Add keyed NT Data and listeners (#27)

* Add most of the missing NT data to NTDataConsumer * Clean up unused data classes, refactor DataConsumer to CVPipelineResultConsumer * Fix root table name and reference * Update NTDataPublisher and VisionModule for listeners * NPE fix, attempt to remove old NT Table on name change * Fix NT connected log spam * Apply spotless * Move NT flush, fix raw data name
2026-06-20 00:51:41 +00:00 · 2020-07-12 12:29:30 -04:00
parent afc52815e7
commit 30b4b8d111
14 changed files with 234 additions and 268 deletions
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -22,7 +22,7 @@ import java.util.HashMap;
 import java.util.List;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.datatransfer.networktables.NetworkTablesManager;
+import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
@@ -17,4 +17,7 @@

 package org.photonvision.common.dataflow;

-public interface DataProvider {}
+import java.util.function.Consumer;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+
+public interface CVPipelineResultConsumer extends Consumer<CVPipelineResult> {}
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeService.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeService.java
@@ -48,7 +48,7 @@ public class DataChangeService {
    private DataChangeService() {
        subscribers = new CopyOnWriteArrayList<>();
        dispatchThread = new Thread(this::dispatchFromQueue);
-        dispatchThread.setName("EventDispatchThread");
+        dispatchThread.setName("DataChangeEventDispatchThread");
        dispatchThread.start();
    }

--- a/photon-server/src/main/java/org/photonvision/common/dataflow/camera/IncomingCameraCommandSubscriber.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/camera/IncomingCameraCommandSubscriber.java
@@ -1,42 +0,0 @@
-/*
- * Copyright (C) 2020 Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.dataflow.camera;
-
-import org.photonvision.common.dataflow.DataChangeSubscriber;
-import org.photonvision.common.dataflow.events.DataChangeEvent;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-import org.photonvision.vision.processes.VisionModuleManager;
-
-public class IncomingCameraCommandSubscriber extends DataChangeSubscriber {
-    private static final Logger logger =
-            new Logger(IncomingCameraCommandSubscriber.class, LogGroup.Camera);
-
-    private final VisionModuleManager vmm;
-
-    public IncomingCameraCommandSubscriber(VisionModuleManager instance) {
-        this.vmm = instance;
-    }
-
-    @Override
-    public void onDataChangeEvent(DataChangeEvent event) {
-        //        logger.trace("Got event from [" + event.sourceType + "] and dest [" + event.destType
-        //            + "] with property name [" + event.propertyName
-        //            + "] and value [" + event.data + "]");
-    }
-}
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
@@ -15,9 +15,25 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-package org.photonvision.common.datatransfer;
+package org.photonvision.common.dataflow.networktables;

+import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.EntryNotification;
+import edu.wpi.first.networktables.NetworkTableEntry;
 import java.util.function.Consumer;
-import org.photonvision.vision.processes.Data;

