Add NetworkTablesManager (#48)

* Add NetworkTablesManager, various cleanups * Add auto-restart when team number changes.
2026-06-24 01:31:44 +00:00 · 2020-01-16 00:21:00 -05:00
parent b935113eb1
commit c5a1694012
5 changed files with 102 additions and 54 deletions
--- a/chameleon-server/src/main/java/com/chameleonvision/networktables/NetworkTablesManager.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/networktables/NetworkTablesManager.java
@@ -0,0 +1,69 @@
+package com.chameleonvision.networktables;
+
+import com.chameleonvision.config.ConfigManager;
+import com.chameleonvision.scripting.ScriptEventType;
+import com.chameleonvision.scripting.ScriptManager;
+import edu.wpi.first.networktables.LogMessage;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+import java.util.function.Consumer;
+
+public class NetworkTablesManager {
+
+    private NetworkTablesManager() {}
+
+    private static final NetworkTableInstance NTInst = NetworkTableInstance.getDefault();
+
+    public static final String kRootTableName = "/chameleon-vision";
+    public static final NetworkTable kRootTable = NetworkTableInstance.getDefault().getTable(kRootTableName);
+
+    public static boolean isServer = false;
+
+    private static int getTeamNumber() {
+        return ConfigManager.settings.teamNumber;
+    }
+
+    private static class NTLogger implements Consumer<LogMessage> {
+
+        private boolean hasReportedConnectionFailure = false;
+
+        @Override
+        public void accept(LogMessage logMessage) {
+            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
+                System.err.println("NT Connection has failed! Will retry in background.");
+                hasReportedConnectionFailure = true;
+            } else if (logMessage.message.contains("connected")) {
+                System.out.println("NT Connected!");
+                hasReportedConnectionFailure = false;
+                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
+            }
+        }
+    }
+
+    static {
+        NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
+    }
+
+    public static void setClientMode(String host) {
+        isServer = false;
+        System.out.println("Starting NT Client");
+        NTInst.stopServer();
+        if (host != null) {
+            NTInst.startClient(host);
+        } else {
+            NTInst.startClientTeam(getTeamNumber());
+        }
+    }
+
+    public static void setTeamClientMode() {
+        setClientMode(null);
+    }
+
+    public static void setServerMode() {
+        isServer = true;
+        System.out.println("Starting NT Server");
+        NTInst.stopClient();
+        NTInst.startServer();
+    }
+}