8000 Add delay to version check by mcm001 · Pull Request #466 · PhotonVision/photonvision · GitHub
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Add delay to version check #466

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Merged
merged 6 commits into from
Oct 22, 2022
Merged

Add delay to version check #466

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d6d7688
Rate limit version verification
mcm001 May 11, 2022
ae6a742
Update PhotonCamera.h
mcm001 May 11, 2022
264ff2b
Fix wpiformat
mcm001 May 11, 2022
9d08f5f
Update PhotonCamera.cpp
mcm001 May 11, 2022
471e7ad
Run spotless
mcm001 May 13, 2022
b0fe576
Merge branch 'master' into photonlib-version-check-fix
gerth2 Oct 19, 2022
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6 changes: 6 additions & 0 deletions photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonPipelineResult;
Expand All @@ -46,6 +47,8 @@ public class PhotonCamera {
private final String path;

private static boolean VERSION_CHECK_ENABLED = true;
private static long VERSION_CHECK_INTERVAL = 1;
private double lastVersionCheckTime = 0;

public static void setVersionCheckEnabled(boolean enabled) {
VERSION_CHECK_ENABLED = enabled;
Expand Down Expand Up @@ -207,6 +210,9 @@ public boolean hasTargets() {
private void verifyVersion() {
if (!VERSION_CHECK_ENABLED) return;

if ((Timer.getFPGATimestamp() - lastVersionCheckTime) < VERSION_CHECK_INTERVAL) return;
lastVersionCheckTime = Timer.getFPGATimestamp();

String versionString = versionEntry.getString("");
if (versionString.equals("")) {
DriverStation.reportError(
Expand Down
13 changes: 11 additions & 2 deletions photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,15 @@
#include "photonlib/PhotonCamera.h"

#include <frc/Errors.h>
#include <frc/Timer.h>

#include "PhotonVersion.h"
#include "photonlib/Packet.h"

namespace photonlib {

constexpr const units::second_t VERSION_CHECK_INTERVAL = 5_s;

PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName)
: mainTable(instance->GetTable("photonvision")),
Expand All @@ -48,7 +52,7 @@ PhotonCamera::PhotonCamera(const std::string& cameraName)
nt::NetworkTableInstance::GetDefault()),
cameraName) {}

PhotonPipelineResult PhotonCamera::GetLatestResult() const {
PhotonPipelineResult PhotonCamera::GetLatestResult() {
// Prints warning if not connected
VerifyVersion();

Expand Down Expand Up @@ -99,9 +103,14 @@ void PhotonCamera::SetLEDMode(LEDMode mode) {
ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
}

void PhotonCamera::VerifyVersion() const {
void PhotonCamera::VerifyVersion() {
if (!PhotonCamera::VERSION_CHECK_ENABLED) return;

if ((frc::Timer::GetFPGATimestamp() - lastVersionCheckTime) <
VERSION_CHECK_INTERVAL)
return;
this->lastVersionCheckTime = frc::Timer::GetFPGATimestamp();

const std::string& versionString = versionEntry.GetString("");
if (versionString.empty()) {
std::string path_ = path;
Expand Down
8 changes: 5 additions & 3 deletions photon-lib/src/main/native/include/photonlib/PhotonCamera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <units/time.h>
#include <wpi/deprecated.h>

#include "photonlib/PhotonPipelineResult.h"
Expand Down Expand Up @@ -66,7 +67,7 @@ class PhotonCamera {
* Returns the latest pipeline result.
* @return The latest pipeline result.
*/
PhotonPipelineResult GetLatestResult() const;
PhotonPipelineResult GetLatestResult();

/**
* Toggles driver mode.
Expand Down Expand Up @@ -136,7 +137,7 @@ class PhotonCamera {
*/
WPI_DEPRECATED(
"This method should be replaced with PhotonPipelineResult::HasTargets()")
bool HasTargets() const { return GetLatestResult().HasTargets(); }
bool HasTargets() { return GetLatestResult().HasTargets(); }

inline static void SetVersionCheckEnabled(bool enabled) {
PhotonCamera::VERSION_CHECK_ENABLED = enabled;
Expand All @@ -158,9 +159,10 @@ class PhotonCamera {
mutable Packet packet;

private:
units::second_t lastVersionCheckTime = 0_s;
inline static bool VERSION_CHECK_ENABLED = true;

void VerifyVersion() const;
void VerifyVersion();
};

} // namespace photonlib
0