Use protobufs for packed message data

build.gradle

@@ -20,7 +20,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-3"
+    wpilibVersion = "2024.1.1-beta-3-29-g3985c03"
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"

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

@@ -64,18 +64,27 @@ nativeUtils {
     }
 }
 
+
+// Gradle complains about using outputs without an explicit dependency w/o this
+tasks.named("compileJava") {
+    mustRunAfter ":photon-targeting:generateNativePhotonProtos"
+}
+
 model {
     components {
         Photon(NativeLibrarySpec) {
             sources {
                 cpp {
                     source {
                         srcDirs "src/main/native/cpp"
-                        include "**/*.cpp"
+                        srcDirs project(":photon-targeting").tasks.named("generateNativePhotonProtos").get().outputs.files
+                        include "**/*.cpp", "**/*.cc"
                     }
                     exportedHeaders {
                         srcDirs "src/main/native/include"
                         srcDirs "src/generate/native/include"
+                        srcDirs project(":photon-targeting").tasks.named("generateNativePhotonProtos").get().outputs.files
+                        include "**/*.h"
                     }
                 }
             }

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;

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);

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

@@ -33,7 +33,6 @@
 import java.util.List;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonTargetSortMode;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.networktables.NTTopicSet;
 import org.photonvision.targeting.MultiTargetPNPResult;
 import org.photonvision.targeting.PhotonPipelineResult;
@@ -143,9 +142,7 @@ public void submitProcessedFrame(
 
         PhotonPipelineResult newResult =
                 new PhotonPipelineResult(latencyMillis, targetList, new MultiTargetPNPResult());
-        var newPacket = new Packet(newResult.getPacketSize());
-        newResult.populatePacket(newPacket);
-        ts.rawBytesEntry.set(newPacket.getData());
+        ts.pipelineResultsPublisher.set(newResult);
 
         boolean hasTargets = newResult.hasTargets();
         ts.hasTargetEntry.set(hasTargets);

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 {
 
@@ -40,9 +39,10 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
                            const std::string_view cameraName)
     : mainTable(instance.GetTable("photonvision")),
       rootTable(mainTable->GetSubTable(cameraName)),
-      rawBytesEntry(
-          rootTable->GetRawTopic("rawBytes")
-              .Subscribe("rawBytes", {}, {.periodic = 0.01, .sendAll = true})),
+      pipelineResultsSubscriber(
+          rootTable->GetProtobufTopic<PhotonPipelineResult>("result_proto")
+              .Subscribe(PhotonPipelineResult(),
+                         {.periodic = 0.01, .sendAll = true})),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
       inputSaveImgSubscriber(
@@ -81,22 +81,12 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
   // Prints warning if not connected
   VerifyVersion();
 
-  // Clear the current packet.
-  packet.Clear();
-
   // Create the new result;
-  PhotonPipelineResult result;
-
-  // Fill the packet with latest data and populate result.
-  const auto value = rawBytesEntry.Get();
-  if (!value.size()) return result;
-
-  photonlib::Packet packet{value};
-
-  packet >> result;
+  PhotonPipelineResult result = pipelineResultsSubscriber.Get();
 
-  result.SetTimestamp(units::microsecond_t(rawBytesEntry.GetLastChange()) -
-                      result.GetLatency());
+  result.SetTimestamp(
+      units::microsecond_t(pipelineResultsSubscriber.GetLastChange()) -
+      result.GetLatency());
 
   return result;
 }