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Add team number dialog, NT connected chip (#313)

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Makes NT connection status visible from the UI
This commit is contained in:
Matt
2021-11-25 15:43:29 -05:00
committed by GitHub
parent 822811c853
commit a151f23319
9 changed files with 302 additions and 28 deletions
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105
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
View File

@@ -16,16 +16,28 @@
*/
package org.photonvision.common.dataflow.networktables;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.networktables.LogMessage;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.net.InetAddress;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.function.Consumer;
import org.photonvision.PhotonVersion;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.NetworkConfig;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.scripting.ScriptEventType;
import org.photonvision.common.scripting.ScriptManager;
import org.photonvision.common.util.TimedTaskManager;
public class NetworkTablesManager {
private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
@@ -54,6 +66,7 @@ public class NetworkTablesManager {
if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
logger.error("NT Connection has failed! Will retry in background.");
hasReportedConnectionFailure = true;
getInstance().broadcastConnectedStatus();
} else if (logMessage.message.contains("connected")
&& System.currentTimeMillis() - lastConnectMessageMillis > 125) {
logger.info("NT Connected!");
@@ -61,10 +74,99 @@ public class NetworkTablesManager {
lastConnectMessageMillis = System.currentTimeMillis();
ScriptManager.queueEvent(ScriptEventType.kNTConnected);
getInstance().broadcastVersion();
getInstance().broadcastConnectedStatus();
}
}
}
public void broadcastConnectedStatus() {
TimedTaskManager.getInstance().addOneShotTask(this::broadcastConnectedStatusImpl, 1000L);
}
private void broadcastConnectedStatusImpl() {
HashMap<String, Object> map = new HashMap<>();
var subMap = new HashMap<String, Object>();
subMap.put("connected", ntInstance.isConnected());
if (ntInstance.isConnected()) {
var connections = getInstance().ntInstance.getConnections();
if (connections.length > 0) {
subMap.put("address", connections[0].remote_ip + ":" + connections[0].remote_port);
}
subMap.put("clients", connections.length);
}
map.put("ntConnectionInfo", subMap);
DataChangeService.getInstance()
.publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
// Seperate from the above so we don't hold stuff up
System.setProperty("java.net.preferIPv4Stack", "true");
subMap.put(
"deviceips",
Arrays.stream(CameraServerJNI.getNetworkInterfaces())
.filter(it -> !it.equals("0.0.0.0"))
.toArray());
logger.info("Searching for rios");
List<String> possibleRioList = new ArrayList<>();
for (var ip : CameraServerJNI.getNetworkInterfaces()) {
logger.info("Trying " + ip);
var possibleRioAddr = getPossibleRioAddress(ip);
if (possibleRioAddr != null) {
logger.info("Maybe found " + ip);
searchForHost(possibleRioList, possibleRioAddr);
} else {
logger.info("Didn't match RIO IP");
}
}
String name =
"roboRIO-"
+ ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+ "-FRC.local";
searchForHost(possibleRioList, name);
name =
"roboRIO-"
+ ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+ "-FRC.lan";
searchForHost(possibleRioList, name);
name =
"roboRIO-"
+ ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+ "-FRC.frc-field.local";
searchForHost(possibleRioList, name);
subMap.put("possibleRios", possibleRioList.toArray());
DataChangeService.getInstance()
.publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
}
String getPossibleRioAddress(String ip) {
try {
InetAddress addr = InetAddress.getByName(ip);
var address = addr.getAddress();
if (address[0] != (byte) (10 & 0xff)) return null;
address[3] = (byte) (2 & 0xff);
return InetAddress.getByAddress(address).getHostAddress();
} catch (UnknownHostException e) {
e.printStackTrace();
}
return null;
}
void searchForHost(List<String> list, String hostname) {
try {
logger.info("Looking up " + hostname);
InetAddress testAddr = InetAddress.getByName(hostname);
logger.info("Pinging " + hostname);
var canContact = testAddr.isReachable(500);
if (canContact) {
logger.info("Was able to connect to " + hostname);
if (!list.contains(hostname)) list.add(hostname);
} else {
logger.info("Unable to reach " + hostname);
}
} catch (IOException ignored) {
}
}
private void broadcastVersion() {
kRootTable.getEntry("version").setString(PhotonVersion.versionString);
kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);
@@ -83,7 +185,8 @@ public class NetworkTablesManager {
logger.info("Starting NT Client");
ntInstance.stopServer();
ntInstance.startClientTeam(teamNumber);
// ntInstance.startClientTeam(teamNumber);
ntInstance.startClient("localhost");
ntInstance.startDSClient();
if (ntInstance.isConnected()) {
logger.info("[NetworkTablesManager] Connected to the robot!");

1
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -369,6 +369,7 @@ public class VisionModule {
visionSource.getSettables().setVideoModeInternal(config.cameraVideoModeIndex);
visionSource.getSettables().setBrightness(config.cameraBrightness);
visionSource.getSettables().setExposure(config.cameraExposure);
visionSource.getSettables().setGain(config.cameraGain);
if (!cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
config.cameraGain = -1;