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PhotonVision · Dec 23, 2024 · a12985e · a12985e
1 parent cc65b19
commit a12985e
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Showing 4 changed files with 35 additions and 14 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/common/util/EpochPublisher.java b/photon-core/src/main/java/org/photonvision/common/util/EpochPublisher.java
@@ -1,19 +1,43 @@
-package org.photonvision.common.util;
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
 
-import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
+package org.photonvision.common.util;
 
 import edu.wpi.first.networktables.IntegerArrayPublisher;
-import edu.wpi.first.networktables.IntegerPublisher;
 import edu.wpi.first.networktables.StringArrayPublisher;
+import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 
 public class EpochPublisher {
-
     private IntegerArrayPublisher timePub;
     private StringArrayPublisher namePub;
 
     public EpochPublisher(String nickname) {
-        this.timePub = NetworkTablesManager.getInstance().kRootTable.getSubTable(nickname).getIntegerArrayTopic("tracer/timesUs").publish();
-        this.namePub = NetworkTablesManager.getInstance().kRootTable.getSubTable(nickname).getStringArrayTopic("tracer/epochNames").publish();
+        this.timePub =
+                NetworkTablesManager.getInstance()
+                        .kRootTable
+                        .getSubTable(nickname)
+                        .getIntegerArrayTopic("tracer/timesUs")
+                        .publish();
+        this.namePub =
+                NetworkTablesManager.getInstance()
+                        .kRootTable
+                        .getSubTable(nickname)
+                        .getStringArrayTopic("tracer/epochNames")
+                        .publish();
     }
 
     public void consume(OrderedTracer tracer) {

diff --git a/photon-core/src/main/java/org/photonvision/common/util/OrderedTracer.java b/photon-core/src/main/java/org/photonvision/common/util/OrderedTracer.java
@@ -19,10 +19,7 @@
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
-
-import java.util.ArrayList;
 import java.util.LinkedHashMap;
-import java.util.List;
 import java.util.Map;
 import java.util.function.Consumer;
 
@@ -107,6 +104,7 @@ public long[] getEpochTimes() {
         }
         return arr;
     }
+
     public String[] getEpochNames() {
         return m_epochs.keySet().toArray(new String[0]);
     }

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -51,7 +51,7 @@ public CapturedFrame getInputMat() {
         // Hal::initialize was called
         long captureTimeNs = cvSink.grabFrame(mat.getMat()) * 1000;
 
-        tracer.addEpoch("UsbFrameProvider::grabFrrame");
+        tracer.addEpoch("UsbFrameProvider::grabFrame");
 
         if (captureTimeNs == 0) {
             var error = cvSink.getError();

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -149,9 +149,7 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
                         this::setPipeline,
                         pipelineManager::getDriverMode,
                         this::setDriverMode);
-        epochPublisher =
-                new EpochPublisher(
-                        visionSource.getSettables().getConfiguration().nickname);
+        epochPublisher = new EpochPublisher(visionSource.getSettables().getConfiguration().nickname);
         uiDataConsumer = new UIDataPublisher(index);
         statusLEDsConsumer = new StatusLEDConsumer(index);
         addResultConsumer(ntConsumer);
@@ -609,7 +607,8 @@ private void consumeResult(CVPipelineResult result) {
         tracer.addEpoch("VisionModule::consume streams");
 
         // tracer.printEpochs();
-        epochPublisher.consume(tracer);;
+        epochPublisher.consume(tracer);
+        ;
     }
 
     private void consumePipelineResult(CVPipelineResult result) {