Create new PhotonStructDecoder (#181)

* Create Photon schema

* Fix point visualization!

* Fix formatting

* Hide type hash in source list help window

* Remove debug logging calls

---------

Co-authored-by: Jonah <47046556+jwbonner@users.noreply.github.com>

src/hub/controllers/PointsController_Config.ts

@@ -14,7 +14,12 @@ const PointsController_Config: SourceListConfig = {
       showInTypeName: true,
       color: "#000000",
       darkColor: "#ffffff",
-      sourceTypes: ["Translation2d", "Translation2d[]", "NumberArray"],
+      sourceTypes: [
+        "Translation2d",
+        "Translation2d[]",
+        "NumberArray",
+        "TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6[]"
+      ],
       showDocs: true,
       options: [
         {

src/hub/dataSources/nt4/NT4Source.ts

@@ -1,5 +1,5 @@
 import Log from "../../../shared/log/Log";
-import { PROTO_PREFIX, STRUCT_PREFIX, getEnabledKey, getURCLKeys } from "../../../shared/log/LogUtil";
+import { PHOTON_PREFIX, PROTO_PREFIX, STRUCT_PREFIX, getEnabledKey, getURCLKeys } from "../../../shared/log/LogUtil";
 import LoggableType from "../../../shared/log/LoggableType";
 import ProtoDecoder from "../../../shared/log/ProtoDecoder";
 import { checkArrayType } from "../../../shared/util";
@@ -196,6 +196,8 @@ export default class NT4Source extends LiveDataSource {
             }
           } else if (topic.type.startsWith(PROTO_PREFIX)) {
             structuredType = ProtoDecoder.getFriendlySchemaType(topic.type.split(PROTO_PREFIX)[1]);
+          } else if (topic.type.startsWith(PHOTON_PREFIX)) {
+            structuredType = topic.type.split(PHOTON_PREFIX)[1];
           } else if (topic.type === "msgpack") {
             structuredType = "MessagePack";
           } else if (topic.type === "json") {
@@ -295,6 +297,9 @@ export default class NT4Source extends LiveDataSource {
                   } else {
                     this.log?.putStruct(key, timestamp, value, schemaType, false);
                   }
+                } else if (topic.type.startsWith(PHOTON_PREFIX)) {
+                  let schemaType = topic.type.split(PHOTON_PREFIX)[1];
+                  this.log?.putPhotonStruct(key, timestamp, value, schemaType);
                 } else if (topic.type.startsWith(PROTO_PREFIX)) {
                   let schemaType = topic.type.split(PROTO_PREFIX)[1];
                   this.log?.putProto(key, timestamp, value, schemaType);

src/hub/dataSources/schema/CustomSchemas.ts

@@ -1,13 +1,11 @@
 import Log from "../../../shared/log/Log";
-import PhotonSchema from "./PhotonSchema";
 import URCLSchema from "./URCLSchema";
 import URCLSchemaLegacy from "./URCLSchemaLegacy";
 
 /** Schemas that require custom handling because they can't be decoded using just the log data. */
 const CustomSchemas: Map<string, (log: Log, key: string, timestamp: number, value: Uint8Array) => void> = new Map();
 export default CustomSchemas;
 
-CustomSchemas.set("rawBytes", PhotonSchema); // PhotonVision 2023.1.2
 CustomSchemas.set("URCL", URCLSchemaLegacy.parseURCLr1);
 CustomSchemas.set("URCLr2_periodic", URCLSchemaLegacy.parseURCLr2);
 CustomSchemas.set("URCLr3_periodic", URCLSchema.parseURCLr3);

src/shared/geometry.ts

@@ -184,6 +184,8 @@ export function grabPosesAuto(
       return grabRotation2dArray(log, key, timestamp, uuid);
     case "Rotation3d[]":
       return grabRotation3dArray(log, key, timestamp, uuid);
+    case "TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6[]":
+      return grabTargetCornerArray(log, key, timestamp, uuid);
     case "Translation2d":
       return grabTranslation2d(log, key, timestamp, uuid);
     case "Translation3d":
@@ -354,6 +356,28 @@ export function grabRotation3dArray(log: Log, key: string, timestamp: number, uu
   );
 }
 
