Bump LL image to fix NetworkManager (#780)

Actually calls VisionModule::setPipeline when changing pipelines (needed to change video modes)

.github/workflows/main.yml

@@ -397,7 +397,7 @@ jobs:
             - os: ubuntu-latest
               artifact-name: LinuxArm64
               image_suffix: limelight
-              image_url: https://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.1.1_limelight-arm64
+              image_url: https://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.2.2_limelight-arm64
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -142,8 +142,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
         ts.rawBytesEntry.set(packet.getData());
 
-        ts.pipelineIndexPublisher.setDefault(pipelineIndexSupplier.get());
+        ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
-        ts.driverModePublisher.setDefault(driverModeSupplier.getAsBoolean());
+        ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
         ts.latencyMillisEntry.set(result.getLatencyMillis());
         ts.hasTargetEntry.set(result.hasTargets());
 

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -136,7 +136,7 @@ public class VisionModule {
                 new NTDataPublisher(
                         visionSource.getSettables().getConfiguration().nickname,
                         pipelineManager::getCurrentPipelineIndex,
-                        pipelineManager::setIndex,
+                        this::setPipeline,
                         pipelineManager::getDriverMode,
                         this::setDriverMode);
         uiDataConsumer = new UIDataPublisher(index);

photon-lib/publish.gradle

@@ -1,6 +1,7 @@
 apply plugin: 'maven-publish'
 
-ext.licenseFile = files("$rootDir/LICENSE.txt")
+ext.licenseFile = files("$rootDir/LICENSE")
+ext.photonVersionFile = files("$projectDir/src/generate/native/include")
 
 def outputsFolder = file("$buildDir/outputs")
 def allOutputsFolder = file("$buildDir/allOutputs")
@@ -54,15 +55,19 @@ task cppHeadersZip(type: Zip) {
         into '/'
     }
 
+    from(photonVersionFile) {
+        into '/'
+    }
+
     from('src/main/native/include/') {
         into '/'
     }
 }
 
-task cppSourceZip(type: Zip) {
+task cppSourcesZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = zipBaseName
-    classifier = "source"
+    classifier = "sources"
 
     from(licenseFile) {
         into '/'
@@ -75,8 +80,8 @@ task cppSourceZip(type: Zip) {
 
 build.dependsOn cppHeadersZip
 addTaskToCopyAllOutputs(cppHeadersZip)
-build.dependsOn cppSourceZip
+build.dependsOn cppSourcesZip
-addTaskToCopyAllOutputs(cppSourceZip)
+addTaskToCopyAllOutputs(cppSourcesZip)
 
 task sourcesJar(type: Jar, dependsOn: classes) {
     classifier = 'sources'
@@ -162,7 +167,7 @@ model {
                     artifact it
                 }
                 artifact cppHeadersZip
-                artifact cppSourceZip
+                artifact cppSourcesZip
 
                 artifactId = "${baseArtifactId}-cpp"
                 groupId artifactGroupId

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -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);
     }
 
     /**

photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp

@@ -41,8 +41,7 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       rootTable(mainTable->GetSubTable(cameraName)),
       rawBytesEntry(
           rootTable->GetRawTopic("rawBytes")
-              .Subscribe("raw", {}, {.periodic = 0.01, .sendAll = true})),
+              .Subscribe("rawBytes", {}, {.periodic = 0.01, .sendAll = true})),
-      driverModeEntry(rootTable->GetBooleanTopic("driverMode").Publish()),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
       inputSaveImgSubscriber(
@@ -56,6 +55,8 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       versionEntry(mainTable->GetStringTopic("version").Subscribe("")),
       driverModeSubscriber(
           rootTable->GetBooleanTopic("driverMode").Subscribe(false)),
+      driverModePublisher(
+          rootTable->GetBooleanTopic("driverModeRequest").Publish()),
       pipelineIndexSubscriber(
           rootTable->GetIntegerTopic("pipelineIndex").Subscribe(-1)),
       ledModeSubscriber(mainTable->GetIntegerTopic("ledMode").Subscribe(0)),
@@ -92,7 +93,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
 }
 
 void PhotonCamera::SetDriverMode(bool driverMode) {
-  driverModeEntry.Set(driverMode);
+  driverModePublisher.Set(driverMode);
 }
 
 void PhotonCamera::TakeInputSnapshot() {

photon-lib/src/main/native/include/photonlib/PhotonCamera.h

@@ -168,7 +168,6 @@ class PhotonCamera {
   std::shared_ptr<nt::NetworkTable> mainTable;
   std::shared_ptr<nt::NetworkTable> rootTable;
   nt::RawSubscriber rawBytesEntry;
-  nt::BooleanPublisher driverModeEntry;
   nt::IntegerPublisher inputSaveImgEntry;
   nt::IntegerSubscriber inputSaveImgSubscriber;
   nt::IntegerPublisher outputSaveImgEntry;
@@ -178,6 +177,7 @@ class PhotonCamera {
   nt::StringSubscriber versionEntry;
 
   nt::BooleanSubscriber driverModeSubscriber;
+  nt::BooleanPublisher driverModePublisher;
   nt::IntegerSubscriber pipelineIndexSubscriber;
   nt::IntegerSubscriber ledModeSubscriber;
 

photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java

@@ -75,9 +75,11 @@ public class NTTopicSet {
         pipelineIndexPublisher = pipelineIndexTopic.publish();
         pipelineIndexSubscriber = pipelineIndexTopic.subscribe(0);
 
-        driverModeEntry = subTable.getBooleanTopic("driverMode");
+        driverModePublisher = subTable.getBooleanTopic("driverMode").publish();
-        driverModePublisher = driverModeEntry.publish();
+        driverModeSubscriber = subTable.getBooleanTopic("driverModeRequest").subscribe(false);
-        driverModeSubscriber = driverModeEntry.subscribe(false);
+
+        // Fun little hack to make the request show up
+        driverModeSubscriber.getTopic().publish().setDefault(false);
 
         latencyMillisEntry = subTable.getDoubleTopic("latencyMillis").publish();
         hasTargetEntry = subTable.getBooleanTopic("hasTarget").publish();