Create Limelight

src/main/java/org/team1540/rooster/wrappers/Limelight.java

@@ -0,0 +1,328 @@
+package org.team1540.rooster.wrappers;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+
+/**
+ * Class to interface with a Limelight vision system through NetworkTables. This class allows for
+ * easy and compile-time-checked access to the Limelight's configuration and outputs. For full
+ * details on configuration, see the <a href="http://docs.limelightvision.io/en/latest/networktables_api.html">NetworkTables
+ * API documentation</a>.
+ */
+public class Limelight {
+
+  private NetworkTable table;
+
+  /**
+   * Creates a new {@code Limelight} pulling data from the {@code limelight} network table.
+   */
+  public Limelight() {
+    this("limelight");
+  }
+
+  /**
+   * Creates a new {@code Limelight} pulling data from the specified table.
+   *
+   * @param tableName The name of the table.
+   */
+  public Limelight(String tableName) {
+    this.table = NetworkTableInstance.getDefault().getTable(tableName);
+  }
+
+  // output
+
+  /**
+   * Gets whether the Limelight has any valid targets.
+   *
+   * @return {@code true} if the connected Limelight has a valid target; {@code false} otherwise.
+   */
+  public boolean isValidTarget() {
+    return table.getEntry("tv").getDouble(0) == 1;
+  }
+
+  /**
+   * Gets the horizontal offset, in degrees, of the Limelight's target relative to the crosshair.
+   *
+   * @return The offset in degrees, from -27 to 27.
+   */
+  public double getHorizontalOffset() {
+    return table.getEntry("tx").getDouble(0);
+  }
+
+  /**
+   * Gets the vertical offset, in degrees, of the Limelight's target relative to the crosshair.
+   *
+   * @return The offset in degrees, from -20.5 to 20.5.
+   */
+  public double getVerticalOffset() {
+    return table.getEntry("ty").getDouble(0);
+  }
+
+  /**
+   * Gets the area of the Limelight's target as a percentage of its field of view.
+   *
+   * @return The target area, from 0 to 100.
+   */
+  public double getTargetArea() {
+    return table.getEntry("ta").getDouble(0);
+  }
+
+  /**
+   * Gets the skew or rotation of the Limelight's target.
+   *
+   * @return The skew of the target, in degrees from -90 to 0.
+   */
+  public double getSkew() {
+    return table.getEntry("ts").getDouble(0);
+  }
+
+  /**
+   * Gets the latency caused by the Limelight's processing pipeline. This is not the
+   * photon-to-RoboRIO latency: at least 11 ms should be added to account for additional camera
+   * latency.
+   *
+   * @return The pipeline's latency contribution, in milliseconds.
+   */
+  public double getPipelineLatency() {
+    return table.getEntry("tl").getDouble(0);
+  }
+
+  // raw contour output
+
+  /**
+   * Gets a raw contour from the Limelight.
+   *
+   * @param contourNum The number of the contour, from 0 to 2 inclusive.
+   * @return A {@link RawContour} describing the contour.
+   * @throws IllegalArgumentException If {@code contourNum} is less than 0 or greater than 2.
+   */
+  public RawContour getRawContour(int contourNum) {
+    if (contourNum < 0 || contourNum > 2) {
+      throw new IllegalArgumentException("Invalid contour");
+    }
+
+    return new RawContour(table.getEntry("tx" + contourNum).getDouble(0),
+        table.getEntry("ty" + contourNum).getDouble(0),
+        table.getEntry("ta" + contourNum).getDouble(0),
+        table.getEntry("ts" + contourNum).getDouble(0));
+  }
+
+  /**
+   * Gets all three raw contours from the Limelight.
+   *
+   * @return An array of three {@link RawContour RawContours} corresponding to contours 0, 1, and 2
+   * respectively.
+   */
+  public RawContour[] getRawContours() {
+    RawContour[] rawContours = new RawContour[3];
+
+    for (int i = 0; i <= 2; i++) {
+      rawContours[i] = getRawContour(i);
+    }
+
+    return rawContours;
+  }
+
+  // options
+
+  /**
+   * Gets the current LED mode of the limelight.
+   *
+   * @return The current LED mode, or {@code null} if the mode entry could not be parsed or was not
+   * present.
+   */
+  @Nullable
+  public LedMode getLedMode() {
+    int raw = (int) table.getEntry("ledMode").getNumber(-1);
+    for (LedMode mode : LedMode.values()) {
+      if (mode.value == raw) {
+        return mode;
+      }
+    }
+
+    return null;
+  }
+
+  /**
+   * Sets the Limelight's LED mode.
+   *
+   * @param mode The desired setting.
+   */
+  public void setLedMode(@NotNull LedMode mode) {
+    table.getEntry("ledMode").forceSetNumber(mode.value);
+  }
+
+  /**
+   * Gets whether the Limelight is in drive camera mode. Drive camera mode increases camera exposure
+   * and disables vision processing.
+   *
+   * @return {@code true} if the Limelight is in drive camera mode; {@code false} otherwise.
