converted to using estimationmode instead of boolean for estimation mode (mt1 , mt2) (#12)

Author: DanPeled

README.md

@@ -72,7 +72,7 @@ limelight.getSettings()
 		 .save();
 
 // Get MegaTag2 pose
-Optional<PoseEstimate> visionEstimate = limelight.createPoseEstimator(true).getPoseEstimate();
+Optional<PoseEstimate> visionEstimate = limelight.createPoseEstimator(EstimationMode.MEGATAG2).getPoseEstimate();
 // If the pose is present
 visionEstimate.ifPresent((PoseEstimate poseEstimate) -> {
   // Add it to the pose estimator.

example/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java

@@ -32,6 +32,7 @@
 import limelight.networktables.LimelightSettings.LEDMode;
 import limelight.networktables.Orientation3d;
 import limelight.networktables.PoseEstimate;
+import limelight.networktables.LimelightPoseEstimator.EstimationMode;
 import limelight.networktables.target.pipeline.NeuralClassifier;
 
 public class DrivebaseSubsystem extends SubsystemBase
@@ -86,7 +87,7 @@ public DrivebaseSubsystem()
              .withLimelightLEDMode(LEDMode.PipelineControl)
              .withCameraOffset(cameraOffset)
              .save();
-    poseEstimator = limelight.createPoseEstimator(true);
+    poseEstimator = limelight.createPoseEstimator(EstimationMode.MEGATAG2);
 
   }
 

yall/java/limelight/Limelight.java

@@ -1,6 +1,5 @@
 package limelight;
 
-
 import static edu.wpi.first.units.Units.Milliseconds;
 import static edu.wpi.first.units.Units.Seconds;
 import static limelight.networktables.LimelightUtils.getLimelightURLString;
@@ -20,36 +19,35 @@
 import limelight.networktables.LimelightPoseEstimator;
 import limelight.networktables.LimelightResults;
 import limelight.networktables.LimelightSettings;
+import limelight.networktables.LimelightPoseEstimator.EstimationMode;
 
 /**
  * Limelight Camera class.
  */
-public class Limelight
-{
+public class Limelight {
 
   /**
    * {@link Limelight} name.
    */
-  public final String            limelightName;
+  public final String limelightName;
   /**
    * {@link Limelight} data from NetworkTables.
    */
-  private      LimelightData     limelightData;
+  private LimelightData limelightData;
   /**
    * {@link Limelight} settings that we apply.
    */
-  private      LimelightSettings settings;
+  private LimelightSettings settings;
 
+  static final long ONE_SECOND_IN_MILI = (long) Seconds.of(1).in(Milliseconds);
 
   /**
    * Constructs and configures the {@link Limelight} NT Values.
    *
    * @param name Name of the limelight
    */
-  public Limelight(String name)
-  {
-    if (!isAvailable(name) && !RobotBase.isSimulation())
-    {
+  public Limelight(String name) {
+    if (!isAvailable(name) && !RobotBase.isSimulation()) {
       throw new RuntimeException("Limelight not available");
     }
 
@@ -61,71 +59,75 @@ public Limelight(String name)
   /**
    * Verify limelight name exists as a table in NT.
    * <p>
-   * This check is expected to be run once during robot construction and is not intended to be checked in the iterative
+   * This check is expected to be run once during robot construction and is not
+   * intended to be checked in the iterative
    * loop.
    * <p>
-   * Use check "yourLimelightObject.getData().targetData.getTargetStatus())"" for the validity of an iteration for 2d
+   * Use check "yourLimelightObject.getData().targetData.getTargetStatus())"" for
+   * the validity of an iteration for 2d
    * targeting.
    * <p>
-   * For valid 3d pose check "yourLimelightPoseEstimatorObject.getPoseEstimate().get().hasData"
+   * For valid 3d pose check
+   * "yourLimelightPoseEstimatorObject.getPoseEstimate().get().hasData"
    *
    * @param limelightName Limelight Name to check for table existence.
    * @return true if an NT table exists with requested LL name.
-   * <p>false and issues a WPILib Error Alert if requested LL doesn't appear as an NT table.
+   *         <p>
+   *         false and issues a WPILib Error Alert if requested LL doesn't appear
+   *         as an NT table.
    */
   @SuppressWarnings("resource")
-  public static boolean isAvailable(String limelightName)
-  {
+  public static boolean isAvailable(String limelightName) {
     // LL sends key "getpipe" if it's on so check that
-    // put in a delay if needed to help assure NT has latched onto the LL if it is transmitting
-    for (int i = 1; i <= 15; i++)
-    {
-      if (NetworkTableInstance.getDefault().getTable(limelightName).containsKey("getpipe"))
-      {
+    // put in a delay if needed to help assure NT has latched onto the LL if it is
+    // transmitting
+    for (int i = 1; i <= 15; i++) {
+      if (NetworkTableInstance.getDefault().getTable(limelightName).containsKey("getpipe")) {
         return true;
       }
-      //System.out.println("waiting " + i + " of 15 seconds for limelight to attach");
-      try
-      {
-        Thread.sleep((long) Seconds.of(1).in(Milliseconds));
-      } catch (InterruptedException e)
-      {
+      // System.out.println("waiting " + i + " of 15 seconds for limelight to
+      // attach");
+      try {
+        Thread.sleep(ONE_SECOND_IN_MILI);
+      } catch (InterruptedException e) {
         e.printStackTrace();
       }
     }
     String errMsg = "Your limelight name \"" + limelightName +
-                    "\" is invalid.  doesn't exist on the network (no getpipe key).\n" +
-                    "These may be available:" +
-                    NetworkTableInstance.getDefault().getTable("/").getSubTables().stream()
-                                        .filter(ntName -> ((String) (ntName)).startsWith("limelight"))
-                                        .collect(Collectors.joining("\n"));
+        "\" is invalid.  doesn't exist on the network (no getpipe key).\n" +
+        "These may be available:" +
+        NetworkTableInstance.getDefault().getTable("/").getSubTables().stream()
+            .filter(ntName -> ((String) (ntName)).startsWith("limelight"))
+            .collect(Collectors.joining("\n"));
     new Alert(errMsg, AlertType.kError).set(true);
     return false;
   }
 
