mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 08:38:00 -06:00
astatin3
120 lines
4.3 KiB
Python
120 lines
4.3 KiB
Python
###############################################################################
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## Copyright (C) Photon Vision.
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###############################################################################
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## This program is free software: you can redistribute it and/or modify
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## it under the terms of the GNU General Public License as published by
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## the Free Software Foundation, either version 3 of the License, or
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## (at your option) any later version.
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##
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## This program is distributed in the hope that it will be useful,
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## but WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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## GNU General Public License for more details.
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##
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## You should have received a copy of the GNU General Public License
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## along with this program. If not, see <https://www.gnu.org/licenses/>.
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###############################################################################
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###############################################################################
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## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
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## --> DO NOT MODIFY <--
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###############################################################################
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from typing import TYPE_CHECKING
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from ..packet import Packet
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from ..targeting import * # noqa
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if TYPE_CHECKING:
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from ..targeting import PhotonTrackedTarget # noqa
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from ..targeting import TargetCorner # noqa
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class PhotonTrackedTargetSerde:
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# Message definition md5sum. See photon_packet.adoc for details
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MESSAGE_VERSION = "cc6dbb5c5c1e0fa808108019b20863f1"
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MESSAGE_FORMAT = "float64 yaw;float64 pitch;float64 area;float64 skew;int32 fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d bestCameraToTarget;Transform3d altCameraToTarget;float64 poseAmbiguity;TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 minAreaRectCorners[?];TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 detectedCorners[?];"
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@staticmethod
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def pack(value: "PhotonTrackedTarget") -> "Packet":
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ret = Packet()
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# yaw is of intrinsic type float64
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ret.encodeDouble(value.yaw)
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# pitch is of intrinsic type float64
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ret.encodeDouble(value.pitch)
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# area is of intrinsic type float64
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ret.encodeDouble(value.area)
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# skew is of intrinsic type float64
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ret.encodeDouble(value.skew)
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# fiducialId is of intrinsic type int32
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ret.encodeInt(value.fiducialId)
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# objDetectId is of intrinsic type int32
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ret.encodeInt(value.objDetectId)
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# objDetectConf is of intrinsic type float32
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ret.encodeFloat(value.objDetectConf)
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ret.encodeTransform(value.bestCameraToTarget)
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ret.encodeTransform(value.altCameraToTarget)
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# poseAmbiguity is of intrinsic type float64
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ret.encodeDouble(value.poseAmbiguity)
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# minAreaRectCorners is a custom VLA!
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ret.encodeList(value.minAreaRectCorners, TargetCorner.photonStruct)
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# detectedCorners is a custom VLA!
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ret.encodeList(value.detectedCorners, TargetCorner.photonStruct)
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return ret
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@staticmethod
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def unpack(packet: "Packet") -> "PhotonTrackedTarget":
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ret = PhotonTrackedTarget()
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# yaw is of intrinsic type float64
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ret.yaw = packet.decodeDouble()
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# pitch is of intrinsic type float64
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ret.pitch = packet.decodeDouble()
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# area is of intrinsic type float64
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ret.area = packet.decodeDouble()
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# skew is of intrinsic type float64
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ret.skew = packet.decodeDouble()
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# fiducialId is of intrinsic type int32
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ret.fiducialId = packet.decodeInt()
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# objDetectId is of intrinsic type int32
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ret.objDetectId = packet.decodeInt()
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# objDetectConf is of intrinsic type float32
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ret.objDetectConf = packet.decodeFloat()
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ret.bestCameraToTarget = packet.decodeTransform()
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ret.altCameraToTarget = packet.decodeTransform()
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# poseAmbiguity is of intrinsic type float64
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ret.poseAmbiguity = packet.decodeDouble()
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# minAreaRectCorners is a custom VLA!
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ret.minAreaRectCorners = packet.decodeList(TargetCorner.photonStruct)
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# detectedCorners is a custom VLA!
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ret.detectedCorners = packet.decodeList(TargetCorner.photonStruct)
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return ret
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# Hack ourselves into the base class
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PhotonTrackedTarget.photonStruct = PhotonTrackedTargetSerde()
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