mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
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
This commit is contained in:
Banks T
@@ -17,4 +17,7 @@
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package org.photonvision.common.dataflow;
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public interface DataProvider {}
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import java.util.function.Consumer;
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import org.photonvision.vision.pipeline.result.CVPipelineResult;
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public interface CVPipelineResultConsumer extends Consumer<CVPipelineResult> {}
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@@ -48,7 +48,7 @@ public class DataChangeService {
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private DataChangeService() {
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subscribers = new CopyOnWriteArrayList<>();
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dispatchThread = new Thread(this::dispatchFromQueue);
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dispatchThread.setName("EventDispatchThread");
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dispatchThread.setName("DataChangeEventDispatchThread");
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dispatchThread.start();
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}
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@@ -1,42 +0,0 @@
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/*
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* Copyright (C) 2020 Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.common.dataflow.camera;
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import org.photonvision.common.dataflow.DataChangeSubscriber;
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import org.photonvision.common.dataflow.events.DataChangeEvent;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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import org.photonvision.vision.processes.VisionModuleManager;
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public class IncomingCameraCommandSubscriber extends DataChangeSubscriber {
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private static final Logger logger =
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new Logger(IncomingCameraCommandSubscriber.class, LogGroup.Camera);
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private final VisionModuleManager vmm;
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public IncomingCameraCommandSubscriber(VisionModuleManager instance) {
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this.vmm = instance;
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}
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@Override
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public void onDataChangeEvent(DataChangeEvent event) {
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// logger.trace("Got event from [" + event.sourceType + "] and dest [" + event.destType
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// + "] with property name [" + event.propertyName
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// + "] and value [" + event.data + "]");
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}
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}
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@@ -15,9 +15,25 @@
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.common.datatransfer;
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package org.photonvision.common.dataflow.networktables;
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import edu.wpi.first.networktables.EntryListenerFlags;
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import edu.wpi.first.networktables.EntryNotification;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import java.util.function.Consumer;
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import org.photonvision.vision.processes.Data;
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public interface DataConsumer extends Consumer<Data> {}
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public class NTDataChangeListener {
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private final NetworkTableEntry watchedEntry;
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private final int listenerID;
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public NTDataChangeListener(
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NetworkTableEntry watchedEntry, Consumer<EntryNotification> dataChangeConsumer) {
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this.watchedEntry = watchedEntry;
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listenerID = watchedEntry.addListener(dataChangeConsumer, EntryListenerFlags.kUpdate);
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}
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public void remove() {
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watchedEntry.removeListener(listenerID);
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}
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}
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@@ -1,50 +0,0 @@
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/*
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* Copyright (C) 2020 Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.common.dataflow.networktables;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import org.photonvision.common.datatransfer.DataConsumer;
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import org.photonvision.vision.pipeline.result.SimplePipelineResult;
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import org.photonvision.vision.processes.Data;
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public class NTDataConsumer implements DataConsumer {
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private final NetworkTable rootTable;
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NetworkTable subTable;
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NetworkTableEntry rawData;
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public NTDataConsumer(NetworkTable root, String camName) {
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this.rootTable = root;
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this.subTable = root.getSubTable(camName);
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rawData = subTable.getEntry("rawData");
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}
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public void setCameraName(String camName) {
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this.subTable = rootTable.getSubTable(camName);
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rawData = subTable.getEntry("rawData");
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}
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@Override
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public void accept(Data data) {
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var simplified = new SimplePipelineResult(data.result);
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var bytes = simplified.toByteArray();
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rawData.setRaw(bytes);
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rootTable.getInstance().flush();
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}
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}
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@@ -0,0 +1,164 @@
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/*
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* Copyright (C) 2020 Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.common.dataflow.networktables;
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import edu.wpi.first.networktables.EntryNotification;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import java.util.function.BooleanSupplier;
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import java.util.function.Consumer;
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import java.util.function.Supplier;
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import org.photonvision.common.dataflow.CVPipelineResultConsumer;
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import org.photonvision.vision.pipeline.result.CVPipelineResult;
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import org.photonvision.vision.pipeline.result.SimplePipelineResult;
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public class NTDataPublisher implements CVPipelineResultConsumer {
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private final NetworkTable rootTable = NetworkTablesManager.kRootTable;
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private NetworkTable subTable;
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private NetworkTableEntry rawBytesEntry;
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private NetworkTableEntry pipelineIndexEntry;
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private final Consumer<Integer> pipelineIndexConsumer;
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private NTDataChangeListener pipelineIndexListener;
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private NetworkTableEntry driverModeEntry;
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private final Consumer<Boolean> driverModeConsumer;
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private NTDataChangeListener driverModeListener;
