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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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39
photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
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@@ -24,23 +24,34 @@
#include "photonlib/PhotonCamera.h"
#include <frc/Errors.h>
#include "PhotonVersion.h"
#include "photonlib/Packet.h"
namespace photonlib {
PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
: rawBytesEntry(rootTable->GetEntry("rawBytes")),
PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName)
: mainTable(instance->GetTable("photonvision")),
rootTable(mainTable->GetSubTable(cameraName)),
rawBytesEntry(rootTable->GetEntry("rawBytes")),
driverModeEntry(rootTable->GetEntry("driverMode")),
inputSaveImgEntry(rootTable->GetEntry("inputSaveImgCmd")),
outputSaveImgEntry(rootTable->GetEntry("outputSaveImgCmd")),
pipelineIndexEntry(rootTable->GetEntry("pipelineIndex")),
ledModeEntry(mainTable->GetEntry("ledMode")) {}
ledModeEntry(mainTable->GetEntry("ledMode")),
versionEntry(mainTable->GetEntry("version")),
path(rootTable->GetPath()) {}
PhotonCamera::PhotonCamera(const std::string& cameraName)
: PhotonCamera(nt::NetworkTableInstance::GetDefault()
.GetTable("photonvision")
->GetSubTable(cameraName)) {}
: PhotonCamera(std::make_shared<nt::NetworkTableInstance>(
nt::NetworkTableInstance::GetDefault()),
cameraName) {}
PhotonPipelineResult PhotonCamera::GetLatestResult() const {
// Prints warning if not connected
VerifyVersion();
// Clear the current packet.
packet.Clear();
@@ -87,4 +98,20 @@ LEDMode PhotonCamera::GetLEDMode() const {
void PhotonCamera::SetLEDMode(LEDMode mode) {
ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
}
void PhotonCamera::VerifyVersion() const {
const std::string& versionString = versionEntry.GetString("");
if (versionString.empty()) {
std::string path_ = path;
FRC_ReportError(
frc::warn::Warning,
"PhotonVision coprocessor at path {} not found on NetworkTables!",
path_);
} else if (!VersionMatches(versionString)) {
FRC_ReportError(frc::warn::Warning,
"Photon version {} does not match coprocessor version {}!",
PhotonVersion::versionString, versionString);
}
}
} // namespace photonlib