Fix most of the merge conflicts

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

@@ -18,6 +18,8 @@
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
@@ -45,12 +47,14 @@ class LegacyConfigProvider extends ConfigProvider {
     public static final String HW_CFG_FNAME = "hardwareConfig.json";
     public static final String HW_SET_FNAME = "hardwareSettings.json";
     public static final String NET_SET_FNAME = "networkSettings.json";
+    public static final String ATFL_SET_FNAME = "apriltagFieldLayout.json";
 
     private PhotonConfiguration config;
     private final File hardwareConfigFile;
     private final File hardwareSettingsFile;
     private final File networkConfigFile;
     private final File camerasFolder;
+    private final File apriltagFieldLayoutFile;
 
     final File configDirectoryFile;
 
@@ -87,6 +91,8 @@ protected LegacyConfigProvider(Path configDirectoryFile) {
                 new File(Path.of(configDirectoryFile.toString(), HW_SET_FNAME).toUri());
         this.networkConfigFile =
                 new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri());
+        this.apriltagFieldLayoutFile =
+                new File(Path.of(configDirectoryFile.toString(), ATFL_SET_FNAME).toUri());
         this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
 
         settingsSaveThread = new Thread(this::saveAndWriteTask);
@@ -117,6 +123,7 @@ public void load() {
         HardwareConfig hardwareConfig;
         HardwareSettings hardwareSettings;
         NetworkConfig networkConfig;
+        AprilTagFieldLayout atfl = null;
 
         if (hardwareConfigFile.exists()) {
             try {
@@ -176,11 +183,40 @@ public void load() {
             }
         }
 
+        if (apriltagFieldLayoutFile.exists()) {
+            try {
+                atfl =
+                        JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class);
+                if (atfl == null) {
+                    logger.error("Could not deserialize apriltag field layout!");
+                }
+            } catch (IOException e) {
+                logger.error("Could not deserialize apriltag field layout!");
+                atfl = null; // not required, nice to be explicit
+            }
+            logger.info("Apriltag layout file not saved!");
+            atfl = null; // not required, nice to be explicit
+        }
+        if (atfl == null) {
+            logger.info("Loading default apriltags for 2023 field...");
+            try {
+                atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField();
+            } catch (IOException e) {
+                logger.error("Error loading WPILib field", e);
+                atfl = null;
+            }
+            if (atfl == null) {
+                // what do we even do here lmao -- wpilib should always work
+                logger.error("Field layout is *still* null??????");
+                atfl = new AprilTagFieldLayout(List.of(), 1, 1);
+            }
+        }
+
         HashMap<String, CameraConfiguration> cameraConfigurations = loadCameraConfigs();
 
         this.config =
                 new PhotonConfiguration(
-                        hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations);
+                        hardwareConfig, hardwareSettings, networkConfig, atfl, cameraConfigurations);
     }
 
     @Override

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

@@ -17,6 +17,8 @@
 
 package org.photonvision.common.configuration;
 
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
@@ -57,6 +59,7 @@ static class TableKeys {
         static final String NETWORK_CONFIG = "networkConfig";
         static final String HARDWARE_CONFIG = "hardwareConfig";
         static final String HARDWARE_SETTINGS = "hardwareSettings";
+        static final String ATFL_CONFIG_FILE = "apriltagFieldLayout";
     }
 
     private static final String dbName = "photon.sqlite";
@@ -206,6 +209,7 @@ public void load() {
             HardwareConfig hardwareConfig;
             HardwareSettings hardwareSettings;
             NetworkConfig networkConfig;
+            AprilTagFieldLayout atfl;
 
             try {
                 hardwareConfig =
@@ -234,6 +238,25 @@ public void load() {
                 networkConfig = new NetworkConfig();
             }
 
