Tidy up of python autogenerated messages (PhotonVision#1594)

This fixes mostly formatting issues so there is no longer any diff with
things after rerunning the generation script. Yes, most of this can be
fixed by running wpiformat but that doesn't exist as a pre-commit hook
atm, so I think this is nicer.

It also removes any reference to the java encode/decode within the
python message gen

.styleguide

@@ -20,6 +20,8 @@ modifiableFileExclude {
   \.ico$
   \.rknn$
   gradlew
+  photon-lib/py/photonlibpy/generated/
+  photon-targeting/src/generated/
 }
 
 includeProject {

photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -42,9 +42,7 @@ def pack(value: "PhotonPipelineResult") -> "Packet":
         ret = Packet()
 
         # metadata is of non-intrinsic type PhotonPipelineMetadata
-        ret.encodeBytes(
-            PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData()
-        )
+        ret.encodeBytes(PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData())
 
         # targets is a custom VLA!
         ret.encodeList(value.targets, PhotonTrackedTarget.photonStruct)

photon-serde/message_data_types.yaml

@@ -6,34 +6,46 @@ bool:
   cpp_type: bool
   java_decode_method: decodeBoolean
   java_encode_shim: encodeBoolean
+  python_decode_shim: decodeBoolean
+  python_encode_shim: encodeBoolean
 int16:
   len: 2
   java_type: short
   cpp_type: int16_t
   java_decode_method: decodeShort
   java_list_decode_method: decodeShortList
   java_encode_shim: encodeShort
+  python_decode_shim: decodeShort
+  python_encode_shim: encodeShort
 int32:
   len: 4
   java_type: int
   cpp_type: int32_t
   java_decode_method: decodeInt
   java_encode_shim: encodeInt
+  python_decode_shim: decodeInt
+  python_encode_shim: encodeInt
 int64:
   len: 8
   java_type: long
   cpp_type: int64_t
   java_decode_method: decodeLong
   java_encode_shim: encodeLong
+  python_decode_shim: decodeLong
+  python_encode_shim: encodeLong
 float32:
   len: 4
   java_type: float
   cpp_type: float
   java_decode_method: decodeFloat
   java_encode_shim: encodeFloat
+  python_decode_shim: decodeFloat
+  python_encode_shim: encodeFloat
 float64:
   len: 8
   java_type: double
   cpp_type: double
   java_decode_method: decodeDouble
   java_encode_shim: encodeDouble
+  python_decode_shim: decodeDouble
+  python_encode_shim: encodeDouble

photon-serde/messages.yaml

@@ -16,7 +16,7 @@
   java_encode_shim: PacketUtils.packTransform3d
   cpp_type: frc::Transform3d
   cpp_include: "<frc/geometry/Transform3d.h>"
-  python_decode_shim: packet.decodeTransform
+  python_decode_shim: decodeTransform
   python_encode_shim: encodeTransform
   java_import: edu.wpi.first.math.geometry.Transform3d
   # shim since we expect fields to at least exist

photon-serde/templates/Message.java.jinja

@@ -54,53 +54,53 @@ public class {{ name }}Serde implements PacketSerde<{{name}}> {
     @Override
     public void pack(Packet packet, {{ name }} value) {
 {%- for field in fields -%}
-    {%- if field.type | is_shimmed %}
+{%- if field.type | is_shimmed %}
         {{ get_message_by_name(field.type).java_encode_shim }}(packet, value.{{ field.name }});
-    {%- elif field.optional == True %}
+{%- elif field.optional == True %}
         // {{ field.name }} is optional! it better not be a VLA too
         packet.encodeOptional(value.{{ field.name }});
-    {%- elif field.vla == True and field.type | is_intrinsic %}
+{%- elif field.vla == True and field.type | is_intrinsic %}
         // {{ field.name }} is a intrinsic VLA!
         packet.encode(value.{{ field.name }});
-    {%- elif field.vla == True %}
+{%- elif field.vla == True %}
         // {{ field.name }} is a custom VLA!
         packet.encodeList(value.{{ field.name }});
-    {%- elif field.type | is_intrinsic %}
+{%- elif field.type | is_intrinsic %}
         // field {{ field.name }} is of intrinsic type {{ field.type }}
         packet.encode(({{ type_map[field.type].java_type }}) value.{{ field.name }});
-    {%- else %}
+{%- else %}
         // field {{ field.name }} is of non-intrinsic type {{ field.type }}
         {{ field.type }}.photonStruct.pack(packet, value.{{ field.name }});
-    {%- endif %}
-    {%- if not loop.last %}
-    {% endif -%}
+{%- endif %}
+{%- if not loop.last %}
+{% endif -%}
 {% endfor%}
     }
 