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private NetworkTableEntry latencyMillisEntry;
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private NetworkTableEntry hasTargetEntry;
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private NetworkTableEntry targetPitchEntry;
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private NetworkTableEntry targetYawEntry;
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private NetworkTableEntry targetAreaEntry;
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private NetworkTableEntry targetPoseEntry;
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private final Supplier<Integer> pipelineIndexSupplier;
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private final BooleanSupplier driverModeSupplier;
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private String currentCameraNickname;
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public NTDataPublisher(
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String cameraNickname,
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Supplier<Integer> pipelineIndexSupplier,
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Consumer<Integer> pipelineIndexConsumer,
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BooleanSupplier driverModeSupplier,
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Consumer<Boolean> driverModeConsumer) {
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this.pipelineIndexSupplier = pipelineIndexSupplier;
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this.pipelineIndexConsumer = pipelineIndexConsumer;
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this.driverModeSupplier = driverModeSupplier;
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this.driverModeConsumer = driverModeConsumer;
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currentCameraNickname = cameraNickname;
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updateCameraNickname(cameraNickname);
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updateEntries();
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}
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private void onPipelineIndexChange(EntryNotification entryNotification) {
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var newIndex = (int) entryNotification.value.getDouble();
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var originalIndex = pipelineIndexSupplier.get();
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if (newIndex == originalIndex) {
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// TODO: Log
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return;
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}
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pipelineIndexConsumer.accept(newIndex);
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var setIndex = pipelineIndexSupplier.get();
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if (newIndex != setIndex) { // set failed
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pipelineIndexEntry.forceSetNumber(setIndex);
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// TODO: Log
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}
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// TODO: Log
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}
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private void onDriverModeChange(EntryNotification entryNotification) {
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var newDriverMode = entryNotification.value.getBoolean();
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var originalDriverMode = driverModeSupplier.getAsBoolean();
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if (newDriverMode == originalDriverMode) {
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// TODO: Log
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return;
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}
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driverModeConsumer.accept(newDriverMode);
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// TODO: Log
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}
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private void updateEntries() {
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rawBytesEntry = subTable.getEntry("rawBytes");
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if (pipelineIndexListener != null) {
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pipelineIndexListener.remove();
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}
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pipelineIndexEntry = subTable.getEntry("pipelineIndex");
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pipelineIndexListener =
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new NTDataChangeListener(pipelineIndexEntry, this::onPipelineIndexChange);
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if (driverModeListener != null) {
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driverModeListener.remove();
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}
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driverModeEntry = subTable.getEntry("driverMode");
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driverModeListener = new NTDataChangeListener(driverModeEntry, this::onDriverModeChange);
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latencyMillisEntry = subTable.getEntry("latencyMillis");
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hasTargetEntry = subTable.getEntry("hasTarget");
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targetPitchEntry = subTable.getEntry("targetPitch");
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targetAreaEntry = subTable.getEntry("targetArea");
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targetYawEntry = subTable.getEntry("targetYaw");
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targetPoseEntry = subTable.getEntry("targetPose");
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}
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public void updateCameraNickname(String newCameraNickname) {
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rootTable.delete(currentCameraNickname); // TODO: make this actually work (if possible)
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subTable = rootTable.getSubTable(newCameraNickname);
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updateEntries();
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currentCameraNickname = newCameraNickname;
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}
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@Override
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public void accept(CVPipelineResult result) {
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var simplified = new SimplePipelineResult(result);
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var bytes = simplified.toByteArray();
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rawBytesEntry.forceSetRaw(bytes);
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pipelineIndexEntry.forceSetNumber(pipelineIndexSupplier.get());
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driverModeEntry.forceSetBoolean(driverModeSupplier.getAsBoolean());
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latencyMillisEntry.forceSetDouble(result.getLatencyMillis());
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hasTargetEntry.forceSetBoolean(result.hasTargets());
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if (result.hasTargets()) {
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var bestTarget = result.targets.get(0);
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targetPitchEntry.forceSetDouble(bestTarget.getPitch());
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targetYawEntry.forceSetDouble(bestTarget.getYaw());
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targetAreaEntry.forceSetDouble(bestTarget.getArea());
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var poseX = bestTarget.getRobotRelativePose().getTranslation().getX();
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var poseY = bestTarget.getRobotRelativePose().getTranslation().getY();
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var poseRot = bestTarget.getRobotRelativePose().getRotation().getDegrees();
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targetPoseEntry.forceSetDoubleArray(new double[] {poseX, poseY, poseRot});
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} else {
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targetPitchEntry.forceSetDouble(0);
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targetYawEntry.forceSetDouble(0);
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targetAreaEntry.forceSetDouble(0);
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targetPoseEntry.forceSetDoubleArray(new double[] {0, 0, 0});
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}
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rootTable.getInstance().flush();
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}
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}
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@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.LogMessage;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import java.util.function.Consumer;
