Package org.photonvision.common.networktables

Class NTTopicSet

java.lang.Object

org.photonvision.common.networktables.NTTopicSet

public class NTTopicSet
extends Object

This class is a wrapper around all per-pipeline NT topics that PhotonVision should be publishing It's split here so the sim and real-camera implementations can share a common implementation of the naming and registration of the NT content.

However, we do expect that the actual logic which fills out values in the entries will be different for sim vs. real camera

Field Summary

Fields

Modifier and Type	Field	Description
DoublePublisher	bestTargetPosX
DoublePublisher	bestTargetPosY
DoubleArrayPublisher	cameraDistortionPublisher
DoubleArrayPublisher	cameraIntrinsicsPublisher
BooleanTopic	driverModeEntry
BooleanPublisher	driverModePublisher
BooleanSubscriber	driverModeSubscriber
BooleanPublisher	hasTargetEntry
IntegerPublisher	heartbeatPublisher
IntegerTopic	heartbeatTopic
DoublePublisher	latencyMillisEntry
IntegerPublisher	pipelineIndexPublisher
IntegerSubscriber	pipelineIndexRequestSub
ProtobufPublisher<PhotonPipelineResult>	protoResultPublisher
PacketPublisher<PhotonPipelineResult>	resultPublisher
NetworkTable	subTable
DoublePublisher	targetAreaEntry
DoublePublisher	targetPitchEntry
StructPublisher<Transform3d>	targetPoseEntry
DoublePublisher	targetSkewEntry
DoublePublisher	targetYawEntry

Constructor Summary

Constructors

Constructor	Description
NTTopicSet()

Method Summary

Modifier and Type	Method	Description
void	removeEntries()
void	updateEntries()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

subTable

public NetworkTable subTable

resultPublisher

public PacketPublisher<PhotonPipelineResult> resultPublisher

protoResultPublisher

public ProtobufPublisher<PhotonPipelineResult> protoResultPublisher

pipelineIndexPublisher

public IntegerPublisher pipelineIndexPublisher

pipelineIndexRequestSub

public IntegerSubscriber pipelineIndexRequestSub

driverModeEntry

public BooleanTopic driverModeEntry

driverModePublisher

public BooleanPublisher driverModePublisher

driverModeSubscriber

public BooleanSubscriber driverModeSubscriber

latencyMillisEntry

public DoublePublisher latencyMillisEntry

hasTargetEntry

public BooleanPublisher hasTargetEntry

targetPitchEntry

public DoublePublisher targetPitchEntry

targetYawEntry

public DoublePublisher targetYawEntry

targetAreaEntry

public DoublePublisher targetAreaEntry

targetPoseEntry

public StructPublisher<Transform3d> targetPoseEntry

targetSkewEntry

public DoublePublisher targetSkewEntry

bestTargetPosX

public DoublePublisher bestTargetPosX

bestTargetPosY

public DoublePublisher bestTargetPosY

heartbeatTopic

public IntegerTopic heartbeatTopic

heartbeatPublisher

public IntegerPublisher heartbeatPublisher

cameraIntrinsicsPublisher

public DoubleArrayPublisher cameraIntrinsicsPublisher

cameraDistortionPublisher

public DoubleArrayPublisher cameraDistortionPublisher

Constructor Details

NTTopicSet

public NTTopicSet()

Method Details

updateEntries

public void updateEntries()

removeEntries

public void removeEntries()