From a8480d6516f4d21aea64a2bccd3c254c305eb819 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sat, 23 Nov 2019 20:13:01 -0800
Subject: [PATCH] Actually initilize network tables

---
 Main/chameleon-vision.iml                          |  6 ++++++
 .../com/chameleonvision/vision/VisionProcess.java  | 14 ++++++++++----
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/Main/chameleon-vision.iml b/Main/chameleon-vision.iml
index 7a7dd6957..4bfbb957d 100644
--- a/Main/chameleon-vision.iml
+++ b/Main/chameleon-vision.iml
@@ -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" />
diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
index 9d32e86c2..bc75347fa 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -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);