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Allow file uploads of any size and better report active cameras in PhotonCamera error print (#1298)

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Previously reported itself which was confusing. New print:

```
Error at org.photonvision.PhotonCamera.verifyVersion(PhotonCamera.java:378): Found the following PhotonVision cameras active on NetworkTables:
 ==> HD_Pro_Webcam_C920
 ==> Arducam_OV9281_USB_Camera
```
This commit is contained in:
Matt
2024-05-10 14:58:18 -04:00
committed by GitHub
parent 1708376df8
commit 713fad6f6b
6 changed files with 76 additions and 27 deletions
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41
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -46,8 +46,9 @@ import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.Timer;
import java.util.List;
import java.util.Optional;
import java.util.Set;
import java.util.stream.Collectors;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.common.networktables.PacketSubscriber;
import org.photonvision.targeting.PhotonPipelineResult;
@@ -75,6 +76,8 @@ public class PhotonCamera implements AutoCloseable {
IntegerSubscriber heartbeatEntry;
DoubleArraySubscriber cameraIntrinsicsSubscriber;
DoubleArraySubscriber cameraDistortionSubscriber;
MultiSubscriber topicNameSubscriber;
NetworkTable rootPhotonTable;
@Override
public void close() {
@@ -98,6 +101,7 @@ public class PhotonCamera implements AutoCloseable {
pipelineIndexRequest.close();
cameraIntrinsicsSubscriber.close();
cameraDistortionSubscriber.close();
topicNameSubscriber.close();
}
private final String path;
@@ -125,8 +129,8 @@ public class PhotonCamera implements AutoCloseable {
*/
public PhotonCamera(NetworkTableInstance instance, String cameraName) {
name = cameraName;
var photonvision_root_table = instance.getTable(kTableName);
this.cameraTable = photonvision_root_table.getSubTable(cameraName);
rootPhotonTable = instance.getTable(kTableName);
this.cameraTable = rootPhotonTable.getSubTable(cameraName);
path = cameraTable.getPath();
var rawBytesEntry =
cameraTable
@@ -148,12 +152,12 @@ public class PhotonCamera implements AutoCloseable {
cameraDistortionSubscriber =
cameraTable.getDoubleArrayTopic("cameraDistortion").subscribe(null);
ledModeRequest = photonvision_root_table.getIntegerTopic("ledModeRequest").publish();
ledModeState = photonvision_root_table.getIntegerTopic("ledModeState").subscribe(-1);
versionEntry = photonvision_root_table.getStringTopic("version").subscribe("");
ledModeRequest = rootPhotonTable.getIntegerTopic("ledModeRequest").publish();
ledModeState = rootPhotonTable.getIntegerTopic("ledModeState").subscribe(-1);
versionEntry = rootPhotonTable.getStringTopic("version").subscribe("");
// Existing is enough to make this multisubscriber do its thing
MultiSubscriber m_topicNameSubscriber =
topicNameSubscriber =
new MultiSubscriber(
instance, new String[] {"/photonvision/"}, PubSubOption.topicsOnly(true));
@@ -333,10 +337,10 @@ public class PhotonCamera implements AutoCloseable {
// Heartbeat entry is assumed to always be present. If it's not present, we
// assume that a camera with that name was never connected in the first place.
if (!heartbeatEntry.exists()) {
Set<String> cameraNames = cameraTable.getInstance().getTable(kTableName).getSubTables();
var cameraNames = getTablesThatLookLikePhotonCameras();
if (cameraNames.isEmpty()) {
DriverStation.reportError(
"Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
"Could not find **any** PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
false);
} else {
DriverStation.reportError(
@@ -344,9 +348,17 @@ public class PhotonCamera implements AutoCloseable {
+ path
+ " not found on NetworkTables. Double check that your camera names match!",
true);
var cameraNameStr = new StringBuilder();
for (var c : cameraNames) {
cameraNameStr.append(" ==> ");
cameraNameStr.append(c);
cameraNameStr.append("\n");
}
DriverStation.reportError(
"Found the following PhotonVision cameras on NetworkTables:\n"
+ String.join("\n", cameraNames),
+ cameraNameStr.toString(),
false);
}
}
@@ -391,4 +403,13 @@ public class PhotonCamera implements AutoCloseable {
throw new UnsupportedOperationException(versionMismatchMessage);
}
}
private List<String> getTablesThatLookLikePhotonCameras() {
return rootPhotonTable.getSubTables().stream()
.filter(
it -> {
return rootPhotonTable.getSubTable(it).getEntry("rawBytes").exists();
})
.collect(Collectors.toList());
}
}