Package org.hyperonline.hyperlib.vision

Class AbstractVisionConnector<T extends VisionResult>

java.lang.Object

org.hyperonline.hyperlib.vision.AbstractVisionConnector<T>

Type Parameters:

T - VisionResult type of this AbstractVisionConnector

All Implemented Interfaces:

VisionConnector

Direct Known Subclasses:

BasicVisionConnector, SkewVisionConnector, TargetWithHeightConnector

public abstract class AbstractVisionConnector<T extends VisionResult>
extends java.lang.Object
implements VisionConnector

Base class with common functionality used by VisionConnectors. In particular, this provides methods to store, publish, and subscribe to a result, and access it via PID sources.

Field Summary

Fields

Modifier and Type	Field	Description
protected edu.wpi.first.networktables.NetworkTableEntry	m_foundTarget
protected T	m_lastResult
protected edu.wpi.first.networktables.NetworkTableEntry	m_lastResultTimestamp
protected edu.wpi.first.networktables.NetworkTable	m_table
protected edu.wpi.first.networktables.NetworkTableEntry	m_xAbs
protected edu.wpi.first.networktables.NetworkTableEntry	m_xError
protected edu.wpi.first.networktables.NetworkTableEntry	m_yAbs
protected edu.wpi.first.networktables.NetworkTableEntry	m_yError

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AbstractVisionConnector(java.lang.String subTableName, edu.wpi.first.networktables.NetworkTableInstance inst)

Method Summary

Modifier and Type	Method	Description
abstract T	getDefaultValue()
T	getLastResult()
protected abstract void	next(edu.wpi.first.networktables.NetworkTable table, java.lang.String key, edu.wpi.first.networktables.NetworkTableEntry entry, edu.wpi.first.networktables.NetworkTableValue value, int flags)	evaluate and process the results in NetworkTables to my lastResult
void	publish()	publish VisionResult values to corresponding NetworkTable Entries should be overriden and supered by any children of type T extends VisionResult
protected VisionResult	retrieve()	retrieve a VisionResult from NetworkTable Entries should be overriden and supered by any children of type T extends VisionResult
void	subscribe()	add listener for the lastResultTimestamp entry in NetworkTables process the next result on an update
void	unsubscribe()	remove listener for the lastResultTimestamp entry in NetworkTables
void	updateResult(T result)
edu.wpi.first.wpilibj.PIDSource	xPID()	Get a PID source which tracks the x-coordinate of the target.
edu.wpi.first.wpilibj.PIDSource	yPID()	Get a PID source which tracks the y-coordinate of the target.

Methods inherited from class java.lang.Object

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

Field Detail

m_xError

protected final edu.wpi.first.networktables.NetworkTableEntry m_xError

m_yError

protected final edu.wpi.first.networktables.NetworkTableEntry m_yError

m_xAbs

protected final edu.wpi.first.networktables.NetworkTableEntry m_xAbs

m_yAbs

protected final edu.wpi.first.networktables.NetworkTableEntry m_yAbs

m_foundTarget

protected final edu.wpi.first.networktables.NetworkTableEntry m_foundTarget

m_lastResultTimestamp

protected final edu.wpi.first.networktables.NetworkTableEntry m_lastResultTimestamp

m_lastResult

protected T extends VisionResult m_lastResult

m_table

protected edu.wpi.first.networktables.NetworkTable m_table

Constructor Detail

AbstractVisionConnector

protected AbstractVisionConnector(java.lang.String subTableName,
                                  edu.wpi.first.networktables.NetworkTableInstance inst)

Method Detail

subscribe

public void subscribe()

add listener for the lastResultTimestamp entry in NetworkTables process the next result on an update

Specified by:

subscribe in interface VisionConnector

unsubscribe

public void unsubscribe()

remove listener for the lastResultTimestamp entry in NetworkTables

Specified by:

unsubscribe in interface VisionConnector

getDefaultValue

public abstract T getDefaultValue()

Returns:

{T}

updateResult

public void updateResult(T result)

Parameters:

result - {T}

publish

public void publish()

publish VisionResult values to corresponding NetworkTable Entries should be overriden and supered by any children of type T extends VisionResult

Specified by:

publish in interface VisionConnector

retrieve

protected VisionResult retrieve()

retrieve a VisionResult from NetworkTable Entries should be overriden and supered by any children of type T extends VisionResult

Returns:

{VisionResult}

next

protected abstract void next(edu.wpi.first.networktables.NetworkTable table,
                             java.lang.String key,
                             edu.wpi.first.networktables.NetworkTableEntry entry,
                             edu.wpi.first.networktables.NetworkTableValue value,
                             int flags)

evaluate and process the results in NetworkTables to my lastResult

Parameters:

table - NetworkTable to get values from

key - Key of the entry that triggered the Listener

entry - Entry that was updated

value - the new Value

flags - Listener flags (created, updated, removed, etc)

getLastResult

public T getLastResult()

Returns:

{T}

xPID

public edu.wpi.first.wpilibj.PIDSource xPID()

Get a PID source which tracks the x-coordinate of the target.

Returns:

A PID source tracking the x-coordinate of the target.

yPID

public edu.wpi.first.wpilibj.PIDSource yPID()

Get a PID source which tracks the y-coordinate of the target.

Returns:

A PID source tracking the y-coordinate of the target.