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Fix version verification with non-default networktable (#407)

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Adds version verification to c++ too
This commit is contained in:
Matt
2022-01-24 12:38:45 -05:00
committed by GitHub
parent b09a6d6a2d
commit b2a3f34433
11 changed files with 133 additions and 32 deletions
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13
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -34,6 +34,7 @@ import org.photonvision.targeting.PhotonPipelineResult;
/** Represents a camera that is connected to PhotonVision. */
public class PhotonCamera {
protected final NetworkTable rootTable;
final NetworkTableEntry rawBytesEntry;
final NetworkTableEntry driverModeEntry;
final NetworkTableEntry inputSaveImgEntry;
@@ -42,7 +43,6 @@ public class PhotonCamera {
final NetworkTableEntry ledModeEntry;
final NetworkTableEntry versionEntry;
final NetworkTable mainTable = NetworkTableInstance.getDefault().getTable("photonvision");
private final String path;
Packet packet = new Packet(1);
@@ -50,9 +50,14 @@ public class PhotonCamera {
/**
* Constructs a PhotonCamera from a root table.
*
* @param rootTable The root table that the camera is broadcasting information over.
* @param instance The NetworkTableInstance to pull data from. This can be a custom instance in
* simulation, but should *usually* be the default NTInstance from
* NetworkTableInstance::getDefault
* @param cameraName The name of the camera, as seen in the UI.
*/
public PhotonCamera(NetworkTable rootTable) {
public PhotonCamera(NetworkTableInstance instance, String cameraName) {
var mainTable = instance.getTable("photonvision");
this.rootTable = mainTable.getSubTable(cameraName);
path = rootTable.getPath();
rawBytesEntry = rootTable.getEntry("rawBytes");
driverModeEntry = rootTable.getEntry("driverMode");
@@ -69,7 +74,7 @@ public class PhotonCamera {
* @param cameraName The nickname of the camera (found in the PhotonVision UI).
*/
public PhotonCamera(String cameraName) {
this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
this(NetworkTableInstance.getDefault(), cameraName);
}
/**

12
photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
View File

@@ -24,7 +24,6 @@
package org.photonvision;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.Arrays;
@@ -46,10 +45,13 @@ public class SimPhotonCamera extends PhotonCamera {
/**
* Constructs a Simulated PhotonCamera from a root table.
*
* @param rootTable The root table that the camera is broadcasting information over.
* @param instance The NetworkTableInstance to pull data from. This can be a custom instance in
* simulation, but should *usually* be the default NTInstance from
* NetworkTableInstance::getDefault
* @param cameraName The name of the camera, as seen in the UI.
*/
public SimPhotonCamera(NetworkTable rootTable) {
super(rootTable);
public SimPhotonCamera(NetworkTableInstance instance, String cameraName) {
super(instance, cameraName);
latencyMillisEntry = rootTable.getEntry("latencyMillis");
hasTargetEntry = rootTable.getEntry("hasTargetEntry");
@@ -66,7 +68,7 @@ public class SimPhotonCamera extends PhotonCamera {
* @param cameraName The nickname of the camera (found in the PhotonVision UI).
*/
public SimPhotonCamera(String cameraName) {
this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
this(NetworkTableInstance.getDefault(), cameraName);
}
/**