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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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25
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -29,6 +29,7 @@ import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.DoubleArrayPublisher;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.IntegerEntry;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
import edu.wpi.first.networktables.MultiSubscriber;
import edu.wpi.first.networktables.NetworkTable;
@@ -60,7 +61,8 @@ public class PhotonCamera {
DoublePublisher targetSkewEntry;
StringSubscriber versionEntry;
IntegerEntry inputSaveImgEntry, outputSaveImgEntry;
IntegerEntry pipelineIndexEntry, ledModeEntry;
IntegerPublisher pipelineIndexRequest, ledModeRequest;
IntegerSubscriber pipelineIndexState, ledModeState;
IntegerSubscriber heartbeatEntry;
public void close() {
@@ -77,8 +79,11 @@ public class PhotonCamera {
versionEntry.close();
inputSaveImgEntry.close();
outputSaveImgEntry.close();
pipelineIndexEntry.close();
ledModeEntry.close();
pipelineIndexRequest.close();
pipelineIndexState.close();
ledModeRequest.close();
ledModeState.close();
pipelineIndexRequest.close();
}
private final String path;
@@ -122,9 +127,11 @@ public class PhotonCamera {
driverModeSubscriber = rootTable.getBooleanTopic("driverModeRequest").subscribe(false);
inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);
pipelineIndexEntry = rootTable.getIntegerTopic("pipelineIndex").getEntry(0);
pipelineIndexRequest = rootTable.getIntegerTopic("pipelineIndexRequest").publish();
pipelineIndexState = rootTable.getIntegerTopic("pipelineIndexState").subscribe(0);
heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1);
ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1);
ledModeRequest = mainTable.getIntegerTopic("ledModeRequest").publish();
ledModeState = mainTable.getIntegerTopic("ledModeState").subscribe(-1);
versionEntry = mainTable.getStringTopic("version").subscribe("");
m_topicNameSubscriber =
@@ -215,7 +222,7 @@ public class PhotonCamera {
* @return The active pipeline index.
*/
public int getPipelineIndex() {
return (int) pipelineIndexEntry.get(0);
return (int) pipelineIndexState.get(0);
}
/**
@@ -224,7 +231,7 @@ public class PhotonCamera {
* @param index The active pipeline index.
*/
public void setPipelineIndex(int index) {
pipelineIndexEntry.set(index);
pipelineIndexRequest.set(index);
}
/**
@@ -233,7 +240,7 @@ public class PhotonCamera {
* @return The current LED mode.
*/
public VisionLEDMode getLEDMode() {
int value = (int) ledModeEntry.get(-1);
int value = (int) ledModeState.get(-1);
switch (value) {
case 0:
return VisionLEDMode.kOff;
@@ -253,7 +260,7 @@ public class PhotonCamera {
* @param led The mode to set to.
*/
public void setLED(VisionLEDMode led) {
ledModeEntry.set(led.value);
ledModeRequest.set(led.value);
}
/**

19
photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
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@@ -50,16 +50,17 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
rootTable->GetIntegerTopic("outputSaveImgCmd").Publish()),
outputSaveImgSubscriber(
rootTable->GetIntegerTopic("outputSaveImgCmd").Subscribe(0)),
pipelineIndexEntry(rootTable->GetIntegerTopic("pipelineIndex").Publish()),
ledModeEntry(mainTable->GetIntegerTopic("ledMode").Publish()),
pipelineIndexPub(
rootTable->GetIntegerTopic("pipelineIndexRequest").Publish()),
pipelineIndexSub(
rootTable->GetIntegerTopic("pipelineIndexState").Subscribe(0)),
ledModePub(mainTable->GetIntegerTopic("ledMode").Publish()),
ledModeSub(mainTable->GetIntegerTopic("ledMode").Subscribe(0)),
versionEntry(mainTable->GetStringTopic("version").Subscribe("")),
driverModeSubscriber(
rootTable->GetBooleanTopic("driverMode").Subscribe(false)),
driverModePublisher(
rootTable->GetBooleanTopic("driverModeRequest").Publish()),
pipelineIndexSubscriber(
rootTable->GetIntegerTopic("pipelineIndex").Subscribe(-1)),
ledModeSubscriber(mainTable->GetIntegerTopic("ledMode").Subscribe(0)),
m_topicNameSubscriber(instance, PHOTON_PREFIX, {.topicsOnly = true}),
path(rootTable->GetPath()),
m_cameraName(cameraName) {}
@@ -107,19 +108,19 @@ void PhotonCamera::TakeOutputSnapshot() {
bool PhotonCamera::GetDriverMode() const { return driverModeSubscriber.Get(); }
void PhotonCamera::SetPipelineIndex(int index) {
pipelineIndexEntry.Set(static_cast<double>(index));
pipelineIndexPub.Set(static_cast<double>(index));
}
int PhotonCamera::GetPipelineIndex() const {
return static_cast<int>(pipelineIndexSubscriber.Get());
return static_cast<int>(pipelineIndexSub.Get());
}
LEDMode PhotonCamera::GetLEDMode() const {
return static_cast<LEDMode>(static_cast<int>(ledModeSubscriber.Get()));
return static_cast<LEDMode>(static_cast<int>(ledModeSub.Get()));
}
void PhotonCamera::SetLEDMode(LEDMode mode) {
ledModeEntry.Set(static_cast<double>(static_cast<int>(mode)));
ledModePub.Set(static_cast<double>(static_cast<int>(mode)));
}
const std::string_view PhotonCamera::GetCameraName() const {

7
photon-lib/src/main/native/include/photonlib/PhotonCamera.h
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@@ -172,13 +172,14 @@ class PhotonCamera {
nt::IntegerSubscriber inputSaveImgSubscriber;
nt::IntegerPublisher outputSaveImgEntry;
nt::IntegerSubscriber outputSaveImgSubscriber;
nt::IntegerPublisher pipelineIndexEntry;
nt::IntegerPublisher ledModeEntry;
nt::IntegerPublisher pipelineIndexPub;
nt::IntegerSubscriber pipelineIndexSub;
nt::IntegerPublisher ledModePub;
nt::IntegerSubscriber ledModeSub;
nt::StringSubscriber versionEntry;
nt::BooleanSubscriber driverModeSubscriber;
nt::BooleanPublisher driverModePublisher;
nt::IntegerSubscriber pipelineIndexSubscriber;
nt::IntegerSubscriber ledModeSubscriber;
nt::MultiSubscriber m_topicNameSubscriber;