-public interface DataConsumer extends Consumer<Data> {}
+public class NTDataChangeListener {
+
+    private final NetworkTableEntry watchedEntry;
+    private final int listenerID;
+
+    public NTDataChangeListener(
+            NetworkTableEntry watchedEntry, Consumer<EntryNotification> dataChangeConsumer) {
+        this.watchedEntry = watchedEntry;
+        listenerID = watchedEntry.addListener(dataChangeConsumer, EntryListenerFlags.kUpdate);
+    }
+
+    public void remove() {
+        watchedEntry.removeListener(listenerID);
+    }
+}
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataConsumer.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataConsumer.java
@@ -1,50 +0,0 @@
-/*
- * Copyright (C) 2020 Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.dataflow.networktables;
-
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import org.photonvision.common.datatransfer.DataConsumer;
-import org.photonvision.vision.pipeline.result.SimplePipelineResult;
-import org.photonvision.vision.processes.Data;
-
-public class NTDataConsumer implements DataConsumer {
-
-    private final NetworkTable rootTable;
-    NetworkTable subTable;
-    NetworkTableEntry rawData;
-
-    public NTDataConsumer(NetworkTable root, String camName) {
-        this.rootTable = root;
-        this.subTable = root.getSubTable(camName);
-        rawData = subTable.getEntry("rawData");
-    }
-
-    public void setCameraName(String camName) {
-        this.subTable = rootTable.getSubTable(camName);
-        rawData = subTable.getEntry("rawData");
-    }
-
-    @Override
-    public void accept(Data data) {
-        var simplified = new SimplePipelineResult(data.result);
-        var bytes = simplified.toByteArray();
-        rawData.setRaw(bytes);
-        rootTable.getInstance().flush();
-    }
-}
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -0,0 +1,164 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.dataflow.networktables;
+
+import edu.wpi.first.networktables.EntryNotification;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import java.util.function.BooleanSupplier;
+import java.util.function.Consumer;
+import java.util.function.Supplier;
+import org.photonvision.common.dataflow.CVPipelineResultConsumer;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.pipeline.result.SimplePipelineResult;
+
+public class NTDataPublisher implements CVPipelineResultConsumer {
+
+    private final NetworkTable rootTable = NetworkTablesManager.kRootTable;
+    private NetworkTable subTable;
+    private NetworkTableEntry rawBytesEntry;
+
+    private NetworkTableEntry pipelineIndexEntry;
+    private final Consumer<Integer> pipelineIndexConsumer;
+    private NTDataChangeListener pipelineIndexListener;
+    private NetworkTableEntry driverModeEntry;
+    private final Consumer<Boolean> driverModeConsumer;
+    private NTDataChangeListener driverModeListener;
+
+    private NetworkTableEntry latencyMillisEntry;
+    private NetworkTableEntry hasTargetEntry;
+    private NetworkTableEntry targetPitchEntry;
+    private NetworkTableEntry targetYawEntry;
+    private NetworkTableEntry targetAreaEntry;
+    private NetworkTableEntry targetPoseEntry;
+
+    private final Supplier<Integer> pipelineIndexSupplier;
+    private final BooleanSupplier driverModeSupplier;
+
+    private String currentCameraNickname;
+
+    public NTDataPublisher(
+            String cameraNickname,
+            Supplier<Integer> pipelineIndexSupplier,
+            Consumer<Integer> pipelineIndexConsumer,
+            BooleanSupplier driverModeSupplier,
+            Consumer<Boolean> driverModeConsumer) {
+        this.pipelineIndexSupplier = pipelineIndexSupplier;
+        this.pipelineIndexConsumer = pipelineIndexConsumer;
+        this.driverModeSupplier = driverModeSupplier;
+        this.driverModeConsumer = driverModeConsumer;
+
+        currentCameraNickname = cameraNickname;
+        updateCameraNickname(cameraNickname);
+        updateEntries();
+    }
