8000 Fix desync between web UI and NT by mcm001 · Pull Request #778 · PhotonVision/photonvision · GitHub
[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to content

Fix desync between web UI and NT #778

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Jan 30, 2023
Merged

Fix desync between web UI and NT #778

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions ...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
View file
10000 Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -142,8 +142,8 @@ public void accept(CVPipelineResult result) {

ts.rawBytesEntry.set(packet.getData());

ts.pipelineIndexPublisher.setDefault(pipelineIndexSupplier.get());
ts.driverModePublisher.setDefault(driverModeSupplier.getAsBoolean());
ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
ts.latencyMillisEntry.set(result.getLatencyMillis());
ts.hasTargetEntry.set(result.hasTargets());

Expand Down
2 changes: 1 addition & 1 deletion photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
new NTDataPublisher(
visionSource.getSettables().getConfiguration().nickname,
pipelineManager::getCurrentPipelineIndex,
pipelineManager::setIndex,
this::setPipeline,
pipelineManager::getDriverMode,
this::setDriverMode);
uiDataConsumer = new UIDataPublisher(index);
Expand Down
10 changes: 4 additions & 6 deletions photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -50,7 +49,6 @@ public class PhotonCamera {

protected final NetworkTable rootTable;
RawSubscriber rawBytesEntry;
BooleanEntry driverModeEntry;
BooleanPublisher driverModePublisher;
BooleanSubscriber driverModeSubscriber;
DoublePublisher latencyMillisEntry;
Expand All @@ -67,7 +65,6 @@ public class PhotonCamera {

public void close() {
rawBytesEntry.close();
driverModeEntry.close();
driverModePublisher.close();
driverModeSubscriber.close();
latencyMillisEntry.close();
Expand Down Expand Up @@ -121,7 +118,8 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
.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);
Expand Down Expand Up @@ -179,7 +177,7 @@ public PhotonPipelineResult getLatestResult() {
* @return Whether the camera is in driver mode.
*/
public boolean getDriverMode() {
return driverModeEntry.get(false);
return driverModeSubscriber.get();
}

/**
Expand All @@ -188,7 +186,7 @@ public boolean getDriverMode() {
* @param driverMode Whether to set driver mode.
*/
public void setDriverMode(boolean driverMode) {
driverModeEntry.set(driverMode);
driverModePublisher.set(driverMode);
}

/**
Expand Down
5 changes: 3 additions & 2 deletions photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
rawBytesEntry(
rootTable->GetRawTopic("rawBytes")
.Subscribe("rawBytes", {}, {.periodic = 0.01, .sendAll = true})),
driverModeEntry(rootTable->GetBooleanTopic("driverMode").Publish()),
inputSaveImgEntry(
rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
inputSaveImgSubscriber(
Expand All @@ -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)),
Expand Down Expand Up @@ -92,7 +93,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
}

void PhotonCamera::SetDriverMode(bool driverMode) {
driverModeEntry.Set(driverMode);
driverModePublisher.Set(driverMode);
}

void PhotonCamera::TakeInputSnapshot() {
Expand Down
2 changes: 1 addition & 1 deletion photon-lib/src/main/native/include/photonlib/PhotonCamera.h
View file
Open in desktop
6DB6
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -178,6 +177,7 @@ class PhotonCamera {
nt::StringSubscriber versionEntry;

nt::BooleanSubscriber driverModeSubscriber;
nt::BooleanPublisher driverModePublisher;
nt::IntegerSubscriber pipelineIndexSubscriber;
nt::IntegerSubscriber ledModeSubscriber;

Expand Down
8 changes: 5 additions & 3 deletions photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,11 @@ public void updateEntries() {
pipelineIndexPublisher = pipelineIndexTopic.publish();
pipelineIndexSubscriber = pipelineIndexTopic.subscribe(0);

driverModeEntry = subTable.getBooleanTopic("driverMode");
driverModePublisher = driverModeEntry.publish();
driverModeSubscriber = driverModeEntry.subscribe(false);
driverModePublisher = subTable.getBooleanTopic("driverMode").publish();
driverModeSubscriber = subTable.getBooleanTopic("driverModeRequest").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();
Expand Down
0