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Robustify setting pipeline index (#790)

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This commit is contained in:
Matt
2023-02-08 21:07:12 -05:00
committed by GitHub
parent 3c53dcbb7b
commit 6886663688
8 changed files with 72 additions and 42 deletions
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6
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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@@ -89,7 +89,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
ts.pipelineIndexPublisher.set(setIndex);
// TODO: Log
}
logger.debug("Successfully set pipeline index to " + newIndex);
logger.debug("Set pipeline index to " + newIndex);
}
private void onDriverModeChange(NetworkTableEvent entryNotification) {
@@ -102,7 +102,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
}
driverModeConsumer.accept(newDriverMode);
logger.debug("Successfully set driver mode to " + newDriverMode);
logger.debug("Set driver mode to " + newDriverMode);
}
private void removeEntries() {
@@ -119,7 +119,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
pipelineIndexListener =
new NTDataChangeListener(
ts.subTable.getInstance(), ts.pipelineIndexSubscriber, this::onPipelineIndexChange);
ts.subTable.getInstance(), ts.pipelineIndexRequestSub, this::onPipelineIndexChange);
driverModeListener =
new NTDataChangeListener(

24
photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
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@@ -17,7 +17,8 @@
package org.photonvision.common.hardware;
import edu.wpi.first.networktables.IntegerEntry;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
import java.io.IOException;
import org.photonvision.common.ProgramStatus;
import org.photonvision.common.configuration.ConfigManager;
@@ -47,7 +48,9 @@ public class HardwareManager {
private final StatusLED statusLED;
@SuppressWarnings("FieldCanBeLocal")
private final IntegerEntry ledModeEntry;
private IntegerSubscriber ledModeRequest;
private IntegerPublisher ledModeState;
@SuppressWarnings({"FieldCanBeLocal", "unused"})
private final NTDataChangeListener ledModeListener;
@@ -71,6 +74,15 @@ public class HardwareManager {
this.metricsManager = new MetricsManager();
this.metricsManager.setConfig(hardwareConfig);
ledModeRequest =
NetworkTablesManager.getInstance()
.kRootTable
.getIntegerTopic("ledModeRequest")
.subscribe(-1);
ledModeState =
NetworkTablesManager.getInstance().kRootTable.getIntegerTopic("ledModeState").publish();
ledModeState.set(VisionLEDMode.kDefault.value);
CustomGPIO.setConfig(hardwareConfig);
if (Platform.isRaspberryPi()) {
@@ -92,17 +104,15 @@ public class HardwareManager {
hardwareConfig.ledPins,
hasBrightnessRange ? hardwareConfig.ledBrightnessRange.get(0) : 0,
hasBrightnessRange ? hardwareConfig.ledBrightnessRange.get(1) : 100,
pigpioSocket);
pigpioSocket,
ledModeState::set);
ledModeEntry =
NetworkTablesManager.getInstance().kRootTable.getIntegerTopic("ledMode").getEntry(0);
ledModeEntry.set(VisionLEDMode.kDefault.value);
ledModeListener =
visionLED == null
? null
: new NTDataChangeListener(
NetworkTablesManager.getInstance().kRootTable.getInstance(),
ledModeEntry,
ledModeRequest,
visionLED::onLedModeChange);
Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));

15
photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
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@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.NetworkTableEvent;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import org.photonvision.common.hardware.GPIO.CustomGPIO;
import org.photonvision.common.hardware.GPIO.GPIOBase;
import org.photonvision.common.hardware.GPIO.pi.PigpioException;
@@ -45,11 +46,18 @@ public class VisionLED {
private int mappedBrightnessPercentage;
private Consumer<Integer> modeConsumer;
public VisionLED(
List<Integer> ledPins, int brightnessMin, int brightnessMax, PigpioSocket pigpioSocket) {
List<Integer> ledPins,
int brightnessMin,
int brightnessMax,
PigpioSocket pigpioSocket,
Consumer<Integer> visionLEDmode) {
this.brightnessMin = brightnessMin;
this.brightnessMax = brightnessMax;
this.pigpioSocket = pigpioSocket;
this.modeConsumer = visionLEDmode;
this.ledPins = ledPins.stream().mapToInt(i -> i).toArray();
ledPins.forEach(
pin -> {
@@ -123,7 +131,8 @@ public class VisionLED {
}
void onLedModeChange(NetworkTableEvent entryNotification) {
var newLedModeRaw = (int) entryNotification.valueData.value.getDouble();
var newLedModeRaw = (int) entryNotification.valueData.value.getInteger();
logger.debug("Got LED mode " + newLedModeRaw);
if (newLedModeRaw != currentLedMode.value) {
VisionLEDMode newLedMode;
switch (newLedModeRaw) {
@@ -145,6 +154,8 @@ public class VisionLED {
break;
}
setInternal(newLedMode, true);
if (modeConsumer != null) modeConsumer.accept(newLedMode.value);
}
}

8
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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@@ -371,15 +371,15 @@ public class VisionModule {
return ret;
}
void setPipeline(int index) {
boolean setPipeline(int index) {
logger.info("Setting pipeline to " + index);
logger.info("Pipeline name: " + pipelineManager.getPipelineNickname(index));
pipelineManager.setIndex(index);
var pipelineSettings = pipelineManager.getPipelineSettings(index);
if (pipelineSettings == null) {
logger.error("Config for index " + index + " was null!");
return;
logger.error("Config for index " + index + " was null! Not changing pipelines");
return false;
}
visionSource.getSettables().setVideoModeInternal(pipelineSettings.cameraVideoModeIndex);
@@ -422,6 +422,8 @@ public class VisionModule {
visionSource.getSettables().getConfiguration().currentPipelineIndex =
pipelineManager.getCurrentPipelineIndex();
return true;
}
private boolean camShouldControlLEDs() {