Use protobufs for packed message data

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-3"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
+    id 'com.google.protobuf' version '0.9.4' apply false
 }
 
 allprojects {
@@ -20,7 +21,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-3"
+    wpilibVersion = "2024.1.1-beta-3-43-g25b7dca"
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"

photon-core/build.gradle

@@ -24,7 +24,6 @@ dependencies {
     // Zip
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
-    implementation wpilibTools.deps.wpilibJava("apriltag")
 
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
 }

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

@@ -23,7 +23,6 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networktables.NTTopicSet;
@@ -129,15 +128,13 @@ public void updateCameraNickname(String newCameraNickname) {
 
     @Override
     public void accept(CVPipelineResult result) {
-        var simplified =
+        var res =
                 new PhotonPipelineResult(
                         result.getLatencyMillis(),
                         TrackedTarget.simpleFromTrackedTargets(result.targets),
                         result.multiTagResult);
-        Packet packet = new Packet(simplified.getPacketSize());
-        simplified.populatePacket(packet);
 
-        ts.rawBytesEntry.set(packet.getData());
+        ts.pipelineResultsPublisher.set(res);
 
         ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
         ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());

photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java

@@ -26,7 +26,6 @@
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfDouble;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.vision.opencv.Releasable;
 
 public class JsonMat implements Releasable {
@@ -121,9 +120,4 @@ public <R extends Num, C extends Num> Matrix<R, C> getAsWpilibMat() {
     public void release() {
         getAsMat().release();
     }
-
-    public Packet populatePacket(Packet packet) {
-        packet.encode(this.data);
-        return packet;
-    }
 }

photon-lib/build.gradle

@@ -47,6 +47,7 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("wpilibj")
     implementation wpilibTools.deps.wpilibJava("apriltag")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
 
     implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
@@ -57,12 +58,6 @@ dependencies {
     implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
 }
 
-cppHeadersZip {
-    from('src/generate/native/include') {
-        into '/'
-    }
-}
-
 def photonlibFileInput = file("src/generate/photonlib.json.in")
 ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")
 
@@ -103,6 +98,15 @@ task writeCurrentVersion {
 
 build.mustRunAfter writeCurrentVersion
 
+cppHeadersZip {
+    from('src/generate/native/include') {
+        into '/'
+    }
+}
+
+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 {
@@ -112,6 +116,20 @@ model {
                     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"
+                }
+            }
         }
     }
 

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -39,14 +39,13 @@
 import edu.wpi.first.networktables.MultiSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.ProtobufSubscriber;
 import edu.wpi.first.networktables.PubSubOption;
-import edu.wpi.first.networktables.RawSubscriber;
 import edu.wpi.first.networktables.StringSubscriber;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.Optional;
 import java.util.Set;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.hardware.VisionLEDMode;
 import org.photonvision.targeting.PhotonPipelineResult;
 
@@ -55,7 +54,7 @@ public class PhotonCamera implements AutoCloseable {
     public static final String kTableName = "photonvision";
 
     private final NetworkTable cameraTable;
-    RawSubscriber rawBytesEntry;
+    ProtobufSubscriber<PhotonPipelineResult> pipelineResultsSubscriber;
     BooleanPublisher driverModePublisher;
     BooleanSubscriber driverModeSubscriber;
     DoublePublisher latencyMillisEntry;
@@ -75,7 +74,7 @@ public class PhotonCamera implements AutoCloseable {
 
     @Override
     public void close() {
-        rawBytesEntry.close();
+        pipelineResultsSubscriber.close();
         driverModePublisher.close();
         driverModeSubscriber.close();
         latencyMillisEntry.close();
@@ -112,8 +111,6 @@ public static void setVersionCheckEnabled(boolean enabled) {
         VERSION_CHECK_ENABLED = enabled;
     }
 
-    Packet packet = new Packet(1);
-
     /**
      * Constructs a PhotonCamera from a root table.
      *
@@ -127,11 +124,14 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
         var photonvision_root_table = instance.getTable(kTableName);
         this.cameraTable = photonvision_root_table.getSubTable(cameraName);
         path = cameraTable.getPath();
-        rawBytesEntry =
+        pipelineResultsSubscriber =
                 cameraTable
-                        .getRawTopic("rawBytes")
+                        .getProtobufTopic("result_proto", PhotonPipelineResult.proto)
                         .subscribe(
-                                "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
+                                new PhotonPipelineResult(),
+                                PubSubOption.periodic(0.01),
+                                PubSubOption.sendAll(true));
+
         driverModePublisher = cameraTable.getBooleanTopic("driverModeRequest").publish();
         driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false);
         inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
@@ -171,21 +171,12 @@ public PhotonCamera(String cameraName) {
     public PhotonPipelineResult getLatestResult() {
         verifyVersion();
 
-        // Clear the packet.
-        packet.clear();
-
-        // Create latest result.
-        var ret = new PhotonPipelineResult();
-
-        // Populate packet and create result.
-        packet.setData(rawBytesEntry.get(new byte[] {}));
-
-        if (packet.getSize() < 1) return ret;
-        ret.createFromPacket(packet);
+        var ret = pipelineResultsSubscriber.get();
 
         // Set the timestamp of the result.
         // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
-        ret.setTimestampSeconds((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
+        ret.setTimestampSeconds(
+                (pipelineResultsSubscriber.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
 
         // Return result.
         return ret;
@@ -321,14 +312,14 @@ public boolean isConnected() {
     public Optional<Matrix<N3, N3>> getCameraMatrix() {
         var cameraMatrix = cameraIntrinsicsSubscriber.get();
         if (cameraMatrix != null && cameraMatrix.length == 9) {
-            return Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrix));
+            return Optional.of(MatBuilder.fill(Nat.N3(), Nat.N3(), cameraMatrix));
         } else return Optional.empty();
     }
 
     public Optional<Matrix<N5, N1>> getDistCoeffs() {
         var distCoeffs = cameraDistortionSubscriber.get();
         if (distCoeffs != null && distCoeffs.length == 5) {
-            return Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(distCoeffs));
+            return Optional.of(MatBuilder.fill(Nat.N5(), Nat.N1(), distCoeffs));
         } else return Optional.empty();
     }
 

photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java

@@ -47,7 +47,6 @@
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonTargetSortMode;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.networktables.NTTopicSet;
 import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
@@ -562,11 +561,9 @@ public void submitProcessedFrame(PhotonPipelineResult result) {
      * @param receiveTimestamp The (sim) timestamp when this result was read by NT in microseconds
      */
     public void submitProcessedFrame(PhotonPipelineResult result, long receiveTimestamp) {
-        ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
+        ts.pipelineResultsPublisher.set(result, receiveTimestamp);
 
-        var newPacket = new Packet(result.getPacketSize());
-        result.populatePacket(newPacket);
-        ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp);
+        ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
 
         boolean hasTargets = result.hasTargets();
         ts.hasTargetEntry.set(hasTargets, receiveTimestamp);