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Actually initilize network tables

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This commit is contained in:
Matt
2019-11-23 20:13:01 -08:00
parent 299692c286
commit a8480d6516
2 changed files with 16 additions and 4 deletions
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6
Main/chameleon-vision.iml
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@@ -21,6 +21,12 @@
<orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-core:2.10.1" level="project" />
<orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-annotations:2.10.1" level="project" />
<orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-databind:2.10.1" level="project" />
<orderEntry type="library" name="Maven: org.slf4j:slf4j-nop:1.7.26" level="project" />
<orderEntry type="library" name="Maven: org.msgpack:msgpack-core:0.8.18" level="project" />
<orderEntry type="library" name="Maven: org.msgpack:jackson-dataformat-msgpack:0.8.18" level="project" />
<orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-core:2.10.1" level="project" />
<orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-annotations:2.10.1" level="project" />
<orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-databind:2.10.1" level="project" />
<orderEntry type="library" name="Maven: io.javalin:javalin:3.4.1" level="project" />
<orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.31" level="project" />
<orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.31" level="project" />

14
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -9,10 +9,7 @@ import com.chameleonvision.web.ServerHandler;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.EntryNotification;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.*;
import edu.wpi.first.wpiutil.CircularBuffer;
import org.opencv.core.Mat;
@@ -41,6 +38,7 @@ public class VisionProcess {
private volatile CVPipelineResult lastPipelineResult;
// network table stuff
private NetworkTable defaultTable;
private NetworkTableEntry ntPipelineEntry;
private NetworkTableEntry ntDriverModeEntry;
private int ntDriveModeListenerID;
@@ -73,9 +71,15 @@ public class VisionProcess {
// Thread to process vision data
this.visionRunnable = new VisionProcessRunnable();
// network table
defaultTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraProcess.getProperties().name);
}
public void start() {
System.out.println("Starting NetworkTables");
initNT(defaultTable);
System.out.println("Starting camera thread.");
new Thread(cameraRunnable).start();
while (cameraRunnable.cameraFrame == null) {
@@ -358,6 +362,8 @@ public class VisionProcess {
result = currentPipeline.runPipeline(streamBuffer);
lastPipelineResult = result;
var yes = lastPipelineResult==null;
updateNetworkTableData(lastPipelineResult);
updateUI(lastPipelineResult);