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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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10
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
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@@ -41,9 +41,8 @@ public class NTTopicSet {
public NetworkTable subTable;
public RawPublisher rawBytesEntry;
public IntegerTopic pipelineIndexTopic;
public IntegerPublisher pipelineIndexPublisher;
public IntegerSubscriber pipelineIndexSubscriber;
public IntegerSubscriber pipelineIndexRequestSub;
public BooleanTopic driverModeEntry;
public BooleanPublisher driverModePublisher;
@@ -71,9 +70,8 @@ public class NTTopicSet {
.getRawTopic("rawBytes")
.publish("rawBytes", PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
pipelineIndexTopic = subTable.getIntegerTopic("pipelineIndex");
pipelineIndexPublisher = pipelineIndexTopic.publish();
pipelineIndexSubscriber = pipelineIndexTopic.subscribe(0);
pipelineIndexPublisher = subTable.getIntegerTopic("pipelineIndexState").publish();
pipelineIndexRequestSub = subTable.getIntegerTopic("pipelineIndexRequest").subscribe(0);
driverModePublisher = subTable.getBooleanTopic("driverMode").publish();
driverModeSubscriber = subTable.getBooleanTopic("driverModeRequest").subscribe(false);
@@ -101,7 +99,7 @@ public class NTTopicSet {
public void removeEntries() {
if (rawBytesEntry != null) rawBytesEntry.close();
if (pipelineIndexPublisher != null) pipelineIndexPublisher.close();
if (pipelineIndexSubscriber != null) pipelineIndexSubscriber.close();
if (pipelineIndexRequestSub != null) pipelineIndexRequestSub.close();
if (driverModePublisher != null) driverModePublisher.close();
if (driverModeSubscriber != null) driverModeSubscriber.close();