   /**
    * Create a {@link LimelightPoseEstimator} for the {@link Limelight}.
    *
-   * @param megatag2 Use MegaTag2.
+   * @param estimationMode Estimation mode to use (MEGATAG1 / MEGATAG2).
    * @return {@link LimelightPoseEstimator}
    */
-  public LimelightPoseEstimator createPoseEstimator(boolean megatag2)
-  {
-    return new LimelightPoseEstimator(this, megatag2);
+  public LimelightPoseEstimator createPoseEstimator(EstimationMode estimationMode) {
+    return new LimelightPoseEstimator(this, estimationMode);
   }
 
   /**
    * Get the {@link LimelightSettings} preparatory to changing settings.
-   * <p>While this method does get current settings from the LL there are
-   * no getters provided for the settings so they are useless, dead data. This merely provides a stub for the various
+   * <p>
+   * While this method does get current settings from the LL there are
+   * no getters provided for the settings so they are useless, dead data. This
+   * merely provides a stub for the various
    * ".withXXXX" settings to attach to.
-   * <p>This method may be used as often as needed and may contain none or more
+   * <p>
+   * This method may be used as often as needed and may contain none or more
    * chained ".withXXXX" settings.
    *
-   * @return object used as the target of the various ".withXXXX" settings methods.
+   * @return object used as the target of the various ".withXXXX" settings
+   *         methods.
    */
-  public LimelightSettings getSettings()
-  {
+  public LimelightSettings getSettings() {
     return settings;
   }
 
@@ -134,8 +136,7 @@ public LimelightSettings getSettings()
    *
    * @return {@link LimelightData} object.
    */
-  public LimelightData getData()
-  {
+  public LimelightData getData() {
     return limelightData;
   }
 
@@ -144,50 +145,43 @@ public LimelightData getData()
    *
    * @param snapshotname Snapshot name to save.
    */
-  public void snapshot(String snapshotname)
-  {
+  public void snapshot(String snapshotname) {
     CompletableFuture.supplyAsync(() -> {
       URL url = getLimelightURLString(limelightName, "capturesnapshot");
-      try
-      {
+      try {
         HttpURLConnection connection = (HttpURLConnection) url.openConnection();
         connection.setRequestMethod("GET");
-        if (snapshotname != null && snapshotname != "")
-        {
+        if (snapshotname != null && snapshotname != "") {
           connection.setRequestProperty("snapname", snapshotname);
         }
 
         int responseCode = connection.getResponseCode();
-        if (responseCode == 200)
-        {
+        if (responseCode == 200) {
           return true;
-        } else
-        {
+        } else {
           System.err.println("Bad LL Request");
         }
-      } catch (IOException e)
-      {
+      } catch (IOException e) {
         System.err.println(e.getMessage());
       }
       return false;
     });
   }
 
   /**
-   * Gets the latest JSON {@link LimelightResults} output and returns a LimelightResults object.
+   * Gets the latest JSON {@link LimelightResults} output and returns a
+   * LimelightResults object.
    *
    * @return LimelightResults object containing all current target data
    */
-  public Optional<LimelightResults> getLatestResults()
-  {
+  public Optional<LimelightResults> getLatestResults() {
     return limelightData.getResults();
   }
 
   /**
    * Flush the NetworkTable data to server.
    */
-  public void flush()
-  {
+  public void flush() {
     NetworkTableInstance.getDefault().flush();
   }
 
@@ -196,8 +190,7 @@ public void flush()
    *
    * @return {@link NetworkTable} for this limelight.
    */
-  public NetworkTable getNTTable()
-  {
+  public NetworkTable getNTTable() {
     return NetworkTableInstance.getDefault().getTable(limelightName);
   }
 }