     @Override
     public {{ name }} unpack(Packet packet) {
         var ret = new {{ name }}();
 {% for field in fields -%}
-    {%- if field.type | is_shimmed %}
+{%- if field.type | is_shimmed %}
         ret.{{ field.name }} = {{ get_message_by_name(field.type).java_decode_shim }}(packet);
-    {%- elif field.optional == True %}
+{%- elif field.optional == True %}
         // {{ field.name }} is optional! it better not be a VLA too
         ret.{{ field.name }} = packet.decodeOptional({{ field.type }}.photonStruct);
-    {%- elif field.vla == True and not field.type | is_intrinsic %}
+{%- elif field.vla == True and not field.type | is_intrinsic %}
         // {{ field.name }} is a custom VLA!
         ret.{{ field.name }} = packet.decodeList({{ field.type }}.photonStruct);
-    {%- elif field.vla == True and field.type | is_intrinsic %}
+{%- elif field.vla == True and field.type | is_intrinsic %}
         // {{ field.name }} is a custom VLA!
         ret.{{ field.name }} = packet.decode{{ type_map[field.type].java_type.title() }}List();
-    {%- elif field.type | is_intrinsic %}
+{%- elif field.type | is_intrinsic %}
         // {{ field.name }} is of intrinsic type {{ field.type }}
         ret.{{field.name}} = packet.{{ type_map[field.type].java_decode_method }}();
-    {%- else %}
+{%- else %}
         // {{ field.name }} is of non-intrinsic type {{ field.type }}
         ret.{{field.name}} = {{ field.type }}.photonStruct.unpack(packet);
-    {%- endif %}
-    {%- if not loop.last %}
-    {% endif -%}
+{%- endif %}
+{%- if not loop.last %}
+{% endif -%}
 {% endfor%}
 
         return ret;
@@ -125,4 +125,4 @@ public class {{ name }}Serde implements PacketSerde<{{name}}> {
             {%- endfor%}
         };
     }
-}
+}{{'\n'}}

photon-serde/templates/ThingSerde.cpp.jinja

@@ -24,21 +24,21 @@ namespace photon {
 using StructType = SerdeType<{{ name }}>;
 
 void StructType::Pack(Packet& packet, const {{ name }}& value) {
+  {% for field in fields -%}
+  packet.Pack<{{ field | get_qualified_name }}>(value.{{ field.name }});
+  {%- if not loop.last %}
+  {% endif -%}
+  {% endfor %}
+}
+
+{{ name }} StructType::Unpack(Packet& packet) {
+  return {{ name }}{ {{ name }}_PhotonStruct{
     {% for field in fields -%}
-    packet.Pack<{{ field | get_qualified_name }}>(value.{{ field.name }});
+    .{{ field.name}} = packet.Unpack<{{ field | get_qualified_name }}>(),
     {%- if not loop.last %}
     {% endif -%}
     {% endfor %}
+  }};
 }
 
-{{ name }} StructType::Unpack(Packet& packet) {
-    return {{ name }}{ {{ name }}_PhotonStruct{
-        {% for field in fields -%}
-        .{{ field.name}} = packet.Unpack<{{ field | get_qualified_name }}>(),
-        {%- if not loop.last %}
-        {% endif -%}
-        {% endfor %}
-    }};
-}
-
-} // namespace photon
+} // namespace photon{{'\n'}}

photon-serde/templates/ThingSerde.h.jinja

@@ -48,4 +48,4 @@ struct WPILIB_DLLEXPORT SerdeType<{{ name }}> {
 
 static_assert(photon::PhotonStructSerializable<photon::{{ name }}>);
 
-} // namespace photon
+} // namespace photon{{'\n'}}

photon-serde/templates/ThingSerde.py.jinja

@@ -44,7 +44,7 @@ class {{ name }}Serde:
     MESSAGE_FORMAT = "{{ message_fmt }}"
 
