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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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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 {