+            try {
+                atfl =
+                        JacksonUtils.deserialize(
+                                getOneConfigFile(conn, TableKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class);
+            } catch (IOException e) {
+                logger.error("Could not deserialize network config! Loading defaults");
+                try {
+                    atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField();
+                } catch (IOException e2) {
+                    logger.error("Error loading WPILib field", e);
+                    atfl = null;
+                }
+                if (atfl == null) {
+                    // what do we even do here lmao -- wpilib should always work
+                    logger.error("Field layout is *still* null??????");
+                    atfl = new AprilTagFieldLayout(List.of(), 1, 1);
+                }
+            }
+
             var cams = loadCameraConfigs(conn);
 
             try {
@@ -242,7 +265,8 @@ public void load() {
                 logger.error("SQL Err closing connection while loading: ", e);
             }
 
-            this.config = new PhotonConfiguration(hardwareConfig, hardwareSettings, networkConfig, cams);
+            this.config =
+                    new PhotonConfiguration(hardwareConfig, hardwareSettings, networkConfig, atfl, cams);
         }
     }
 

photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java

@@ -33,9 +33,9 @@
 import edu.wpi.first.math.numbers.*;
 import java.util.ArrayList;
 import java.util.List;
-import org.photonvision.targeting.PNPResults;
 import java.util.Objects;
 import java.util.stream.Collectors;
+import org.photonvision.targeting.PNPResults;
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.TargetCorner;
 

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

@@ -48,7 +48,7 @@
 import org.photonvision.common.networktables.NTTopicSet;
 import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
-import org.photonvision.estimation.PNPResults;
+import org.photonvision.targeting.PNPResults;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.TargetCorner;

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

@@ -1,30 +1,25 @@
 /*
- * MIT License
+ * Copyright (C) Photon Vision.
  *
- * Copyright (c) PhotonVision
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
  *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
  *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package org.photonvision.estimation;
+package org.photonvision.targeting;
 
 import edu.wpi.first.math.geometry.Transform3d;
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.utils.PacketUtils;
 
 /**
  * The best estimated transformation from solvePnP, and possibly an alternate transformation
@@ -90,4 +85,30 @@ public PNPResults(
         this.bestReprojErr = bestReprojErr;
         this.altReprojErr = altReprojErr;
     }
+
+    public static final int PACK_SIZE_BYTES = 1 + (Double.BYTES * 7 * 2) + (Double.BYTES * 3);
+
+    public static PNPResults createFromPacket(Packet packet) {
+        var present = packet.decodeBoolean();
+        var best = PacketUtils.decodeTransform(packet);
+        var alt = PacketUtils.decodeTransform(packet);
+        var bestEr = packet.decodeDouble();
+        var altEr = packet.decodeDouble();
+        var ambiguity = packet.decodeDouble();
+        if (present) {
+            return new PNPResults(best, alt, ambiguity, bestEr, altEr);
+        } else {
+            return new PNPResults();
+        }
+    }
+
+    public Packet populatePacket(Packet packet) {
+        packet.encode(isPresent);
+        PacketUtils.encodeTransform(packet, best);
+        PacketUtils.encodeTransform(packet, alt);
+        packet.encode(bestReprojErr);
+        packet.encode(altReprojErr);
+        packet.encode(ambiguity);
+        return packet;
+    }
 }

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

@@ -209,27 +209,20 @@ public int hashCode() {
 
     @Override
     public boolean equals(Object obj) {
-        if (this == obj)
-            return true;
-        if (obj == null)
-            return false;
-        if (getClass() != obj.getClass())
-            return false;
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
         PhotonPipelineResult other = (PhotonPipelineResult) obj;
         if (targets == null) {
-            if (other.targets != null)
-                return false;
-        } else if (!targets.equals(other.targets))
-            return false;
+            if (other.targets != null) return false;
+        } else if (!targets.equals(other.targets)) return false;
         if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis))
             return false;
-        if (Double.doubleToLongBits(timestampSeconds) != Double.doubleToLongBits(other.timestampSeconds))
-            return false;
+        if (Double.doubleToLongBits(timestampSeconds)
+                != Double.doubleToLongBits(other.timestampSeconds)) return false;
         if (multiTagResult == null) {
-            if (other.multiTagResult != null)
-                return false;
-        } else if (!multiTagResult.equals(other.multiTagResult))
-            return false;
+            if (other.multiTagResult != null) return false;
+        } else if (!multiTagResult.equals(other.multiTagResult)) return false;
         return true;
     }
 }