Remove pipeline index/driver mode/led mode caching in PhotonCamera

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -37,10 +37,6 @@ public class PhotonCamera {
     final NetworkTable mainTable = NetworkTableInstance.getDefault().getTable("photonvision");
     private final String path;
 
-    boolean driverMode;
-    int pipelineIndex;
-    VisionLEDMode mode;
-
     Packet packet = new Packet(1);
 
     /**
@@ -57,10 +53,6 @@ public class PhotonCamera {
         pipelineIndexEntry = rootTable.getEntry("pipelineIndex");
         ledModeEntry = mainTable.getEntry("ledMode");
         versionEntry = mainTable.getEntry("version");
-
-        driverMode = driverModeEntry.getBoolean(false);
-        pipelineIndex = pipelineIndexEntry.getNumber(0).intValue();
-        getLEDMode();
     }
 
     /**
@@ -101,7 +93,7 @@ public class PhotonCamera {
     * @return Whether the camera is in driver mode.
     */
     public boolean getDriverMode() {
-        return driverMode;
+        return driverModeEntry.getBoolean(false);
     }
 
     /**
@@ -110,10 +102,7 @@ public class PhotonCamera {
     * @param driverMode Whether to set driver mode.
     */
     public void setDriverMode(boolean driverMode) {
-        if (this.driverMode != driverMode) {
-            this.driverMode = driverMode;
-            driverModeEntry.setBoolean(this.driverMode);
-        }
+        driverModeEntry.setBoolean(driverMode);
     }
 
     /**
@@ -142,7 +131,7 @@ public class PhotonCamera {
     * @return The active pipeline index.
     */
     public int getPipelineIndex() {
-        return pipelineIndex;
+        return pipelineIndexEntry.getNumber(0).intValue();
     }
 
     /**
@@ -151,10 +140,7 @@ public class PhotonCamera {
     * @param index The active pipeline index.
     */
     public void setPipelineIndex(int index) {
-        if (pipelineIndex != index) {
-            pipelineIndex = index;
-            pipelineIndexEntry.setNumber(pipelineIndex);
-        }
+        pipelineIndexEntry.setNumber(index);
     }
 
     /**
@@ -166,20 +152,15 @@ public class PhotonCamera {
         int value = ledModeEntry.getNumber(-1).intValue();
         switch (value) {
             case 0:
-                mode = VisionLEDMode.kOff;
-                break;
+                return VisionLEDMode.kOff;
             case 1:
-                mode = VisionLEDMode.kOn;
-                break;
+                return VisionLEDMode.kOn;
             case 2:
-                mode = VisionLEDMode.kBlink;
-                break;
+                return VisionLEDMode.kBlink;
             case -1:
             default:
-                mode = VisionLEDMode.kDefault;
-                break;
+                return VisionLEDMode.kDefault;
         }
-        return mode;
     }
 
     /**
@@ -188,9 +169,7 @@ public class PhotonCamera {
     * @param led The mode to set to.
     */
     public void setLED(VisionLEDMode led) {
-        if (led != mode) {
-            ledModeEntry.setNumber(led.value);
-        }
+        ledModeEntry.setNumber(led.value);
     }
 
     /**

photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp

@@ -26,11 +26,7 @@ PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
       inputSaveImgEntry(rootTable->GetEntry("inputSaveImgCmd")),
       outputSaveImgEntry(rootTable->GetEntry("outputSaveImgCmd")),
       pipelineIndexEntry(rootTable->GetEntry("pipelineIndex")),
-      ledModeEntry(mainTable->GetEntry("ledMode")) {
-  driverMode = driverModeEntry.GetBoolean(false);
-  pipelineIndex = static_cast<int>(pipelineIndexEntry.GetDouble(0.0));
-  mode = GetLEDMode();
-}
+      ledModeEntry(mainTable->GetEntry("ledMode")) {}
 
 PhotonCamera::PhotonCamera(const std::string& cameraName)
     : PhotonCamera(nt::NetworkTableInstance::GetDefault()
@@ -58,36 +54,30 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() const {
 }
 
 void PhotonCamera::SetDriverMode(bool driverMode) {
-  if (this->driverMode != driverMode) {
-    this->driverMode = driverMode;
-    driverModeEntry.SetBoolean(this->driverMode);
-  }
+  driverModeEntry.SetBoolean(driverMode);
 }
 
 void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.SetBoolean(true); }
 
 void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.SetBoolean(true); }
 
-bool PhotonCamera::GetDriverMode() const { return driverMode; }
+bool PhotonCamera::GetDriverMode() const {
+  return driverModeEntry.GetBoolean(false);
+}
 
 void PhotonCamera::SetPipelineIndex(int index) {
-  if (index != pipelineIndex) {
-    pipelineIndex = index;
-    pipelineIndexEntry.SetDouble(static_cast<double>(pipelineIndex));
-  }
+  pipelineIndexEntry.SetDouble(static_cast<double>(index));
 }
 
-int PhotonCamera::GetPipelineIndex() const { return pipelineIndex; }
+int PhotonCamera::GetPipelineIndex() const {
+  return static_cast<int>(pipelineIndexEntry.GetDouble(0));
+}
 
 LEDMode PhotonCamera::GetLEDMode() const {
-  mode = static_cast<LEDMode>(static_cast<int>(ledModeEntry.GetDouble(-1.0)));
-  return mode;
+  return static_cast<LEDMode>(static_cast<int>(ledModeEntry.GetDouble(-1.0)));
 }
 
-void PhotonCamera::SetLEDMode(LEDMode led) {
-  if (led != mode) {
-    mode = led;
-    ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
-  }
+void PhotonCamera::SetLEDMode(LEDMode mode) {
+  ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
 }
 }  // namespace photonlib

photon-lib/src/main/native/include/photonlib/PhotonCamera.h

@@ -139,10 +139,6 @@ class PhotonCamera {
   nt::NetworkTableEntry ledModeEntry;
 
   mutable Packet packet;
-
-  bool driverMode;
-  double pipelineIndex;
-  mutable LEDMode mode;
 };
 
 }  // namespace photonlib