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[Workaround] Publish rawBytes as periodic (#707)

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Closes #704 -- addressed by upstream PR https://github.com/wpilibsuite/allwpilib/pull/4903 (not released yet)
This commit is contained in:
Matt
2023-01-06 14:53:19 -08:00
committed by GitHub
parent dbe7464ea9
commit 087429dab9
3 changed files with 13 additions and 3 deletions
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6
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -116,7 +116,11 @@ public class PhotonCamera {
var mainTable = instance.getTable(kTableName);
this.rootTable = mainTable.getSubTable(cameraName);
path = rootTable.getPath();
rawBytesEntry = rootTable.getRawTopic("rawBytes").subscribe("rawBytes", new byte[] {});
rawBytesEntry =
rootTable
.getRawTopic("rawBytes")
.subscribe(
"rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
driverModeEntry = rootTable.getBooleanTopic("driverMode").getEntry(false);
inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);

4
photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
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@@ -39,7 +39,9 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
const std::string_view cameraName)
: mainTable(instance.GetTable("photonvision")),
rootTable(mainTable->GetSubTable(cameraName)),
rawBytesEntry(rootTable->GetRawTopic("rawBytes").Subscribe("raw", {})),
rawBytesEntry(
rootTable->GetRawTopic("rawBytes")
.Subscribe("raw", {}, {.periodic = 0.01, .sendAll = true})),
driverModeEntry(rootTable->GetBooleanTopic("driverMode").Publish()),
inputSaveImgEntry(
rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),

6
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
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@@ -26,6 +26,7 @@ import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
import edu.wpi.first.networktables.IntegerTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.networktables.RawPublisher;
/**
@@ -65,7 +66,10 @@ public class NTTopicSet {
public IntegerPublisher heartbeatPublisher;
public void updateEntries() {
rawBytesEntry = subTable.getRawTopic("rawBytes").publish("rawBytes");
rawBytesEntry =
subTable
.getRawTopic("rawBytes")
.publish("rawBytes", PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
pipelineIndexTopic = subTable.getIntegerTopic("pipelineIndex");
pipelineIndexPublisher = pipelineIndexTopic.publish();