+   */
+  public boolean isDriveCameraMode() {
+    return table.getEntry("camMode").getDouble(0) == 1;
+  }
+
+  /**
+   * Enables or disables the Limelight's drive camera mode. Drive camera mode increases camera
+   * exposure and disables vision processing.
+   *
+   * @param enable Whether to enable drive camera mode.
+   */
+  public void setDriveCameraMode(boolean enable) {
+    table.getEntry("camMode").forceSetNumber(enable ? 1 : 0);
+  }
+
+  /**
+   * Gets the Limelight's currently active vision pipeline.
+   *
+   * @return The Limelight's active vision pipeline, from 0 to 9 inclusive.
+   */
+  public int getCurrentPipeline() {
+    return table.getEntry("pipeline").getNumber(0).intValue();
+  }
+
+  /**
+   * Sets the Limelight's currently active vision pipeline.
+   *
+   * @param pipeline The number of the pipeline to activate, from 0 to 9 inclusive.
+   * @throws IllegalArgumentException If {@code pipeline} is less than 0 or greater than 9.
+   */
+  public void setCurrentPipeline(int pipeline) {
+    if (pipeline < 0 || pipeline > 9) {
+      throw new IllegalArgumentException("Invalid pipeline");
+    }
+
+    table.getEntry("pipeline").forceSetNumber(pipeline);
+  }
+
+  /**
+   * Gets the current picture-in-picture mode of the limelight.
+   *
+   * @return The current picture-in-picture mode, or {@code null} if the mode entry could not be
+   * parsed or was not present.
+   */
+  @Nullable
+  public PipMode getPipMode() {
+    int raw = (int) table.getEntry("stream").getNumber(-1);
+    for (PipMode mode : PipMode.values()) {
+      if (mode.value == raw) {
+        return mode;
+      }
+    }
+
+    return null;
+  }
+
+  /**
+   * Sets the Limelight's picture-in-picture mode.
+   *
+   * @param mode The desired setting.
+   */
+  public void setPipMode(@NotNull PipMode mode) {
+    table.getEntry("stream").forceSetNumber(mode.value);
+  }
+
+
+  /**
+   * Gets whether the Limelight is currently taking snapshots.
+   *
+   * @return {@code true} if the connected Limelight is currently taking snapshots; {@code false}
+   * otherwise.
+   */
+  public boolean isTakingSnapshots() {
+    return table.getEntry("snapshot").getDouble(0) == 1;
+  }
+
+  /**
+   * Sets whether the Limelight should take snapshots. If enabled, the Limelight will take two
+   * snapshots per second.
+   *
+   * @param enable Whether to enable taking snapshots.
+   */
+  public void setTakingSnapshots(boolean enable) {
+    table.getEntry("snapshot").forceSetNumber(enable ? 1 : 0);
+  }
+
+
+  public enum LedMode {
+    /**
+     * Use the LED mode set in the currently active Limelight pipeline.
+     */
+    PIPELINE(0),
+    /**
+     * Force LEDs to off, regardless of current pipeline setting.
+     */
+    OFF(1),
+    /**
+     * Force LEDs to blink, regardless of current pipeline setting.
+     */
+    BLINK(2),
+    /**
+     * Force LEDs to on, regardless of current pipeline setting.
+     */
+    ON(3);
+
+    final int value;
+
+    LedMode(int value) {
+      this.value = value;
+    }
+  }
+
+  public enum PipMode {
+    /**
+     * Display side-by-side streams if a webcam is attached to the Limelight.
+     */
+    STANDARD(0),
+    /**
+     * Display the secondary camera stream in the lower-right corner of the primary camera stream.
+     */
+    PIP_MAIN(1),
+    /**
+     * Display the main camera stream in the lower-right corner of the secondary camera stream.
+     */
+    PIP_SECONDARY(1);
+
+    final int value;
+
+    PipMode(int value) {
+      this.value = value;
+    }
+  }
+
+  /**
+   * A raw contour returned from a {@link Limelight}. An instance of this class can only be obtained
+   * from the {@link Limelight#getRawContour(int)} and {@link Limelight#getRawContours()} methods.
+   */
+  public static class RawContour {
+
+    /**
+     * The x-position of the contour in raw screen space. This value can be from -1 to 1, with 0
+     * being the center of the camera's field of view.
+     */
+    public final double x;
+    /**
+     * The y-position of the contour in raw screen space. This value can be from -1 to 1, with 0
+     * being the center of the camera's field of view.
+     */
+    public final double y;
+    /**
+     * The area of the contour relative to the camera's field of view. This value is between 0 and
+     * 100, with 100% indicating that the contour completely fills the camera's field of view.
+     */
+    public final double area;
+    /**
+     * The skew or rotation of the contour. This value is between -90 and 0 degrees.
+     */
+    public final double skew;
+
+    private RawContour(double x, double y, double area, double skew) {
+      this.x = x;
+      this.y = y;
+      this.area = area;
+      this.skew = skew;
+    }
+  }
+}