+
+    private void onPipelineIndexChange(EntryNotification entryNotification) {
+        var newIndex = (int) entryNotification.value.getDouble();
+        var originalIndex = pipelineIndexSupplier.get();
+
+        if (newIndex == originalIndex) {
+            // TODO: Log
+            return;
+        }
+
+        pipelineIndexConsumer.accept(newIndex);
+        var setIndex = pipelineIndexSupplier.get();
+        if (newIndex != setIndex) { // set failed
+            pipelineIndexEntry.forceSetNumber(setIndex);
+            // TODO: Log
+        }
+        // TODO: Log
+    }
+
+    private void onDriverModeChange(EntryNotification entryNotification) {
+        var newDriverMode = entryNotification.value.getBoolean();
+        var originalDriverMode = driverModeSupplier.getAsBoolean();
+
+        if (newDriverMode == originalDriverMode) {
+            // TODO: Log
+            return;
+        }
+
+        driverModeConsumer.accept(newDriverMode);
+        // TODO: Log
+    }
+
+    private void updateEntries() {
+        rawBytesEntry = subTable.getEntry("rawBytes");
+
+        if (pipelineIndexListener != null) {
+            pipelineIndexListener.remove();
+        }
+        pipelineIndexEntry = subTable.getEntry("pipelineIndex");
+        pipelineIndexListener =
+                new NTDataChangeListener(pipelineIndexEntry, this::onPipelineIndexChange);
+
+        if (driverModeListener != null) {
+            driverModeListener.remove();
+        }
+        driverModeEntry = subTable.getEntry("driverMode");
+        driverModeListener = new NTDataChangeListener(driverModeEntry, this::onDriverModeChange);
+
+        latencyMillisEntry = subTable.getEntry("latencyMillis");
+        hasTargetEntry = subTable.getEntry("hasTarget");
+
+        targetPitchEntry = subTable.getEntry("targetPitch");
+        targetAreaEntry = subTable.getEntry("targetArea");
+        targetYawEntry = subTable.getEntry("targetYaw");
+        targetPoseEntry = subTable.getEntry("targetPose");
+    }
+
+    public void updateCameraNickname(String newCameraNickname) {
+        rootTable.delete(currentCameraNickname); // TODO: make this actually work (if possible)
+        subTable = rootTable.getSubTable(newCameraNickname);
+        updateEntries();
+        currentCameraNickname = newCameraNickname;
+    }
+
+    @Override
+    public void accept(CVPipelineResult result) {
+        var simplified = new SimplePipelineResult(result);
+        var bytes = simplified.toByteArray();
+        rawBytesEntry.forceSetRaw(bytes);
+
+        pipelineIndexEntry.forceSetNumber(pipelineIndexSupplier.get());
+        driverModeEntry.forceSetBoolean(driverModeSupplier.getAsBoolean());
+        latencyMillisEntry.forceSetDouble(result.getLatencyMillis());
+        hasTargetEntry.forceSetBoolean(result.hasTargets());
+
+        if (result.hasTargets()) {
+            var bestTarget = result.targets.get(0);
+
+            targetPitchEntry.forceSetDouble(bestTarget.getPitch());
+            targetYawEntry.forceSetDouble(bestTarget.getYaw());
+            targetAreaEntry.forceSetDouble(bestTarget.getArea());
+
+            var poseX = bestTarget.getRobotRelativePose().getTranslation().getX();
+            var poseY = bestTarget.getRobotRelativePose().getTranslation().getY();
+            var poseRot = bestTarget.getRobotRelativePose().getRotation().getDegrees();
+            targetPoseEntry.forceSetDoubleArray(new double[] {poseX, poseY, poseRot});
+        } else {
+            targetPitchEntry.forceSetDouble(0);
+            targetYawEntry.forceSetDouble(0);
+            targetAreaEntry.forceSetDouble(0);
+            targetPoseEntry.forceSetDoubleArray(new double[] {0, 0, 0});
+        }
+        rootTable.getInstance().flush();
+    }
+}
--- a/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.function.Consumer;
+import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.scripting.ScriptEventType;
@@ -34,30 +35,31 @@ public class NetworkTablesManager {