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import org.photonvision.common.configuration.ConfigManager;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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import org.photonvision.common.scripting.ScriptEventType;
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@@ -34,30 +35,31 @@ public class NetworkTablesManager {
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private static final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
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public static final String kRootTableName = "/chameleon-vision";
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public static final String kRootTableName = "/photonvision";
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public static final NetworkTable kRootTable =
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NetworkTableInstance.getDefault().getTable(kRootTableName);
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public static boolean isServer = false;
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private static int getTeamNumber() {
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// TODO: FIX
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return 0;
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// return ConfigManager.settings.teamNumber;
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return ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber;
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}
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private static class NTLogger implements Consumer<LogMessage> {
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private boolean hasReportedConnectionFailure = false;
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private long lastConnectMessageMillis = 0;
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@Override
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public void accept(LogMessage logMessage) {
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if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
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logger.error("NT Connection has failed! Will retry in background.");
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hasReportedConnectionFailure = true;
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} else if (logMessage.message.contains("connected")) {
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} else if (logMessage.message.contains("connected")
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&& System.currentTimeMillis() - lastConnectMessageMillis > 125) {
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logger.info("NT Connected!");
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hasReportedConnectionFailure = false;
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lastConnectMessageMillis = System.currentTimeMillis();
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ScriptManager.queueEvent(ScriptEventType.kNTConnected);
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}
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}
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@@ -1,20 +0,0 @@
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/*
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* Copyright (C) 2020 Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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* GNU General Public License for more details.
|
||||
*
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* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.common.datatransfer;
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public interface DataProvider {}
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@@ -1,96 +0,0 @@
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/*
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* Copyright (C) 2020 Photon Vision.
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*
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* 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
|
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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* GNU General Public License for more details.
|
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*
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||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.common.datatransfer.networktables;
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import edu.wpi.first.networktables.LogMessage;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import java.util.function.Consumer;
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import org.photonvision.common.configuration.ConfigManager;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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import org.photonvision.common.scripting.ScriptEventType;
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import org.photonvision.common.scripting.ScriptManager;
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public class NetworkTablesManager {
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private NetworkTablesManager() {}
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private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);
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private static final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
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public static final String kRootTableName = "/photonvision";
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public static final NetworkTable kRootTable =
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NetworkTableInstance.getDefault().getTable(kRootTableName);
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public static boolean isServer = false;
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private static int getTeamNumber() {
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return ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber;
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}
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private static class NTLogger implements Consumer<LogMessage> {
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private boolean hasReportedConnectionFailure = false;
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@Override
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public void accept(LogMessage logMessage) {
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if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
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logger.error("NT Connection has failed! Will retry in background.");
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hasReportedConnectionFailure = true;
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} else if (logMessage.message.contains("connected")) {
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logger.info("NT Connected!");
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hasReportedConnectionFailure = false;
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ScriptManager.queueEvent(ScriptEventType.kNTConnected);
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}
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}
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}
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static {
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NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
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}
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public static void setClientMode(String host) {
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isServer = false;
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logger.info("Starting NT Client");
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ntInstance.stopServer();
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if (host != null) {
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ntInstance.startClient(host);
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} else {
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ntInstance.startClientTeam(getTeamNumber());
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if (ntInstance.isConnected()) {
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logger.info("[NetworkTablesManager] Connected to the robot!");
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} else {
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logger.info(
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"[NetworkTablesManager] Could NOT to the robot! Will retry in the background...");
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}
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}
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}
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public static void setTeamClientMode() {
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setClientMode(null);
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}
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public static void setServerMode() {
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isServer = true;
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logger.info("Starting NT Server");
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ntInstance.stopClient();
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ntInstance.startServer();
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}
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}
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Reference in New Issue
Block a user