Nuke packet

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

@@ -29,7 +29,6 @@
 #include <opencv2/core/mat.hpp>
 
 #include "PhotonVersion.h"
-#include "photonlib/Packet.h"
 
 namespace photonlib {
 
@@ -82,9 +81,6 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
   // Prints warning if not connected
   VerifyVersion();
 
-  // Clear the current packet.
-  packet.Clear();
-
   // Create the new result;
   PhotonPipelineResult result = pipelineResultsSubscriber.Get();
 

photon-lib/src/main/native/cpp/photonlib/PhotonPipelineResult.cpp

@@ -40,36 +40,6 @@ bool PhotonPipelineResult::operator!=(const PhotonPipelineResult& other) const {
   return !operator==(other);
 }
 
-Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
-  // Encode latency and number of targets.
-  packet << result.latency.value() * 1000 << result.m_pnpResults
-         << static_cast<int8_t>(result.targets.size());
-
-  // Encode the information of each target.
-  for (auto& target : result.targets) packet << target;
-
-  // Return the packet
-  return packet;
-}
-
-Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
-  // Decode latency, existence of targets, and number of targets.
-  double latencyMillis = 0;
-  int8_t targetCount = 0;
-  packet >> latencyMillis >> result.m_pnpResults >> targetCount;
-  result.latency = units::second_t(latencyMillis / 1000.0);
-
-  result.targets.clear();
-
-  // Decode the information of each target.
-  for (int i = 0; i < targetCount; ++i) {
-    PhotonTrackedTarget target;
-    packet >> target;
-    result.targets.push_back(target);
-  }
-  return packet;
-}
-
 }  // namespace photonlib
 
 google::protobuf::Message* wpi::Protobuf<photonlib::PhotonPipelineResult>::New(

photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp

@@ -63,89 +63,6 @@ bool PhotonTrackedTarget::operator!=(const PhotonTrackedTarget& other) const {
   return !operator==(other);
 }
 
-Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
-  packet << target.yaw << target.pitch << target.area << target.skew
-         << target.fiducialId
-         << target.bestCameraToTarget.Translation().X().value()
-         << target.bestCameraToTarget.Translation().Y().value()
-         << target.bestCameraToTarget.Translation().Z().value()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().W()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().X()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().Y()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().Z()
-         << target.altCameraToTarget.Translation().X().value()
-         << target.altCameraToTarget.Translation().Y().value()
-         << target.altCameraToTarget.Translation().Z().value()
-         << target.altCameraToTarget.Rotation().GetQuaternion().W()
-         << target.altCameraToTarget.Rotation().GetQuaternion().X()
-         << target.altCameraToTarget.Rotation().GetQuaternion().Y()
-         << target.altCameraToTarget.Rotation().GetQuaternion().Z()
-         << target.poseAmbiguity;
-
-  for (int i = 0; i < 4; i++) {
-    packet << target.minAreaRectCorners[i].first
-           << target.minAreaRectCorners[i].second;
-  }
-
-  uint8_t num_corners =
-      std::min<uint8_t>(target.detectedCorners.size(), MAX_CORNERS);
-  packet << num_corners;
-  for (size_t i = 0; i < target.detectedCorners.size(); i++) {
-    packet << target.detectedCorners[i].first
-           << target.detectedCorners[i].second;
-  }
-
-  return packet;
-}
-
-Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
-  packet >> target.yaw >> target.pitch >> target.area >> target.skew >>
-      target.fiducialId;
-
-  // We use these for best and alt transforms below
-  double x = 0;
-  double y = 0;
-  double z = 0;
-  double w = 0;
-
-  // First transform is the "best" pose
-  packet >> x >> y >> z;
-  const auto bestTranslation = frc::Translation3d(
-      units::meter_t(x), units::meter_t(y), units::meter_t(z));
-  packet >> w >> x >> y >> z;
-  const auto bestRotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
-  target.bestCameraToTarget = frc::Transform3d(bestTranslation, bestRotation);
-
-  // Second transform is the "alternate" pose
-  packet >> x >> y >> z;
-  const auto altTranslation = frc::Translation3d(
-      units::meter_t(x), units::meter_t(y), units::meter_t(z));
-  packet >> w >> x >> y >> z;
-  const auto altRotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
-  target.altCameraToTarget = frc::Transform3d(altTranslation, altRotation);
-
-  packet >> target.poseAmbiguity;
-
-  target.minAreaRectCorners.clear();
-  double first = 0;
-  double second = 0;
-  for (int i = 0; i < 4; i++) {
-    packet >> first >> second;
-    target.minAreaRectCorners.emplace_back(first, second);
-  }
-
-  uint8_t numCorners = 0;
-  packet >> numCorners;
-  target.detectedCorners.clear();
-  target.detectedCorners.reserve(numCorners);
-  for (size_t i = 0; i < numCorners; i++) {
-    packet >> first >> second;
-    target.detectedCorners.emplace_back(first, second);
-  }
-
-  return packet;
-}
-
 }  // namespace photonlib
 
 google::protobuf::Message* wpi::Protobuf<photonlib::PhotonTrackedTarget>::New(
@@ -162,15 +79,22 @@ wpi::Protobuf<photonlib::PhotonTrackedTarget>::Unpack(
 
   auto m = static_cast<const ProtobufPhotonTrackedTarget*>(&msg);
 
+  wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
+  for (const auto& t : m->minarearectcorners()) {
+    minAreaRectCorners.emplace_back(t.x(), t.y());
+  }
+
+  std::vector<std::pair<double, double>> detectedCorners;
+  detectedCorners.reserve(m->detectedcorners_size());
+  for (const auto& t : m->detectedcorners()) {
+    detectedCorners.emplace_back(t.x(), t.y());
+  }
+
   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
-      {});
+      m->poseambiguity(), minAreaRectCorners, detectedCorners);
 }
 
 void wpi::Protobuf<photonlib::PhotonTrackedTarget>::Pack(

photon-lib/src/main/native/include/photonlib/MultiTargetPNPResult.h

@@ -27,8 +27,6 @@
 #include <frc/geometry/Transform3d.h>
 #include <wpi/SmallVector.h>
 
-#include "photonlib/Packet.h"
-
 namespace photonlib {
 
 class PNPResults {
@@ -44,18 +42,12 @@ class PNPResults {
   double altReprojectionErr;
 
   double ambiguity;
-
-  friend Packet& operator<<(Packet& packet, const PNPResults& result);
-  friend Packet& operator>>(Packet& packet, PNPResults& result);
 };
 
 class MultiTargetPnpResult {
  public:
   PNPResults result;
   wpi::SmallVector<int16_t, 32> fiducialIdsUsed;
-
-  friend Packet& operator<<(Packet& packet, const MultiTargetPnpResult& result);
-  friend Packet& operator>>(Packet& packet, MultiTargetPnpResult& result);
 };
 
 }  // namespace photonlib