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Add NT controlled framerate limiter (#2257)

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Adds a method to lower the speed of a pipeline over NT, primarily to
reduce power consumption.
This commit is contained in:
Sam Freund
2025-12-29 23:01:10 -06:00
committed by GitHub
parent fddff5dbca
commit 80d3efe00e
16 changed files with 234 additions and 15 deletions
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13
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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@@ -196,6 +196,9 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
rootTable->GetBooleanTopic("driverMode").Subscribe(false)),
driverModePublisher(
rootTable->GetBooleanTopic("driverModeRequest").Publish()),
fpsLimitSubscriber(rootTable->GetIntegerTopic("fpsLimit").Subscribe(-1)),
fpsLimitPublisher(
rootTable->GetIntegerTopic("fpsLimitRequest").Publish()),
heartbeatSubscriber(
rootTable->GetIntegerTopic("heartbeat").Subscribe(-1)),
topicNameSubscriber(instance, PHOTON_PREFIX, {.topicsOnly = true}),
@@ -322,6 +325,14 @@ void PhotonCamera::SetDriverMode(bool driverMode) {
driverModePublisher.Set(driverMode);
}
bool PhotonCamera::GetDriverMode() const { return driverModeSubscriber.Get(); }
int PhotonCamera::GetFPSLimit() const { return fpsLimitSubscriber.Get(); }
void PhotonCamera::SetFPSLimit(int fpsLimit) {
fpsLimitPublisher.Set(fpsLimit);
}
void PhotonCamera::TakeInputSnapshot() {
inputSaveImgEntry.Set(inputSaveImgSubscriber.Get() + 1);
}
@@ -330,8 +341,6 @@ void PhotonCamera::TakeOutputSnapshot() {
outputSaveImgEntry.Set(outputSaveImgSubscriber.Get() + 1);
}
bool PhotonCamera::GetDriverMode() const { return driverModeSubscriber.Get(); }
void PhotonCamera::SetPipelineIndex(int index) { pipelineIndexPub.Set(index); }
int PhotonCamera::GetPipelineIndex() const {

13
photon-lib/src/main/native/include/photon/PhotonCamera.h
View File

@@ -103,6 +103,16 @@ class PhotonCamera {
*/
bool GetDriverMode() const;
/**
* @param fpsLimit The FPS limit to set. Use -1 for unlimited FPS.
*/
void SetFPSLimit(int fpsLimit);
/**
* @return The FPS limit set on the camera, or -1 if no limit is set.
*/
int GetFPSLimit() const;
/**
* Request the camera to save a new image file from the input
* camera stream with overlays.
@@ -210,6 +220,9 @@ class PhotonCamera {
nt::BooleanSubscriber driverModeSubscriber;
nt::BooleanPublisher driverModePublisher;
nt::IntegerSubscriber fpsLimitSubscriber;
nt::IntegerPublisher fpsLimitPublisher;
nt::IntegerSubscriber ledModeSubscriber;
nt::IntegerSubscriber heartbeatSubscriber;