    private static final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();

-    public static final String kRootTableName = "/chameleon-vision";
+    public static final String kRootTableName = "/photonvision";
    public static final NetworkTable kRootTable =
            NetworkTableInstance.getDefault().getTable(kRootTableName);

    public static boolean isServer = false;

    private static int getTeamNumber() {
-        // TODO: FIX
-        return 0;
-        //        return ConfigManager.settings.teamNumber;
+        return ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber;
    }

    private static class NTLogger implements Consumer<LogMessage> {

        private boolean hasReportedConnectionFailure = false;
+        private long lastConnectMessageMillis = 0;

        @Override
        public void accept(LogMessage logMessage) {
            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
                logger.error("NT Connection has failed! Will retry in background.");
                hasReportedConnectionFailure = true;
-            } else if (logMessage.message.contains("connected")) {
+            } else if (logMessage.message.contains("connected")
+                    && System.currentTimeMillis() - lastConnectMessageMillis > 125) {
                logger.info("NT Connected!");
                hasReportedConnectionFailure = false;
+                lastConnectMessageMillis = System.currentTimeMillis();
                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
            }
        }
--- a/photon-server/src/main/java/org/photonvision/common/datatransfer/DataProvider.java
+++ b/photon-server/src/main/java/org/photonvision/common/datatransfer/DataProvider.java
@@ -1,20 +0,0 @@
-/*
- * Copyright (C) 2020 Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.datatransfer;
-
-public interface DataProvider {}
--- a/photon-server/src/main/java/org/photonvision/common/datatransfer/networktables/NetworkTablesManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/datatransfer/networktables/NetworkTablesManager.java
@@ -1,96 +0,0 @@
-/*
- * Copyright (C) 2020 Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.datatransfer.networktables;
-
-import edu.wpi.first.networktables.LogMessage;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import java.util.function.Consumer;
-import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-import org.photonvision.common.scripting.ScriptEventType;
-import org.photonvision.common.scripting.ScriptManager;
-
-public class NetworkTablesManager {
-
-    private NetworkTablesManager() {}
-
-    private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);
-
-    private static final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
-
-    public static final String kRootTableName = "/photonvision";
-    public static final NetworkTable kRootTable =
-            NetworkTableInstance.getDefault().getTable(kRootTableName);
-
-    public static boolean isServer = false;
-
-    private static int getTeamNumber() {
-        return ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber;
-    }
-
-    private static class NTLogger implements Consumer<LogMessage> {
-
-        private boolean hasReportedConnectionFailure = false;
-
-        @Override
-        public void accept(LogMessage logMessage) {
-            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
-                logger.error("NT Connection has failed! Will retry in background.");
-                hasReportedConnectionFailure = true;
-            } else if (logMessage.message.contains("connected")) {
-                logger.info("NT Connected!");
-                hasReportedConnectionFailure = false;
-                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
-            }
-        }
-    }
-
-    static {
-        NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
-    }
-
-    public static void setClientMode(String host) {
-        isServer = false;
-        logger.info("Starting NT Client");
-        ntInstance.stopServer();
-        if (host != null) {
-            ntInstance.startClient(host);
-        } else {
-            ntInstance.startClientTeam(getTeamNumber());
-            if (ntInstance.isConnected()) {
-                logger.info("[NetworkTablesManager] Connected to the robot!");
-            } else {
-                logger.info(
-                        "[NetworkTablesManager] Could NOT to the robot! Will retry in the background...");
-            }
-        }
-    }
-
-    public static void setTeamClientMode() {
-        setClientMode(null);
-    }
-
-    public static void setServerMode() {
-        isServer = true;
-        logger.info("Starting NT Server");
-        ntInstance.stopClient();
-        ntInstance.startServer();
-    }
-}
--- a/photon-server/src/main/java/org/photonvision/server/SocketHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/SocketHandler.java
@@ -28,13 +28,11 @@ import org.apache.commons.lang3.tuple.Pair;
 import org.msgpack.jackson.dataformat.MessagePackFactory;
 import org.photonvision.common.dataflow.DataChangeDestination;
 import org.photonvision.common.dataflow.DataChangeService;
-import org.photonvision.common.dataflow.camera.IncomingCameraCommandSubscriber;
 import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.pipeline.PipelineType;
 import org.photonvision.vision.processes.PipelineManager;
-import org.photonvision.vision.processes.VisionModuleManager;

@SuppressWarnings("rawtypes")
 public class SocketHandler {
@@ -47,9 +45,6 @@ public class SocketHandler {
    @SuppressWarnings("FieldCanBeLocal")
    private final UIOutboundSubscriber uiOutboundSubscriber = new UIOutboundSubscriber(this);

-    private final IncomingCameraCommandSubscriber cameraChangeSubscriber =
-            new IncomingCameraCommandSubscriber(VisionModuleManager.getInstance());
-
    public static class UIMap extends HashMap<String, Object> {}

    abstract static class SelectiveBroadcastPair extends Pair<UIMap, WsContext> {}
@@ -65,7 +60,6 @@ public class SocketHandler {
    private SocketHandler() {
        dcService.addSubscribers(
                uiOutboundSubscriber,
-                cameraChangeSubscriber,
                new UIInboundSubscriber()); // Subscribe outgoing messages to the data change service
    }

--- a/photon-server/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -156,6 +156,11 @@ public class PipelineManager {
            lastPipelineIndex = currentPipelineIndex;
        }

+        if (userPipelineSettings.size() - 1 < index) {
+            logger.warn("User attempted to set index to non-existent pipeline!");
+            return;
+        }
+
        currentPipelineIndex = index;
    }

