Add option to also publish Protobuf version of results from backend

build.gradle

@@ -4,6 +4,7 @@ plugins {
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
+    id 'com.google.protobuf' version '0.9.4' apply false
 }
 
 allprojects {

photon-client/src/components/settings/NetworkingCard.vue

@@ -5,10 +5,12 @@ import PvInput from "@/components/common/pv-input.vue";
 import PvRadio from "@/components/common/pv-radio.vue";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import PvSelect from "@/components/common/pv-select.vue";
-import { NetworkConnectionType } from "@/types/SettingTypes";
+import { NetworkConnectionType, type NetworkSettings } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 
 const settingsValid = ref(true);
+// Copy object to remove reference to store
+const tempSettingsStruct = ref<NetworkSettings>(Object.assign({}, useSettingsStore().network));
 const isValidNetworkTablesIP = (v: string | undefined): boolean => {
   // Check if it is a valid team number between 1-9999
   const teamNumberRegex = /^[1-9][0-9]{0,3}$/;
@@ -38,9 +40,31 @@ const isValidHostname = (v: string | undefined) => {
   return hostnameRegex.test(v);
 };
 
+const settingsHaveChanged = (): boolean => {
+  const a = useSettingsStore().network;
+  const b = tempSettingsStruct.value;
+
+  return (
+    a.ntServerAddress !== b.ntServerAddress ||
+    a.connectionType !== b.connectionType ||
+    a.staticIp !== b.staticIp ||
+    a.hostname !== b.hostname ||
+    a.runNTServer !== b.runNTServer ||
+    a.shouldManage !== b.shouldManage ||
+    a.shouldPublishProto !== b.shouldPublishProto ||
+    a.canManage !== b.canManage ||
+    a.networkManagerIface !== b.networkManagerIface ||
+    a.setStaticCommand !== b.setStaticCommand ||
+    a.setDHCPcommand !== b.setDHCPcommand
+  );
+};
+
 const saveGeneralSettings = () => {
   const changingStaticIp = useSettingsStore().network.connectionType === NetworkConnectionType.Static;
 
+  // Update with new values
+  Object.assign(useSettingsStore().network, tempSettingsStruct.value);
+
   useSettingsStore()
     .saveGeneralSettings()
     .then((response) => {
@@ -80,7 +104,7 @@ const saveGeneralSettings = () => {
 
 const currentNetworkInterfaceIndex = computed<number>({
   get: () => useSettingsStore().networkInterfaceNames.indexOf(useSettingsStore().network.networkManagerIface || ""),
-  set: (v) => (useSettingsStore().network.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
+  set: (v) => (tempSettingsStruct.value.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
 });
 </script>
 
