessor timebase. As
+    // reported by WPIUtilJNI::now.
+    public long captureTimestampMicros;
+    public long publishTimestampMicros;
+
+    public PhotonPipelineMetadata(
+            long captureTimestampMicros, long publishTimestampMicros, long sequenceID) {
+        this.captureTimestampMicros = captureTimestampMicros;
+        this.publishTimestampMicros = publishTimestampMicros;
+        this.sequenceID = sequenceID;
+    }
+
+    public PhotonPipelineMetadata() {
+        this(-1, -1, -1);
+    }
+
+    /** Returns the time between image capture and publish to NT */
+    public double getLatencyMillis() {
+        return (publishTimestampMicros - captureTimestampMicros) / 1e3;
+    }
+
+    /** The time that this image was captured, in the coprocessor's time base. */
+    public long getCaptureTimestampMicros() {
+        return captureTimestampMicros;
+    }
+
+    /** The time that this result was published to NT, in the coprocessor's time base. */
+    public long getPublishTimestampMicros() {
+        return publishTimestampMicros;
+    }
+
+    /**
+     * The number of non-empty frames processed by this camera since boot. Useful to checking if a
+     * camera is alive.
+     */
+    public long getSequenceID() {
+        return sequenceID;
+    }
+
+    PhotonPipelineResultMetadataSerde serde = new PhotonPipelineResultMetadataSerde();
+}