Flashing red LEDs when the camera is disconnected from the robot #22
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| @@ -54,6 +54,8 @@ public class PhotonRunnable implements Runnable { | |||
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| private final Supplier<Pose2d> poseSupplier; | |||
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| public boolean isCameraConnected; | |||
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This field shouldn't be public. By making it public, its value can be modified outside of the class. You already have a getter/accessor, so just make it private.
| final PhotonCamera leftCamera = new PhotonCamera("Left"); | ||
| final PhotonCamera rightCamera = new PhotonCamera("Right"); | ||
| if (leftCamera.isConnected() && rightCamera.isConnected()) { | ||
| isCameraConnected = true; | ||
| leftCamera.close(); | ||
| rightCamera.close(); | ||
| } |
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We need to do a little thinking on how to detect if the cameras are connected. What you have would work, but only if the cameras are connected when PhotonRunnable is instantiated. It only runs once, so if they come online later it wouldn't detect it. It would also fail to detect if the cameras were connected, but then disconnected later.
We probably need to have a timeout where we consider a camera disconnected if it hasn't sent we haven't received any data for a while, maybe one second. We have to do something within the run() method, this is the thread's code that runs continuously. One consideration is that the thread blocks (waits) at WPIUtilJNI.waitForObjects() if there is no new camera data, so the thread can tell you when the cameras are connected, but something else will have to watch for when we stop receiving data.
based on this post in slack