     @staticmethod
-    def pack(value: '{{ name }}' ) -> 'Packet':
+    def pack(value: "{{ name }}") -> "Packet":
         ret = Packet()
 {% for field in fields -%}
 {%- if field.type | is_shimmed %}
@@ -60,7 +60,7 @@ class {{ name }}Serde:
         ret.encode{{ type_map[field.type].java_type.title() }}List(value.{{ field.name }})
 {%- elif field.type | is_intrinsic %}
         # {{ field.name }} is of intrinsic type {{ field.type }}
-        ret.{{ type_map[field.type].java_encode_shim }}(value.{{field.name}})
+        ret.{{ type_map[field.type].python_encode_shim }}(value.{{field.name}})
 {%- else %}
         # {{ field.name }} is of non-intrinsic type {{ field.type }}
         ret.encodeBytes({{ field.type }}.photonStruct.pack(value.{{field.name}}).getData())
@@ -70,13 +70,12 @@ class {{ name }}Serde:
 {% endfor%}
         return ret
 
-
     @staticmethod
-    def unpack(packet: 'Packet') -> '{{ name }}':
+    def unpack(packet: "Packet") -> "{{ name }}":
         ret = {{ name }}()
 {% for field in fields -%}
 {%- if field.type | is_shimmed %}
-        ret.{{ field.name }} = {{ get_message_by_name(field.type).python_decode_shim }}()
+        ret.{{ field.name }} = packet.{{ get_message_by_name(field.type).python_decode_shim }}()
 {%- elif field.optional == True %}
         # {{ field.name }} is optional! it better not be a VLA too
         ret.{{ field.name }} = packet.decodeOptional({{ field.type }}.photonStruct)
@@ -88,7 +87,7 @@ class {{ name }}Serde:
         ret.{{ field.name }} = packet.decode{{ type_map[field.type].java_type.title() }}List()
 {%- elif field.type | is_intrinsic %}
         # {{ field.name }} is of intrinsic type {{ field.type }}
-        ret.{{field.name}} = packet.{{ type_map[field.type].java_decode_method }}()
+        ret.{{field.name}} = packet.{{ type_map[field.type].python_decode_shim }}()
 {%- else %}
         # {{ field.name }} is of non-intrinsic type {{ field.type }}
         ret.{{field.name}} = {{ field.type }}.photonStruct.unpack(packet)
@@ -101,4 +100,4 @@ class {{ name }}Serde:
 
 
 # Hack ourselves into the base class
-{{ name }}.photonStruct = {{ name }}Serde()
+{{ name }}.photonStruct = {{ name }}Serde(){{'\n'}}

photon-serde/templates/ThingStruct.h.jinja

@@ -36,4 +36,4 @@ struct {{ name }}_PhotonStruct {
   friend bool operator==({{ name }}_PhotonStruct const&, {{ name }}_PhotonStruct const&) = default;
 };
 
-} // namespace photon
+} // namespace photon{{'\n'}}

photon-targeting/src/generated/main/java/org/photonvision/struct/MultiTargetPNPResultSerde.java

@@ -34,6 +34,7 @@
  * Auto-generated serialization/deserialization helper for MultiTargetPNPResult
  */
 public class MultiTargetPNPResultSerde implements PacketSerde<MultiTargetPNPResult> {
+
     @Override
     public final String getInterfaceUUID() { return "541096947e9f3ca2d3f425ff7b04aa7b"; }
     @Override
@@ -79,6 +80,7 @@ public PacketSerde<?>[] getNestedPhotonMessages() {
     @Override
     public Struct<?>[] getNestedWpilibMessages() {
         return new Struct<?>[] {
+
         };
     }
 }

photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineMetadataSerde.java

@@ -34,6 +34,7 @@
  * Auto-generated serialization/deserialization helper for PhotonPipelineMetadata
  */
 public class PhotonPipelineMetadataSerde implements PacketSerde<PhotonPipelineMetadata> {
+
     @Override
     public final String getInterfaceUUID() { return "ac0a45f686457856fb30af77699ea356"; }
     @Override
@@ -84,12 +85,14 @@ public PhotonPipelineMetadata unpack(Packet packet) {
     @Override
     public PacketSerde<?>[] getNestedPhotonMessages() {
         return new PacketSerde<?>[] {
+
         };
     }
 
