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Add NetworkTablesManager (#48)

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* Add NetworkTablesManager, various cleanups

* Add auto-restart when team number changes.
This commit is contained in:
Banks T
2020-01-16 00:21:00 -05:00
committed by GitHub
parent b935113eb1
commit c5a1694012
5 changed files with 102 additions and 54 deletions
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43
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -4,6 +4,7 @@ import com.chameleonvision.Debug;
import com.chameleonvision.config.CameraCalibrationConfig;
import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.networktables.NetworkTablesManager;
import com.chameleonvision.scripting.ScriptEventType;
import com.chameleonvision.scripting.ScriptManager;
import com.chameleonvision.config.FullCameraConfiguration;
@@ -33,6 +34,7 @@ import java.util.concurrent.LinkedBlockingDeque;
import java.util.stream.Collectors;
@SuppressWarnings("rawtypes")
public class VisionProcess {
private final USBCameraCapture cameraCapture;
@@ -117,26 +119,26 @@ public class VisionProcess {
public void setCameraNickname(String newName) {
getCamera().getProperties().setNickname(newName);
var newTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + newName);
resetNT(newTable);
NetworkTable camTable = NetworkTablesManager.kRootTable.getSubTable(newName);
resetNT(camTable);
}
private void initNT(NetworkTable newTable) {
tableInstance = newTable.getInstance();
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driverMode");
ntPitchEntry = newTable.getEntry("targetPitch");
ntYawEntry = newTable.getEntry("targetYaw");
ntAreaEntry = newTable.getEntry("targetArea");
ntLatencyEntry = newTable.getEntry("latency");
ntValidEntry = newTable.getEntry("isValid");
ntAuxListEntry = newTable.getEntry("auxTargets");
ntPoseEntry = newTable.getEntry("targetPose");
ntFittedHeightEntry = newTable.getEntry("targetFittedHeight");
ntFittedWidthEntry = newTable.getEntry("targetFittedWidth");
ntBoundingHeightEntry = newTable.getEntry("targetBoundingHeight");
ntBoundingWidthEntry = newTable.getEntry("targetBoundingWidth");
ntTargetRotation = newTable.getEntry("targetRotation");
private void initNT(NetworkTable camTable) {
tableInstance = camTable.getInstance();
ntPipelineEntry = camTable.getEntry("pipeline");
ntDriverModeEntry = camTable.getEntry("driverMode");
ntPitchEntry = camTable.getEntry("targetPitch");
ntYawEntry = camTable.getEntry("targetYaw");
ntAreaEntry = camTable.getEntry("targetArea");
ntLatencyEntry = camTable.getEntry("latency");
ntValidEntry = camTable.getEntry("isValid");
ntAuxListEntry = camTable.getEntry("auxTargets");
ntPoseEntry = camTable.getEntry("targetPose");
ntFittedHeightEntry = camTable.getEntry("targetFittedHeight");
ntFittedWidthEntry = camTable.getEntry("targetFittedWidth");
ntBoundingHeightEntry = camTable.getEntry("targetBoundingHeight");
ntBoundingWidthEntry = camTable.getEntry("targetBoundingWidth");
ntTargetRotation = camTable.getEntry("targetRotation");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
@@ -169,7 +171,6 @@ public class VisionProcess {
}
public void setDriverModeEntry(boolean isDriverMode) {
// if it's null, we haven't even started the program yet, so just return
// otherwise, set it.
if (ntDriverModeEntry != null) {
@@ -188,7 +189,7 @@ public class VisionProcess {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> pointMap = new HashMap<>();
ArrayList<Object> webTargets = new ArrayList<Object>();
ArrayList<Object> webTargets = new ArrayList<>();
List<Double> center = new ArrayList<>();
@@ -390,7 +391,6 @@ public class VisionProcess {
temp /= 7.0;
return temp;
}
}
private class CameraStreamerRunnable extends LoopingRunnable {
@@ -408,7 +408,6 @@ public class VisionProcess {
protected void process() {
if (!streamFrameQueue.isEmpty()) {
try {
bufferMat = streamFrameQueue.take();
try {