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

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This commit is contained in:
icemannie
2021-12-15 11:16:09 -06:00
committed by GitHub
parent 3cd57b8b43
commit 1522adaa0e
3 changed files with 21 additions and 56 deletions
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39
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -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);
}
/**