Sending Results

Overview of the Results API and MsgPack data serialization

This page is dedicated to explaining how to send results via the runtime, in order to learn how to recieve results and deserilize them, take a look at SynapseLib : Robot Code Interface

The Results API

To enable seamless communication between the UI, SynapseLib, and the pipeline’s data, the Results API was introduced. Its purpose is to simplify data exchange as much as possible.

Pipeline results are divided into two categories:

• Final Results: The final results from the pipeline (i.e tag data and robot pose estimation from the ApriltagPipeline), serialized into bytes using MsgPack. Not human readable in NT (The average human atleast).

• Auxiliary Results: Additional data the pipeline may send to the user, dont have any serilization and are sent directly as their provided value. Human readable inside of NT.

Primitive Type Results

Any primitive type (int, float, boolean, string, bytes) and their array variation, is supported by default to sending directly via their value and an identifying key (string) that will be send to the UI & SynapseLib, via the setDataValue method found on the Pipeline class.

self.setDataValue("hasResults", False)

Example usage for this can be found inside of the ApriltagPipeline class

Final Results

Final results for a pipeline must extend the PipelineResult class or be decorated with the @pipelineResult decorator which will make it both a dataclass and extend the PipelineResult class automatically

Example class:

from synapse.core.pipeline import pipelineResult

@pipelineResult
class MyPipelineResults:
    fun: int
    happiness: str
    position: float

Then, a result class instance can be sent directly via the setResults method, which will automatically recursivly find all the variables inside of the PipelineResult and send them to the UI & NT, serlialized into bytes.

Defining Robot-Code Results Class

Coming soon...