Create photonstructdecoder

.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+    "configurations": [{
+        "type": "node",
+        "request": "launch",
+        "name": "Launch PhotonStruct",
+        "runtimeArgs": [
+            "-r",
+            "ts-node/register"
+        ],
+        "args": [
+            "${workspaceFolder}/src/shared/log/PhotonStructDecoder.ts"
+        ]
+    }],
+}

src/hub/dataSources/nt4/NT4Source.ts

@@ -1,5 +1,5 @@
 import Log from "../../../shared/log/Log";
-import { PROTO_PREFIX, STRUCT_PREFIX, getEnabledKey } from "../../../shared/log/LogUtil";
+import { PHOTON_PREFIX, PROTO_PREFIX, STRUCT_PREFIX, getEnabledKey } from "../../../shared/log/LogUtil";
 import LoggableType from "../../../shared/log/LoggableType";
 import ProtoDecoder from "../../../shared/log/ProtoDecoder";
 import { checkArrayType } from "../../../shared/util";
@@ -185,6 +185,8 @@ 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") {
@@ -284,6 +286,9 @@ 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/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 { MERGE_PREFIX, STRUCT_PREFIX, TYPE_KEY, getEnabledData, splitLogKey } from "./LogUtil";
+import { MERGE_PREFIX, PHOTON_PREFIX, STRUCT_PREFIX, TYPE_KEY, getEnabledData, splitLogKey } from "./LogUtil";
 import {
   LogValueSetAny,
   LogValueSetBoolean,
@@ -24,6 +24,7 @@ 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
@@ -335,6 +336,11 @@ 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();
     }
   }
@@ -535,6 +541,39 @@ 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 { LogValueSetBoolean } from "./LogValueSets";
 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_MAX_FILES = 10;