@@ -90,22 +114,19 @@ const currentNetworkInterfaceIndex = computed<number>({
     <div class="ml-5">
       <v-form ref="form" v-model="settingsValid">
         <pv-input
-          v-model="useSettingsStore().network.ntServerAddress"
+          v-model="tempSettingsStruct.ntServerAddress"
           label="Team Number/NetworkTables Server Address"
           tooltip="Enter the Team Number or the IP address of the NetworkTables Server"
           :label-cols="4"
-          :disabled="useSettingsStore().network.runNTServer"
+          :disabled="tempSettingsStruct.runNTServer"
           :rules="[
             (v) =>
               isValidNetworkTablesIP(v) ||
               'The NetworkTables Server Address must be a valid Team Number, IP address, or Hostname'
           ]"
         />
         <v-banner
-          v-show="
-            !isValidNetworkTablesIP(useSettingsStore().network.ntServerAddress) &&
-            !useSettingsStore().network.runNTServer
-          "
+          v-show="!isValidNetworkTablesIP(tempSettingsStruct.ntServerAddress) && !tempSettingsStruct.runNTServer"
           rounded
           color="red"
           text-color="white"
@@ -115,33 +136,33 @@ const currentNetworkInterfaceIndex = computed<number>({
           The NetworkTables Server Address is not set or is invalid. NetworkTables is unable to connect.
         </v-banner>
         <pv-radio
-          v-model="useSettingsStore().network.connectionType"
+          v-model="tempSettingsStruct.connectionType"
           label="IP Assignment Mode"
           tooltip="DHCP will make the radio (router) automatically assign an IP address; this may result in an IP address that changes across reboots. Static IP assignment means that you pick the IP address and it won't change."
           :input-cols="12 - 4"
           :list="['DHCP', 'Static']"
-          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
         />
         <pv-input
-          v-if="useSettingsStore().network.connectionType === NetworkConnectionType.Static"
-          v-model="useSettingsStore().network.staticIp"
+          v-if="tempSettingsStruct.connectionType === NetworkConnectionType.Static"
+          v-model="tempSettingsStruct.staticIp"
           :input-cols="12 - 4"
           label="Static IP"
           :rules="[(v) => isValidIPv4(v) || 'Invalid IPv4 address']"
-          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
         />
         <pv-input
-          v-model="useSettingsStore().network.hostname"
+          v-model="tempSettingsStruct.hostname"
           label="Hostname"
           :input-cols="12 - 4"
           :rules="[(v) => isValidHostname(v) || 'Invalid hostname']"
-          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
         />
         <v-divider class="pb-3" />
         <span style="font-weight: 700">Advanced Networking</span>
         <pv-switch
-          v-model="useSettingsStore().network.shouldManage"
-          :disabled="!useSettingsStore().network.canManage"
+          v-model="tempSettingsStruct.shouldManage"
+          :disabled="!tempSettingsStruct.canManage"
           label="Manage Device Networking"
           tooltip="If enabled, Photon will manage device hostname and network settings."
           :label-cols="4"
@@ -150,16 +171,16 @@ const currentNetworkInterfaceIndex = computed<number>({
         <pv-select
           v-model="currentNetworkInterfaceIndex"
           label="NetworkManager interface"
-          :disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
+          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
           :select-cols="12 - 4"
           tooltip="Name of the interface PhotonVision should manage the IP address of"
           :items="useSettingsStore().networkInterfaceNames"
         />
         <v-banner
           v-show="
             !useSettingsStore().networkInterfaceNames.length &&
-            useSettingsStore().network.shouldManage &&
-            useSettingsStore().network.canManage
+            tempSettingsStruct.shouldManage &&
+            tempSettingsStruct.canManage
           "
           rounded
           color="red"
@@ -169,27 +190,44 @@ const currentNetworkInterfaceIndex = computed<number>({
           Photon cannot detect any wired connections! Please send program logs to the developers for help.
         </v-banner>
         <pv-switch
-          v-model="useSettingsStore().network.runNTServer"
+          v-model="tempSettingsStruct.runNTServer"
           label="Run NetworkTables Server (Debugging Only)"
           tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
-          class="mt-3 mb-3"
+          class="mt-3 mb-2"
           :label-cols="4"
         />
         <v-banner
-          v-show="useSettingsStore().network.runNTServer"
+          v-show="tempSettingsStruct.runNTServer"
           rounded
           color="red"
           text-color="white"
           icon="mdi-information-outline"
         >
           This mode is intended for debugging; it should be off for proper usage. PhotonLib will NOT work!
         </v-banner>
+        <pv-switch
+          v-model="tempSettingsStruct.shouldPublishProto"
+          label="Also Publish Protobuf"
+          tooltip="If enabled, Photon will publish all pipeline results in both the Packet and Protobuf formats. This is useful for visualizing pipeline results from NT viewers such as glass and logging software such as AdvantageScope. Note: photon-lib will ignore this value and is not recommended on the field for performance."
+          class="mt-3 mb-2"
+          :label-cols="4"
+        />
+        <v-banner
+          v-show="tempSettingsStruct.shouldPublishProto"
+          rounded
+          color="red"
+          class="mb-3"
+          text-color="white"
+          icon="mdi-information-outline"
+        >
+          This mode is intended for debugging; it should be off for field use. You may notice a performance hit by using
+          this mode.
+        </v-banner>
       </v-form>
       <v-btn
         color="accent"
-        :class="useSettingsStore().network.runNTServer ? 'mt-3' : ''"
         style="color: black; width: 100%"
-        :disabled="!settingsValid && !useSettingsStore().network.runNTServer"
+        :disabled="!settingsValid || !settingsHaveChanged()"
         @click="saveGeneralSettings"
       >
         Save