+export function grabTargetCornerArray(log: Log, key: string, timestamp: number, uuid?: string): AnnotatedPose3d[] {
+  return indexArray(getOrDefault(log, key + "/length", LoggableType.Number, timestamp, 0, uuid)).reduce(
+    (array, index) => array.concat(grabTargetCorner(log, key + "/" + index.toString(), timestamp)),
+    [] as AnnotatedPose3d[]
+  );
+}
+
+export function grabTargetCorner(log: Log, key: string, timestamp: number, uuid?: string): AnnotatedPose3d[] {
+  return [
+    {
+      pose: {
+        translation: translation2dTo3d([
+          getOrDefault(log, key + "/x", LoggableType.Number, timestamp, 0, uuid),
+          getOrDefault(log, key + "/y", LoggableType.Number, timestamp, 0, uuid)
+        ]),
+        rotation: Rotation3dZero
+      },
+      annotation: { is2DSource: true }
+    }
+  ];
+}
+
 export function grabTranslation2d(log: Log, key: string, timestamp: number, uuid?: string): AnnotatedPose3d[] {
   return [
     {

src/shared/log/Log.ts

@@ -3,7 +3,7 @@ import { Pose2d, Translation2d } from "../geometry";
 import { arraysEqual, checkArrayType } from "../util";
 import LogField from "./LogField";
 import LogFieldTree from "./LogFieldTree";
-import { STRUCT_PREFIX, TYPE_KEY, applyKeyPrefix, getEnabledData, splitLogKey } from "./LogUtil";
+import { PHOTON_PREFIX, STRUCT_PREFIX, TYPE_KEY, applyKeyPrefix, getEnabledData, splitLogKey } from "./LogUtil";
 import {
   LogValueSetAny,
   LogValueSetBoolean,
@@ -15,6 +15,7 @@ import {
   LogValueSetStringArray
 } from "./LogValueSets";
 import LoggableType from "./LoggableType";
+import PhotonStructDecoder from "./PhotonStructDecoder";
 import ProtoDecoder from "./ProtoDecoder";
 import StructDecoder from "./StructDecoder";
 
@@ -24,6 +25,7 @@ export default class Log {
   private msgpackDecoder = new Decoder();
   private structDecoder = new StructDecoder();
   private protoDecoder = new ProtoDecoder();
+  private photonDecoder = new PhotonStructDecoder();
 
   private fields: { [id: string]: LogField } = {};
   private generatedParents: Set<string> = new Set(); // Children of these fields are generated
@@ -373,6 +375,11 @@ export default class Log {
     // Check for struct schema
     if (key.includes("/.schema/" + STRUCT_PREFIX)) {
       this.structDecoder.addSchema(key.split(STRUCT_PREFIX)[1], value);
+      this.photonDecoder.addSchema(key.split(STRUCT_PREFIX)[1], value);
+      this.attemptQueuedStructures();
+    }
+    if (key.includes("/.schema/" + PHOTON_PREFIX)) {
+      this.photonDecoder.addSchema(key.split(PHOTON_PREFIX)[1], value);
       this.attemptQueuedStructures();
     }
   }
@@ -586,6 +593,39 @@ export default class Log {
     }
   }
 
+  /** Writes a photonstruct-encoded raw value to the field.
+   *
+   * The schema type should not include "photonstruct:"
+   */
+  putPhotonStruct(key: string, timestamp: number, value: Uint8Array, schemaType: string) {
+    this.putRaw(key, timestamp, value);
+    if (this.fields[key].getType() === LoggableType.Raw) {
+      this.setGeneratedParent(key);
+      this.setStructuredType(key, schemaType);
+      let decodedData: { data: unknown; schemaTypes: { [key: string]: string } } | null = null;
+      try {
+        decodedData = this.photonDecoder.decode(schemaType, value);
+      } catch {}
+      if (decodedData !== null) {
+        this.putUnknownStruct(key, timestamp, decodedData.data);
+        Object.entries(decodedData.schemaTypes).forEach(([childKey, schemaType]) => {
+          // Create the key so it can be dragged even though it doesn't have data
+          let fullChildKey = key + "/" + childKey;
+          this.createBlankField(fullChildKey, LoggableType.Empty);
+          this.processTimestamp(fullChildKey, timestamp);
+          this.setStructuredType(fullChildKey, schemaType);
+        });
+      } else {
+        this.queuedStructs.push({
+          key: key,
+          timestamp: timestamp,
+          value: value,
+          schemaType: schemaType
+        });
+      }
+    }
+  }
+
   /** Writes a struct-encoded raw value to the field.
    *
    * The schema type should not include "struct:" or "[]"

src/shared/log/LogUtil.ts

@@ -11,6 +11,7 @@ import LoggableType from "./LoggableType";
 export const TYPE_KEY = ".type";
 export const STRUCT_PREFIX = "struct:";
 export const PROTO_PREFIX = "proto:";
+export const PHOTON_PREFIX = "photonstruct:";
 export const MAX_SEARCH_RESULTS = 128;
 export const MERGE_PREFIX = "Log";
 export const MERGE_PREFIX_REGEX = new RegExp(/^\/?Log\d+/);