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Update PhotonCamera error messages to be more specific (#697)

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Closes #692
This commit is contained in:
Nick Hadley
2023-01-05 19:28:32 -05:00
committed by GitHub
parent 05198ef294
commit 0f427bb52b
6 changed files with 68 additions and 23 deletions
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38
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -31,18 +31,23 @@ import edu.wpi.first.networktables.DoubleArrayPublisher;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.IntegerEntry;
import edu.wpi.first.networktables.IntegerSubscriber;
import edu.wpi.first.networktables.MultiSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.networktables.RawSubscriber;
import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import java.util.Set;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonPipelineResult;
/** Represents a camera that is connected to PhotonVision. */
public class PhotonCamera {
static final String kTableName = "photonvision";
protected final NetworkTable rootTable;
RawSubscriber rawBytesEntry;
BooleanEntry driverModeEntry;
@@ -96,6 +101,8 @@ public class PhotonCamera {
Packet packet = new Packet(1);
private final MultiSubscriber m_topicNameSubscriber;
/**
* Constructs a PhotonCamera from a root table.
*
@@ -106,7 +113,7 @@ public class PhotonCamera {
*/
public PhotonCamera(NetworkTableInstance instance, String cameraName) {
name = cameraName;
var mainTable = instance.getTable("photonvision");
var mainTable = instance.getTable(kTableName);
this.rootTable = mainTable.getSubTable(cameraName);
path = rootTable.getPath();
rawBytesEntry = rootTable.getRawTopic("rawBytes").subscribe("rawBytes", new byte[] {});
@@ -117,6 +124,12 @@ public class PhotonCamera {
heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1);
ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1);
versionEntry = mainTable.getStringTopic("version").subscribe("");
m_topicNameSubscriber =
new MultiSubscriber(
instance,
new String[] {"/photonvision/"},
new PubSubOption[] {PubSubOption.topicsOnly(true)});
}
/**
@@ -280,7 +293,7 @@ public class PhotonCamera {
prevHeartbeatValue = curHeartbeat;
}
return ((now - prevHeartbeatChangeTime) < HEARBEAT_DEBOUNCE_SEC);
return (now - prevHeartbeatChangeTime) < HEARBEAT_DEBOUNCE_SEC;
}
private void verifyVersion() {
@@ -292,12 +305,25 @@ public class PhotonCamera {
// Heartbeat entry is assumed to always be present. If it's not present, we
// assume that a camera with that name was never connected in the first place.
if (!heartbeatEntry.exists()) {
DriverStation.reportError(
"PhotonVision coprocessor at path " + path + " not found on NetworkTables!", true);
Set<String> cameraNames = rootTable.getInstance().getTable(kTableName).getSubTables();
if (cameraNames.isEmpty()) {
DriverStation.reportError(
"Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
false);
} else {
DriverStation.reportError(
"PhotonVision coprocessor at path "
+ path
+ " not found on NetworkTables. Double check that your camera names match!",
true);
DriverStation.reportError(
"Found the following PhotonVision cameras on NetworkTables:\n"
+ String.join("\n", cameraNames),
false);
}
}
// Check for connection status. Warn if disconnected.
if (!isConnected()) {
else if (!isConnected()) {
DriverStation.reportWarning(
"PhotonVision coprocessor at path " + path + " is not sending new data.", true);
}