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -36,6 +36,7 @@ export const useSettingsStore = defineStore("settings", {
       staticIp: "",
       hostname: "photonvision",
       runNTServer: false,
+      shouldPublishProto: false,
       networkInterfaceNames: [
         {
           connName: "Example Wired Connection",
@@ -112,6 +113,7 @@ export const useSettingsStore = defineStore("settings", {
         setDHCPcommand: this.network.setDHCPcommand || "",
         setStaticCommand: this.network.setStaticCommand || "",
         shouldManage: this.network.shouldManage,
+        shouldPublishProto: this.network.shouldPublishProto,
         staticIp: this.network.staticIp
       };
       return axios.post("/settings/general", payload);

photon-client/src/types/SettingTypes.ts

@@ -36,6 +36,7 @@ export interface NetworkSettings {
   hostname: string;
   runNTServer: boolean;
   shouldManage: boolean;
+  shouldPublishProto: boolean;
   canManage: boolean;
   networkManagerIface?: string;
   setStaticCommand?: string;

photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -37,6 +37,7 @@ public class NetworkConfig {
     public String hostname = "photonvision";
     public boolean runNTServer = false;
     public boolean shouldManage;
+    public boolean shouldPublishProto = false;
 
     @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
     @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
@@ -72,6 +73,7 @@ public NetworkConfig(
             @JsonProperty("hostname") String hostname,
             @JsonProperty("runNTServer") boolean runNTServer,
             @JsonProperty("shouldManage") boolean shouldManage,
+            @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
             @JsonProperty("networkManagerIface") String networkManagerIface,
             @JsonProperty("setStaticCommand") String setStaticCommand,
             @JsonProperty("setDHCPcommand") String setDHCPcommand) {
@@ -80,6 +82,7 @@ public NetworkConfig(
         this.staticIp = staticIp;
         this.hostname = hostname;
         this.runNTServer = runNTServer;
+        this.shouldPublishProto = shouldPublishProto;
         this.networkManagerIface = networkManagerIface;
         this.setStaticCommand = setStaticCommand;
         this.setDHCPcommand = setDHCPcommand;

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -37,6 +37,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
     private final NTTopicSet ts = new NTTopicSet();
 
+    private boolean shouldPublishProto;
+
     NTDataChangeListener pipelineIndexListener;
     private final Supplier<Integer> pipelineIndexSupplier;
     private final Consumer<Integer> pipelineIndexConsumer;
@@ -126,6 +128,10 @@ public void updateCameraNickname(String newCameraNickname) {
         updateEntries();
     }
 
+    public void setShouldPublishProto(boolean shouldPublishProto) {
+        this.shouldPublishProto = shouldPublishProto;
+    }
+
     @Override
     public void accept(CVPipelineResult result) {
         var simplified =
@@ -135,6 +141,9 @@ public void accept(CVPipelineResult result) {
                         result.multiTagResult);
 
         ts.resultPublisher.accept(simplified, simplified.getPacketSize());
+        if (shouldPublishProto) {
+            ts.protoResultPublisher.set(simplified);
+        }
 
         ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
         ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -39,6 +39,7 @@
 import org.photonvision.common.scripting.ScriptManager;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.JacksonUtils;
+import org.photonvision.vision.processes.VisionModuleManager;
 
 public class NetworkTablesManager {
     private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
@@ -164,6 +165,9 @@ public void setConfig(NetworkConfig config) {
         } else {
             setClientMode(config.ntServerAddress);
         }
+
+        VisionModuleManager.getInstance().setShouldPublishProto(config.shouldPublishProto);
+
         broadcastVersion();
     }
 

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -312,6 +312,10 @@ public void setFov(double fov) {
         }
     }
 
+    public void setShouldPublishProto(boolean shouldPublishProto) {
+        this.ntConsumer.setShouldPublishProto(shouldPublishProto);
+    }
+
     private boolean isVendorCamera() {
         return visionSource.isVendorCamera();
     }

photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java

@@ -71,6 +71,12 @@ public List<VisionModule> addSources(List<VisionSource> visionSources) {
                 .collect(Collectors.toList()); // collect in a List
     }
 
+    public void setShouldPublishProto(boolean shouldPublishProto) {
+        for (var module : visionModules) {
+            module.setShouldPublishProto(shouldPublishProto);
+        }
+    }
+
     private void assignCameraIndex(List<VisionSource> config) {
         // We won't necessarily have already added all the cameras we need to at this point
         // But by operating on the list, we have a fairly good idea of which we need to change,

photon-lib/build.gradle

@@ -60,6 +60,35 @@ task writeCurrentVersion {
 }
 
 build.mustRunAfter writeCurrentVersion
+cppHeadersZip.dependsOn writeCurrentVersion
+
+// Building photon-lib requires photon-targeting to generate its proto files. This technically shouldn't be required but is needed for it to build.
+model {
+    components {
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs "src/main/native/include"
+                    srcDirs "src/generate/native/include"
+                }
+            }
+            it.binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn ":photon-targeting:generateProto"
+                }
+            }
+        }
+    }
+    testSuites {
+        all {
+            it.binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn ":photon-targeting:generateProto"
+                }
+            }
+        }
+    }
+}
 
 def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
 

photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java

@@ -26,6 +26,7 @@
 import edu.wpi.first.networktables.IntegerSubscriber;
 import edu.wpi.first.networktables.IntegerTopic;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.ProtobufPublisher;
 import edu.wpi.first.networktables.PubSubOption;
 import org.photonvision.targeting.PhotonPipelineResult;
 
@@ -41,6 +42,7 @@ public class NTTopicSet {
     public NetworkTable subTable;
 
     public PacketPublisher<PhotonPipelineResult> resultPublisher;
+    public ProtobufPublisher<PhotonPipelineResult> protoResultPublisher;
 
     public IntegerPublisher pipelineIndexPublisher;
     public IntegerSubscriber pipelineIndexRequestSub;
@@ -76,6 +78,10 @@ public void updateEntries() {
                         .publish("rawBytes", PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
 
         resultPublisher = new PacketPublisher<>(rawBytesEntry, PhotonPipelineResult.serde);
+        protoResultPublisher =
+                subTable
+                        .getProtobufTopic("result_proto", PhotonPipelineResult.proto)
+                        .publish(PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
 
         pipelineIndexPublisher = subTable.getIntegerTopic("pipelineIndexState").publish();
         pipelineIndexRequestSub = subTable.getIntegerTopic("pipelineIndexRequest").subscribe(0);

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

@@ -21,6 +21,7 @@
 import java.util.List;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.dataflow.structures.PacketSerde;
+import org.photonvision.targeting.proto.MultiTargetPNPResultProto;
 
 public class MultiTargetPNPResult {
     // Seeing 32 apriltags at once seems like a sane limit
@@ -103,4 +104,5 @@ public MultiTargetPNPResult unpack(Packet packet) {
     }
 
     public static final APacketSerde serde = new APacketSerde();
+    public static final MultiTargetPNPResultProto proto = new MultiTargetPNPResultProto();
 }