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Expose camera name in PhotonCamera (#523)

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Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Lavi Arzi
2022-12-25 07:01:57 +02:00
committed by GitHub
parent e1b39a1723
commit 8330bf9d92
3 changed files with 31 additions and 5 deletions
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12
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -80,6 +80,7 @@ public class PhotonCamera {
}
private final String path;
private final String name;
private static boolean VERSION_CHECK_ENABLED = true;
private static long VERSION_CHECK_INTERVAL = 5;
@@ -104,6 +105,7 @@ public class PhotonCamera {
* @param cameraName The name of the camera, as seen in the UI.
*/
public PhotonCamera(NetworkTableInstance instance, String cameraName) {
name = cameraName;
var mainTable = instance.getTable("photonvision");
this.rootTable = mainTable.getSubTable(cameraName);
path = rootTable.getPath();
@@ -252,6 +254,16 @@ public class PhotonCamera {
return getLatestResult().hasTargets();
}
/**
* Returns the name of the camera. This will return the same value that was given to the
* constructor as cameraName.
*
* @return The name of the camera.
*/
public String getName() {
return name;
}
/**
* Returns whether the camera is connected and actively returning new data. Connection status is
* debounced.

11
photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
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@@ -35,7 +35,7 @@ namespace photonlib {
constexpr const units::second_t VERSION_CHECK_INTERVAL = 5_s;
PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName)
const std::string_view cameraName)
: mainTable(instance->GetTable("photonvision")),
rootTable(mainTable->GetSubTable(cameraName)),
rawBytesEntry(rootTable->GetRawTopic("rawBytes").Subscribe("raw", {})),
@@ -52,9 +52,10 @@ PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
pipelineIndexSubscriber(
rootTable->GetIntegerTopic("pipelineIndex").Subscribe(-1)),
ledModeSubscriber(mainTable->GetIntegerTopic("ledMode").Subscribe(0)),
path(rootTable->GetPath()) {}
path(rootTable->GetPath()),
m_cameraName(cameraName) {}
PhotonCamera::PhotonCamera(const std::string& cameraName)
PhotonCamera::PhotonCamera(const std::string_view cameraName)
: PhotonCamera(std::make_shared<nt::NetworkTableInstance>(
nt::NetworkTableInstance::GetDefault()),
cameraName) {}
@@ -109,6 +110,10 @@ void PhotonCamera::SetLEDMode(LEDMode mode) {
ledModeEntry.Set(static_cast<double>(static_cast<int>(mode)));
}
const std::string_view PhotonCamera::GetCameraName() const {
return m_cameraName;
}
void PhotonCamera::VerifyVersion() {
if (!PhotonCamera::VERSION_CHECK_ENABLED) return;

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

@@ -58,14 +58,14 @@ class PhotonCamera {
* over.
*/
explicit PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName);
const std::string_view cameraName);
/**
* Constructs a PhotonCamera from the name of the camera.
* @param cameraName The nickname of the camera (found in the PhotonVision
* UI).
*/
explicit PhotonCamera(const std::string& cameraName);
explicit PhotonCamera(const std::string_view cameraName);
/**
* Returns the latest pipeline result.
@@ -131,6 +131,14 @@ class PhotonCamera {
*/
void SetLEDMode(LEDMode led);
/**
* Returns the name of the camera.
* This will return the same value that was given to the constructor as
* cameraName.
* @return The name of the camera.
*/
const std::string_view GetCameraName() const;
/**
* Returns whether the latest target result has targets.
* This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should
@@ -163,6 +171,7 @@ class PhotonCamera {
nt::IntegerSubscriber ledModeSubscriber;
std::string path;
std::string m_cameraName;
mutable Packet packet;