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Restart NT client every 5 seconds if not connected (#467)

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Fun hack to get around photonvision not connecting if it boots before robot code starts

Co-authored-by: shueja-personal <32416547+shueja-personal@users.noreply.github.com>
This commit is contained in:
Matt
2022-10-18 23:52:13 -04:00
committed by GitHub
parent a1b09100e0
commit bfc5e45cd0
1 changed files with 14 additions and 0 deletions
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14
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
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@@ -23,6 +23,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.HashMap; import java.util.HashMap;
import java.util.function.Consumer; import java.util.function.Consumer;
import org.photonvision.PhotonVersion; import org.photonvision.PhotonVersion;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.NetworkConfig; import org.photonvision.common.configuration.NetworkConfig;
import org.photonvision.common.dataflow.DataChangeService; import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent; import org.photonvision.common.dataflow.events.OutgoingUIEvent;
@@ -39,6 +40,7 @@ public class NetworkTablesManager {
private NetworkTablesManager() { private NetworkTablesManager() {
ntInstance.addLogger(new NTLogger(), 0, 255); // to hide error messages ntInstance.addLogger(new NTLogger(), 0, 255); // to hide error messages
TimedTaskManager.getInstance().addTask("NTManager", this::ntTick, 5000);
} }
private static NetworkTablesManager INSTANCE; private static NetworkTablesManager INSTANCE;
@@ -129,4 +131,16 @@ public class NetworkTablesManager {
ntInstance.startServer(); ntInstance.startServer();
broadcastVersion(); broadcastVersion();
} }
// So it seems like if Photon starts before the robot NT server does, and both aren't static IP,
// it'll never connect. This hack works around it by restarting the client/server while the nt
// instance
// isn't connected, same as clicking the save button in the settings menu (or restarting the
// service)
private void ntTick() {
if (!ntInstance.isConnected()
&& !ConfigManager.getInstance().getConfig().getNetworkConfig().runNTServer) {
setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
}
}
} }