From 058ca19262a60fe8ece54e9dab80846843f0dfdd Mon Sep 17 00:00:00 2001 From: Jade Date: Fri, 12 Sep 2025 22:10:37 +0800 Subject: [PATCH] Publish FPS with camera (#2083) --- .../common/dataflow/networktables/NTDataPublisher.java | 1 + .../java/org/photonvision/common/networktables/NTTopicSet.java | 3 +++ 2 files changed, 4 insertions(+) diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 92275a643..949856195 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -171,6 +171,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer { ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get()); ts.driverModePublisher.set(driverModeSupplier.getAsBoolean()); ts.latencyMillisEntry.set(acceptedResult.getLatencyMillis()); + ts.fpsEntry.set(acceptedResult.fps); ts.hasTargetEntry.set(acceptedResult.hasTargets()); if (acceptedResult.hasTargets()) { diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java index 62935fc1f..da45f7e9b 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java +++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java @@ -54,6 +54,7 @@ public class NTTopicSet { public BooleanSubscriber driverModeSubscriber; public DoublePublisher latencyMillisEntry; + public DoublePublisher fpsEntry; public BooleanPublisher hasTargetEntry; public DoublePublisher targetPitchEntry; public DoublePublisher targetYawEntry; @@ -100,6 +101,7 @@ public class NTTopicSet { driverModeSubscriber.getTopic().publish().setDefault(false); latencyMillisEntry = subTable.getDoubleTopic("latencyMillis").publish(); + fpsEntry = subTable.getDoubleTopic("fps").publish(); hasTargetEntry = subTable.getBooleanTopic("hasTarget").publish(); targetPitchEntry = subTable.getDoubleTopic("targetPitch").publish(); @@ -128,6 +130,7 @@ public class NTTopicSet { if (driverModeSubscriber != null) driverModeSubscriber.close(); if (latencyMillisEntry != null) latencyMillisEntry.close(); + if (fpsEntry != null) fpsEntry.close(); if (hasTargetEntry != null) hasTargetEntry.close(); if (targetPitchEntry != null) targetPitchEntry.close(); if (targetAreaEntry != null) targetAreaEntry.close();