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Fix desync between web UI and NT (#778)

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Actually calls VisionModule::setPipeline when changing pipelines (needed to change video modes)
This commit is contained in:
Matt
2023-01-29 23:30:34 -05:00
committed by GitHub
parent 88ed2ebf51
commit f6e3c9b3ee
6 changed files with 16 additions and 15 deletions
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10
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -24,7 +24,6 @@
package org.photonvision;
import edu.wpi.first.networktables.BooleanEntry;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.DoubleArrayPublisher;
@@ -50,7 +49,6 @@ public class PhotonCamera {
protected final NetworkTable rootTable;
RawSubscriber rawBytesEntry;
BooleanEntry driverModeEntry;
BooleanPublisher driverModePublisher;
BooleanSubscriber driverModeSubscriber;
DoublePublisher latencyMillisEntry;
@@ -67,7 +65,6 @@ public class PhotonCamera {
public void close() {
rawBytesEntry.close();
driverModeEntry.close();
driverModePublisher.close();
driverModeSubscriber.close();
latencyMillisEntry.close();
@@ -121,7 +118,8 @@ public class PhotonCamera {
.getRawTopic("rawBytes")
.subscribe(
"rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
driverModeEntry = rootTable.getBooleanTopic("driverMode").getEntry(false);
driverModePublisher = rootTable.getBooleanTopic("driverMode").publish();
driverModeSubscriber = rootTable.getBooleanTopic("driverModeRequest").subscribe(false);
inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);
pipelineIndexEntry = rootTable.getIntegerTopic("pipelineIndex").getEntry(0);
@@ -179,7 +177,7 @@ public class PhotonCamera {
* @return Whether the camera is in driver mode.
*/
public boolean getDriverMode() {
return driverModeEntry.get(false);
return driverModeSubscriber.get();
}
/**
@@ -188,7 +186,7 @@ public class PhotonCamera {
* @param driverMode Whether to set driver mode.
*/
public void setDriverMode(boolean driverMode) {
driverModeEntry.set(driverMode);
driverModePublisher.set(driverMode);
}
/**