     @Override
     public Struct<?>[] getNestedWpilibMessages() {
         return new Struct<?>[] {
+
         };
     }
 }

photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineResultSerde.java

@@ -34,6 +34,7 @@
  * Auto-generated serialization/deserialization helper for PhotonPipelineResult
  */
 public class PhotonPipelineResultSerde implements PacketSerde<PhotonPipelineResult> {
+
     @Override
     public final String getInterfaceUUID() { return "4b2ff16a964b5e2bf04be0c1454d91c4"; }
     @Override
@@ -78,13 +79,14 @@ public PhotonPipelineResult unpack(Packet packet) {
     @Override
     public PacketSerde<?>[] getNestedPhotonMessages() {
         return new PacketSerde<?>[] {
-            MultiTargetPNPResult.photonStruct,PhotonPipelineMetadata.photonStruct,PhotonTrackedTarget.photonStruct
+            PhotonPipelineMetadata.photonStruct,MultiTargetPNPResult.photonStruct,PhotonTrackedTarget.photonStruct
         };
     }
 
     @Override
     public Struct<?>[] getNestedWpilibMessages() {
         return new Struct<?>[] {
+
         };
     }
 }

photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonTrackedTargetSerde.java

@@ -34,6 +34,7 @@
  * Auto-generated serialization/deserialization helper for PhotonTrackedTarget
  */
 public class PhotonTrackedTargetSerde implements PacketSerde<PhotonTrackedTarget> {
+
     @Override
     public final String getInterfaceUUID() { return "cc6dbb5c5c1e0fa808108019b20863f1"; }
     @Override

photon-targeting/src/generated/main/java/org/photonvision/struct/PnpResultSerde.java

@@ -34,6 +34,7 @@
  * Auto-generated serialization/deserialization helper for PnpResult
  */
 public class PnpResultSerde implements PacketSerde<PnpResult> {
+
     @Override
     public final String getInterfaceUUID() { return "ae4d655c0a3104d88df4f5db144c1e86"; }
     @Override
@@ -86,6 +87,7 @@ public PnpResult unpack(Packet packet) {
     @Override
     public PacketSerde<?>[] getNestedPhotonMessages() {
         return new PacketSerde<?>[] {
+
         };
     }
 

photon-targeting/src/generated/main/java/org/photonvision/struct/TargetCornerSerde.java

@@ -34,6 +34,7 @@
  * Auto-generated serialization/deserialization helper for TargetCorner
  */
 public class TargetCornerSerde implements PacketSerde<TargetCorner> {
+
     @Override
     public final String getInterfaceUUID() { return "16f6ac0dedc8eaccb951f4895d9e18b6"; }
     @Override
@@ -72,12 +73,14 @@ public TargetCorner unpack(Packet packet) {
     @Override
     public PacketSerde<?>[] getNestedPhotonMessages() {
         return new PacketSerde<?>[] {
+
         };
     }
 
     @Override
     public Struct<?>[] getNestedWpilibMessages() {
         return new Struct<?>[] {
+
         };
     }
 }

photon-targeting/src/generated/main/native/cpp/photon/serde/MultiTargetPNPResultSerde.cpp

@@ -15,8 +15,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-// THIS std::FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO
-// NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py. DO NOT MODIFY
 
 #include "photon/serde/MultiTargetPNPResultSerde.h"
 
@@ -30,10 +29,10 @@ void StructType::Pack(Packet& packet, const MultiTargetPNPResult& value) {
 }
 
 MultiTargetPNPResult StructType::Unpack(Packet& packet) {
-  return MultiTargetPNPResult{MultiTargetPNPResult_PhotonStruct{
-      .estimatedPose = packet.Unpack<photon::PnpResult>(),
-      .fiducialIDsUsed = packet.Unpack<std::vector<int16_t>>(),
+  return MultiTargetPNPResult{ MultiTargetPNPResult_PhotonStruct{
+    .estimatedPose = packet.Unpack<photon::PnpResult>(),
+    .fiducialIDsUsed = packet.Unpack<std::vector<int16_t>>(),
   }};
 }
 
-}  // namespace photon
+} // namespace photon