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Convert input/output image save to integers (#664)

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Changes image saving technique to use integers, not booleans
This commit is contained in:
Chris Gerth
2022-12-30 21:48:28 -06:00
committed by GitHub
parent 8028d1887c
commit d0bf64af6c
4 changed files with 46 additions and 50 deletions
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10
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -56,7 +56,7 @@ public class PhotonCamera {
DoubleArrayPublisher targetPoseEntry;
DoublePublisher targetSkewEntry;
StringSubscriber versionEntry;
BooleanPublisher inputSaveImgEntry, outputSaveImgEntry;
IntegerEntry inputSaveImgEntry, outputSaveImgEntry;
IntegerEntry pipelineIndexEntry, ledModeEntry;
IntegerSubscriber heartbeatEntry;
@@ -111,8 +111,8 @@ public class PhotonCamera {
path = rootTable.getPath();
rawBytesEntry = rootTable.getRawTopic("rawBytes").subscribe("rawBytes", new byte[] {});
driverModeEntry = rootTable.getBooleanTopic("driverMode").getEntry(false);
inputSaveImgEntry = rootTable.getBooleanTopic("inputSaveImgCmd").getEntry(false);
outputSaveImgEntry = rootTable.getBooleanTopic("outputSaveImgCmd").getEntry(false);
inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);
pipelineIndexEntry = rootTable.getIntegerTopic("pipelineIndex").getEntry(0);
heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1);
ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1);
@@ -181,7 +181,7 @@ public class PhotonCamera {
* /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
*/
public void takeInputSnapshot() {
inputSaveImgEntry.set(true);
inputSaveImgEntry.set(inputSaveImgEntry.get() + 1);
}
/**
@@ -191,7 +191,7 @@ public class PhotonCamera {
* /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
*/
public void takeOutputSnapshot() {
outputSaveImgEntry.set(true);
outputSaveImgEntry.set(outputSaveImgEntry.get() + 1);
}
/**

16
photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
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@@ -41,9 +41,13 @@ PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
rawBytesEntry(rootTable->GetRawTopic("rawBytes").Subscribe("raw", {})),
driverModeEntry(rootTable->GetBooleanTopic("driverMode").Publish()),
inputSaveImgEntry(
rootTable->GetBooleanTopic("inputSaveImgCmd").Publish()),
rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
inputSaveImgSubscriber(
rootTable->GetIntegerTopic("inputSaveImgCmd").Subscribe(0)),
outputSaveImgEntry(
rootTable->GetBooleanTopic("outputSaveImgCmd").Publish()),
rootTable->GetIntegerTopic("outputSaveImgCmd").Publish()),
outputSaveImgSubscriber(
rootTable->GetIntegerTopic("outputSaveImgCmd").Subscribe(0)),
pipelineIndexEntry(rootTable->GetIntegerTopic("pipelineIndex").Publish()),
ledModeEntry(mainTable->GetIntegerTopic("ledMode").Publish()),
versionEntry(mainTable->GetStringTopic("version").Subscribe("")),
@@ -89,9 +93,13 @@ void PhotonCamera::SetDriverMode(bool driverMode) {
driverModeEntry.Set(driverMode);
}
void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.Set(true); }
void PhotonCamera::TakeInputSnapshot() {
inputSaveImgEntry.Set(inputSaveImgSubscriber.Get() + 1);
}
void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.Set(true); }
void PhotonCamera::TakeOutputSnapshot() {
outputSaveImgEntry.Set(outputSaveImgSubscriber.Get() + 1);
}
bool PhotonCamera::GetDriverMode() const { return driverModeSubscriber.Get(); }

6
photon-lib/src/main/native/include/photonlib/PhotonCamera.h
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@@ -166,8 +166,10 @@ class PhotonCamera {
std::shared_ptr<nt::NetworkTable> rootTable;
nt::RawSubscriber rawBytesEntry;
nt::BooleanPublisher driverModeEntry;
nt::BooleanPublisher inputSaveImgEntry;
nt::BooleanPublisher outputSaveImgEntry;
nt::IntegerPublisher inputSaveImgEntry;
nt::IntegerSubscriber inputSaveImgSubscriber;
nt::IntegerPublisher outputSaveImgEntry;
nt::IntegerSubscriber outputSaveImgSubscriber;
nt::IntegerPublisher pipelineIndexEntry;
nt::IntegerPublisher ledModeEntry;
nt::StringSubscriber versionEntry;