mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
798b8e398a
hasTargets is redundant because the same information can be obtained by checking the size of the targets array.
149 lines
4.2 KiB
C++
149 lines
4.2 KiB
C++
/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <memory>
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#include <string>
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <networktables/NetworkTableInstance.h>
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#include <wpi/deprecated.h>
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#include "photonlib/PhotonPipelineResult.h"
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namespace photonlib {
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enum LEDMode : int { kDefault = -1, kOff = 0, kOn = 1, kBlink = 2 };
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/**
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* Represents a camera that is connected to PhotonVision.ß
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*/
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class PhotonCamera {
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public:
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/**
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* Constructs a PhotonCamera from a root table.
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* @param rootTable The root table that the camera is broadcasting information
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* over.
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*/
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explicit PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable);
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/**
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* Constructs a PhotonCamera from the name of the camera.
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* @param cameraName The nickname of the camera (found in the PhotonVision
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* UI).
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*/
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explicit PhotonCamera(const std::string& cameraName);
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/**
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* Returns the latest pipeline result.
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* @return The latest pipeline result.
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*/
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PhotonPipelineResult GetLatestResult() const;
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/**
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* Toggles driver mode.
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* @param driverMode Whether to set driver mode.
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*/
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void SetDriverMode(bool driverMode);
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/**
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* Returns whether the camera is in driver mode.
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* @return Whether the camera is in driver mode.
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*/
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bool GetDriverMode() const;
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/**
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* Request the camera to save a new image file from the input
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* camera stream with overlays.
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* Images take up space in the filesystem of the PhotonCamera.
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* Calling it frequently will fill up disk space and eventually
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* cause the system to stop working.
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* Clear out images in /opt/photonvision/photonvision_config/imgSaves
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* frequently to prevent issues.
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*/
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void TakeInputSnapshot(void);
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/**
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* Request the camera to save a new image file from the output
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* stream with overlays.
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* Images take up space in the filesystem of the PhotonCamera.
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* Calling it frequently will fill up disk space and eventually
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* cause the system to stop working.
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* Clear out images in /opt/photonvision/photonvision_config/imgSaves
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* frequently to prevent issues.
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*/
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void TakeOutputSnapshot(void);
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/**
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* Allows the user to select the active pipeline index.
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* @param index The active pipeline index.
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*/
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void SetPipelineIndex(int index);
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/**
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* Returns the active pipeline index.
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* @return The active pipeline index.
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*/
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int GetPipelineIndex() const;
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/**
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* Returns the current LED mode.
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* @return The current LED mode.
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*/
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LEDMode GetLEDMode() const;
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/**
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* Sets the LED mode.
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* @param led The mode to set to.
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*/
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void SetLEDMode(LEDMode led);
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/**
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* Returns whether the latest target result has targets.
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* This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should
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* be used instead.
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* @deprecated This method should be replaced with {@link
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* PhotonPipelineResult#HasTargets()}
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* @return Whether the latest target result has targets.
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*/
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WPI_DEPRECATED(
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"This method should be replaced with PhotonPipelineResult::HasTargets()")
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bool HasTargets() const { return GetLatestResult().HasTargets(); }
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private:
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std::shared_ptr<nt::NetworkTable> mainTable =
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nt::NetworkTableInstance::GetDefault().GetTable("photonvision");
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protected:
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nt::NetworkTableEntry rawBytesEntry;
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nt::NetworkTableEntry driverModeEntry;
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nt::NetworkTableEntry inputSaveImgEntry;
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nt::NetworkTableEntry outputSaveImgEntry;
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nt::NetworkTableEntry pipelineIndexEntry;
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nt::NetworkTableEntry ledModeEntry;
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mutable Packet packet;
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bool driverMode;
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double pipelineIndex;
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mutable LEDMode mode;
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};
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} // namespace photonlib
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