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Merged
TheTripleV merged 1 commit into from
Mar 17, 2026
Merged

macOS support + NT results-only publishing #12

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117 changes: 2 additions & 115 deletions ...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,8 @@

import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEvent;
import edu.wpi.first.networktables.NetworkTablesJNI;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.Supplier;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.dataflow.CVPipelineResultConsumer;
import org.photonvision.common.logging.LogGroup;
Expand All @@ -43,111 +39,17 @@ public class NTDataPublisher implements CVPipelineResultConsumer {

private final NTTopicSet ts = new NTTopicSet();

NTDataChangeListener pipelineIndexListener;
private final Supplier<Integer> pipelineIndexSupplier;
private final Consumer<Integer> pipelineIndexConsumer;

NTDataChangeListener driverModeListener;
private final BooleanSupplier driverModeSupplier;
private final Consumer<Boolean> driverModeConsumer;

NTDataChangeListener fpsLimitListener;
private final Consumer<Integer> fpsLimitConsumer;
private final Supplier<Integer> fpsLimitSupplier;

public NTDataPublisher(
String cameraNickname,
Supplier<Integer> pipelineIndexSupplier,
Consumer<Integer> pipelineIndexConsumer,
BooleanSupplier driverModeSupplier,
Consumer<Boolean> driverModeConsumer,
Supplier<Integer> fpsLimitSupplier,
Consumer<Integer> fpsLimitConsumer) {
this.pipelineIndexSupplier = pipelineIndexSupplier;
this.pipelineIndexConsumer = pipelineIndexConsumer;
this.driverModeSupplier = driverModeSupplier;
this.driverModeConsumer = driverModeConsumer;
this.fpsLimitSupplier = fpsLimitSupplier;
this.fpsLimitConsumer = fpsLimitConsumer;

public NTDataPublisher(String cameraNickname) {
updateCameraNickname(cameraNickname);
updateEntries();
}

private void onPipelineIndexChange(NetworkTableEvent entryNotification) {
var newIndex = (int) entryNotification.valueData.value.getInteger();
var originalIndex = pipelineIndexSupplier.get();

// ignore indexes below 0
if (newIndex < 0) {
ts.pipelineIndexPublisher.set(originalIndex);
return;
}

if (newIndex == originalIndex) {
logger.debug("Pipeline index is already " + newIndex);
return;
}

pipelineIndexConsumer.accept(newIndex);
var setIndex = pipelineIndexSupplier.get();
if (newIndex != setIndex) { // set failed
ts.pipelineIndexPublisher.set(setIndex);
// TODO: Log
}
logger.debug("Set pipeline index to " + newIndex);
}

private void onDriverModeChange(NetworkTableEvent entryNotification) {
var newDriverMode = entryNotification.valueData.value.getBoolean();
var originalDriverMode = driverModeSupplier.getAsBoolean();

if (newDriverMode == originalDriverMode) {
logger.debug("Driver mode is already " + newDriverMode);
return;
}

driverModeConsumer.accept(newDriverMode);
logger.debug("Set driver mode to " + newDriverMode);
}

private void onFPSLimitChange(NetworkTableEvent entryNotification) {
var newFPSLimit = (int) entryNotification.valueData.value.getInteger();
var originalFPSLimit = fpsLimitSupplier.get();

if (newFPSLimit == originalFPSLimit) {
logger.debug("FPS limit is already " + newFPSLimit);
return;
}

fpsLimitConsumer.accept(newFPSLimit);
logger.debug("Set FPS limit to " + newFPSLimit);
ts.updateEntries();
}

private void removeEntries() {
if (pipelineIndexListener != null) pipelineIndexListener.remove();
if (driverModeListener != null) driverModeListener.remove();
ts.removeEntries();
}

private void updateEntries() {
if (pipelineIndexListener != null) pipelineIndexListener.remove();
if (driverModeListener != null) driverModeListener.remove();
if (fpsLimitListener != null) fpsLimitListener.remove();

ts.updateEntries();

pipelineIndexListener =
new NTDataChangeListener(
ts.subTable.getInstance(), ts.pipelineIndexRequestSub, this::onPipelineIndexChange);

driverModeListener =
new NTDataChangeListener(
ts.subTable.getInstance(), ts.driverModeSubscriber, this::onDriverModeChange);

fpsLimitListener =
new NTDataChangeListener(
ts.subTable.getInstance(), ts.fpsLimitSubscriber, this::onFPSLimitChange);
}

public void updateCameraNickname(String newCameraNickname) {
Expand Down Expand Up @@ -194,9 +96,6 @@ public void accept(CVPipelineResult result) {
ts.protoResultPublisher.set(simplified);
}

ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
ts.fpsLimitPublisher.set(fpsLimitSupplier.get());
ts.latencyMillisEntry.set(acceptedResult.getLatencyMillis());
ts.fpsEntry.set(acceptedResult.fps);
ts.hasTargetEntry.set(acceptedResult.hasTargets());
Expand Down Expand Up @@ -225,18 +124,6 @@ public void accept(CVPipelineResult result) {
ts.bestTargetPosY.set(0);
}

// Something in the result can sometimes be null -- so check probably too many things
if (acceptedResult.inputAndOutputFrame != null
&& acceptedResult.inputAndOutputFrame.frameStaticProperties != null
&& acceptedResult.inputAndOutputFrame.frameStaticProperties.cameraCalibration != null) {
var fsp = acceptedResult.inputAndOutputFrame.frameStaticProperties;
ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getDistCoeffsArr());
} else {
ts.cameraIntrinsicsPublisher.accept(new double[0]);
ts.cameraDistortionPublisher.accept(new double[0]);
}

ts.heartbeatPublisher.set(acceptedResult.sequenceID);

// TODO...nt4... is this needed?
Expand Down
30 changes: 0 additions & 30 deletions ...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
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Expand Up @@ -17,21 +17,17 @@

package org.photonvision.common.dataflow.networktables;

import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.networktables.LogMessage;
import edu.wpi.first.networktables.MultiSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEvent;
import edu.wpi.first.networktables.NetworkTableEvent.Kind;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.io.IOException;
import java.util.Arrays;
import java.util.EnumSet;
import java.util.HashMap;
import org.photonvision.PhotonVersion;
import org.photonvision.common.configuration.CameraConfiguration;
Expand All @@ -46,7 +42,6 @@
import org.photonvision.common.logging.Logger;
import org.photonvision.common.networking.NetworkUtils;
import org.photonvision.common.util.TimedTaskManager;
import org.photonvision.common.util.file.JacksonUtils;

public class NetworkTablesManager {
private static final Logger logger =
Expand All @@ -56,7 +51,6 @@ public class NetworkTablesManager {
private final String kRootTableName = "/photonvision";
// The coprocessors table should only be used for operations/data related to MAC address
public final String kCoprocTableName = "coprocessors";
private final String kFieldLayoutName = "apriltag_field_layout";
public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
public final NetworkTable kCoprocTable = kRootTable.getSubTable(kCoprocTableName);

Expand All @@ -76,9 +70,6 @@ public class NetworkTablesManager {

private boolean m_isRetryingConnection = false;

private StringSubscriber m_fieldLayoutSubscriber =
kRootTable.getStringTopic(kFieldLayoutName).subscribe("");

private final TimeSyncManager m_timeSync = new TimeSyncManager(kRootTable);

NTDriverStation ntDriverStation;
Expand All @@ -88,9 +79,6 @@ private NetworkTablesManager() {
LogMessage.kInfo, LogMessage.kCritical, this::logNtMessage); // to hide error messages
ntInstance.addConnectionListener(true, this::checkNtConnectState); // to hide error messages

ntInstance.addListener(
m_fieldLayoutSubscriber, EnumSet.of(Kind.kValueAll), this::onFieldLayoutChanged);

ntDriverStation = new NTDriverStation(this.getNTInst());

// This should start as false, since we don't know if there's a conflict yet
Expand Down Expand Up @@ -195,24 +183,6 @@ public NetworkTableInstance getNTInst() {
return ntInstance;
}

private void onFieldLayoutChanged(NetworkTableEvent event) {
var atfl_json = event.valueData.value.getString();
try {
System.out.println("Got new field layout!");
var atfl = JacksonUtils.deserialize(atfl_json, AprilTagFieldLayout.class);
ConfigManager.getInstance().getConfig().setApriltagFieldLayout(atfl);
ConfigManager.getInstance().requestSave();
DataChangeService.getInstance()
.publishEvent(
new OutgoingUIEvent<>(
"fullsettings",
UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
} catch (IOException e) {
logger.error("Error deserializing atfl!");
logger.error(atfl_json);
}
}