--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -18,19 +18,18 @@
 package org.photonvision.vision.processes;

 import com.fasterxml.jackson.core.JsonProcessingException;
-import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.*;
 import org.apache.commons.lang3.tuple.Pair;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.PhotonConfiguration;
+import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.DataChangeSubscriber;
 import org.photonvision.common.dataflow.events.DataChangeEvent;
 import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
-import org.photonvision.common.dataflow.networktables.NTDataConsumer;
-import org.photonvision.common.datatransfer.DataConsumer;
+import org.photonvision.common.dataflow.networktables.NTDataPublisher;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.SerializationUtils;
@@ -56,9 +55,9 @@ public class VisionModule {
    private final PipelineManager pipelineManager;
    private final VisionSource visionSource;
    private final VisionRunner visionRunner;
-    private final LinkedList<DataConsumer> dataConsumers = new LinkedList<>();
+    private final LinkedList<CVPipelineResultConsumer> resultConsumers = new LinkedList<>();
    private final LinkedList<FrameConsumer> frameConsumers = new LinkedList<>();
-    private final NTDataConsumer ntConsumer;
+    private final NTDataPublisher ntConsumer;
    private final int moduleIndex;
    private final MJPGFrameConsumer uiStreamer;
    private long lastUpdateTimestamp = -1;
@@ -89,19 +88,24 @@ public class VisionModule {
        addFrameConsumer(uiStreamer);

        ntConsumer =
-                new NTDataConsumer(
-                        NetworkTableInstance.getDefault().getTable("photonvision"),
-                        visionSource.getSettables().getConfiguration().nickname);
-        addDataConsumer(ntConsumer);
-        addDataConsumer(
-                data -> {
+                new NTDataPublisher(
+                        visionSource.getSettables().getConfiguration().nickname,
+                        pipelineManager::getCurrentPipelineIndex,
+                        pipelineManager::setIndex,
+                        () -> pipelineManager.getCurrentPipelineIndex() == -1,
+                        (driverMode) -> {
+                            /* TODO: switch to driver mode */
+                        });
+        addResultConsumer(ntConsumer);
+        addResultConsumer(
+                result -> {
                    var now = System.currentTimeMillis();
                    if (lastUpdateTimestamp + 1000.0 / 15.0 > now) return;

                    var uiMap = new HashMap<Integer, HashMap<String, Object>>();
                    var dataMap = new HashMap<String, Object>();
-                    dataMap.put("fps", 1000.0 / data.result.getLatencyMillis());
-                    var targets = data.result.targets;
+                    dataMap.put("fps", 1000.0 / result.getLatencyMillis());
+                    var targets = result.targets;
                    var uiTargets = new ArrayList<HashMap<String, Object>>();
                    for (var t : targets) {
                        uiTargets.add(t.toHashMap());
@@ -302,15 +306,9 @@ public class VisionModule {
                                ConfigManager.getInstance().getConfig().toHashMap()));
    }

-    private void save() {
-        ConfigManager.getInstance()
-                .saveModule(
-                        getStateAsCameraConfig(), visionSource.getSettables().getConfiguration().uniqueName);
-    }
-
    private void setCameraNickname(String newName) {
        visionSource.getSettables().getConfiguration().nickname = newName;
-        ntConsumer.setCameraName(newName);
+        ntConsumer.updateCameraNickname(newName);

        frameConsumers.remove(dashboardStreamer);
        dashboardStreamer =
@@ -360,8 +358,8 @@ public class VisionModule {
        return config;
    }

-    public void addDataConsumer(DataConsumer dataConsumer) {
-        dataConsumers.add(dataConsumer);
+    public void addResultConsumer(CVPipelineResultConsumer dataConsumer) {
+        resultConsumers.add(dataConsumer);
    }

    void addFrameConsumer(FrameConsumer consumer) {
@@ -369,20 +367,17 @@ public class VisionModule {
    }

    void consumeResult(CVPipelineResult result) {
-        // TODO: put result in to Data (not this way!)
-        var data = new Data();
-        data.result = result;
-        consumeData(data);
+        consumePipelineResult(result);

        var frame = result.outputFrame;
        consumeFrame(frame);

-        data.release();
+        result.release();
    }

-    void consumeData(Data data) {
-        for (var dataConsumer : dataConsumers) {
-            dataConsumer.accept(data);
+    void consumePipelineResult(CVPipelineResult result) {
+        for (var dataConsumer : resultConsumers) {
+            dataConsumer.accept(result);
        }
    }