# NetworkTables API

## About

:::{warning}
PhotonVision interfaces with PhotonLib, our vendor dependency, using NetworkTables. If you are running PhotonVision on a robot (ie. with a RoboRIO), you should **turn the NetworkTables server switch (in the settings tab) off** in order to get PhotonLib to work. Also ensure that you set your team number. The NetworkTables server should only be enabled if you know what you're doing!
:::

## API

:::{warning}
NetworkTables is not a supported setup/viable option when using PhotonVision as we only send one target at a time (this is problematic when using AprilTags, which will return data from multiple tags at once). We recommend using PhotonLib.
:::

The tables below contain the the name of the key for each entry that PhotonVision sends over the network and a short description of the key. The entries should be extracted from a subtable with your camera's nickname (visible in the PhotonVision UI) under the main `photonvision` table.

### Getting Target Information

| Key             | Type       | Description                                                              |
| --------------- | ---------- | ------------------------------------------------------------------------ |
| `rawBytes`      | `byte[]`   | A byte-packed string that contains target info from the same timestamp.  |
| `latencyMillis` | `double`   | The latency of the pipeline in milliseconds.                             |
| `hasTarget`     | `boolean`  | Whether the pipeline is detecting targets or not.                        |
| `targetPitch`   | `double`   | The pitch of the target in degrees (positive up).                        |
| `targetYaw`     | `double`   | The yaw of the target in degrees (positive right).                       |
| `targetArea`    | `double`   | The area (percent of bounding box in screen) as a percent (0-100).       |
| `targetSkew`    | `double`   | The skew of the target in degrees (counter-clockwise positive).          |
| `targetPose`    | `double[]` | The pose of the target relative to the robot (x, y, z, qw, qx, qy, qz)   |
| `targetPixelsX` | `double`   | The target crosshair location horizontally, in pixels (origin top-right) |
| `targetPixelsY` | `double`   | The target crosshair location vertically, in pixels (origin top-right)   |

### Changing Settings

| Key             | Type      | Description                 |
| --------------- | --------- | --------------------------- |
| `pipelineIndex` | `int`     | Changes the pipeline index. |
| `driverMode`    | `boolean` | Toggles driver mode.        |

### Saving Images

PhotonVision can save images to file on command. The image is saved when PhotonVision detects the command went from `false` to `true`.

PhotonVision will automatically set these back to `false` after 500ms.

Be careful saving images rapidly - it will slow vision processing performance and take up disk space very quickly.

Images are returned as part of the .zip package from the "Export" operation in the Settings tab.

| Key                | Type      | Description                                       |
| ------------------ | --------- | ------------------------------------------------- |
| `inputSaveImgCmd`  | `boolean` | Triggers saving the current input image to file.  |
| `outputSaveImgCmd` | `boolean` | Triggers saving the current output image to file. |

:::{warning}
If you manage to make calls to these commands faster than 500ms (between calls), additional photos will not be captured.
:::

### Global Entries

These entries are global, meaning that they should be called on the main `photonvision` table.

| Key       | Type  | Description                                              |
| --------- | ----- | -------------------------------------------------------- |
| `ledMode` | `int` | Sets the LED Mode (-1: default, 0: off, 1: on, 2: blink) |

:::{warning}
Setting the LED mode to -1 (default) when `multiple` cameras are connected may result in unexpected behavior. {ref}`This is a known limitation of PhotonVision. <docs/troubleshooting/common-errors:LED Control>`

Single camera operation should work without issue.
:::