public void broadcastConnectedStatus() {
TimedTaskManager.getInstance().addOneShotTask(this::broadcastConnectedStatusImpl, 1000L);
}
Expand Down
8 changes: 1 addition & 7 deletions photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -147,13 +147,7 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource)

ntConsumer =
new NTDataPublisher(
visionSource.getSettables().getConfiguration().nickname,
pipelineManager::getRequestedIndex,
this::setPipeline,
pipelineManager::getDriverMode,
this::setDriverMode,
this::getFPSLimit,
this::setFPSLimit);
visionSource.getSettables().getConfiguration().nickname);
uiDataConsumer = new UIDataPublisher(visionSource.getSettables().getConfiguration().uniqueName);
statusLEDsConsumer =
new StatusLEDConsumer(visionSource.getSettables().getConfiguration().uniqueName);
Expand Down
17 changes: 15 additions & 2 deletions photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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Expand Up @@ -34,6 +34,7 @@
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.networktables.DoubleArrayPublisher;
import edu.wpi.first.util.PixelFormat;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.RobotController;
Expand Down Expand Up @@ -72,6 +73,9 @@ public class PhotonCameraSim implements AutoCloseable {
@SuppressWarnings("doclint")
protected NTTopicSet ts = new NTTopicSet();

private DoubleArrayPublisher cameraIntrinsicsPublisher;
private DoubleArrayPublisher cameraDistortionPublisher;

private long heartbeatCounter = 1;

/** This simulated camera's {@link SimCameraProperties} */
Expand Down Expand Up @@ -106,6 +110,8 @@ public void close() {
videoSimFrameRaw.release();
videoSimProcessed.close();
videoSimFrameProcessed.release();
if (cameraIntrinsicsPublisher != null) cameraIntrinsicsPublisher.close();
if (cameraDistortionPublisher != null) cameraDistortionPublisher.close();
}

/**
Expand Down Expand Up @@ -162,6 +168,13 @@ public PhotonCameraSim(
ts.removeEntries();
ts.subTable = camera.getCameraTable();
ts.updateEntries();

if (cameraIntrinsicsPublisher != null) cameraIntrinsicsPublisher.close();
if (cameraDistortionPublisher != null) cameraDistortionPublisher.close();
cameraIntrinsicsPublisher =
ts.subTable.getDoubleArrayTopic("cameraIntrinsics").publish();
cameraDistortionPublisher =
ts.subTable.getDoubleArrayTopic("cameraDistortion").publish();
}

/**
Expand Down Expand Up @@ -697,8 +710,8 @@ public void submitProcessedFrame(PhotonPipelineResult result, long receiveTimest
ts.targetPoseEntry.set(transform, receiveTimestamp);
}

ts.cameraIntrinsicsPublisher.set(prop.getIntrinsics().getData(), receiveTimestamp);
ts.cameraDistortionPublisher.set(prop.getDistCoeffs().getData(), receiveTimestamp);
cameraIntrinsicsPublisher.set(prop.getIntrinsics().getData(), receiveTimestamp);
cameraDistortionPublisher.set(prop.getDistCoeffs().getData(), receiveTimestamp);

ts.heartbeatPublisher.set(heartbeatCounter, receiveTimestamp);
heartbeatCounter += 1;
Expand Down
7 changes: 0 additions & 7 deletions photon-server/src/main/java/org/photonvision/Main.java
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Expand Up @@ -257,13 +257,6 @@ public static void main(String[] args) {
logger.error("Failed to parse command-line options!", e);
}

// We don't want to trigger an exit in test mode or smoke test. This is
// specifically for MacOS.
if (!(Platform.isSupported() || isSmoketest || isTestMode)) {
logger.error("This platform is unsupported!");
System.exit(1);
}

try {
boolean success = LoadJNI.loadLibraries();

Expand Down
2 changes: 1 addition & 1 deletion photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java
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Expand Up @@ -68,7 +68,7 @@ public enum Platform {

// Completely unsupported
WINDOWS_32("Windows x86", Platform::getUnknownModel, false, OSType.WINDOWS, false),
MACOS("Mac OS", Platform::getUnknownModel, false, OSType.MACOS, false),
MACOS("Mac OS", Platform::getUnknownModel, false, OSType.MACOS, true),
LINUX_ARM32(
"Linux ARM32", Platform::getUnknownModel, false, OSType.LINUX, false), // ODROID XU4, C1+
UNKNOWN("Unsupported Platform", Platform::getUnknownModel, false, OSType.UNKNOWN, false);
Expand Down
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