def __init__(self):
"""initializes all values to presets or None if need to be set
"""
NetworkTable.initialize(server='10.44.80.2') #Current Roborio address
NetworkTable.setUpdateRate(.02)
self.numberPublish = NetworkTable.getTable('/GRIP/myContoursReport')
self.__hsl_threshold_hue = [56.6546762589928, 83.28925638990128]
self.__hsl_threshold_saturation = [229.31654676258992, 255.0]
self.__hsl_threshold_luminance = [
13.758992805755396, 51.51952461799658
]
self.hsl_threshold_output = None
self.__find_contours_input = self.hsl_threshold_output
self.__find_contours_external_only = False
self.find_contours_output = None
self.__filter_contours_contours = self.find_contours_output
self.__filter_contours_min_area = 125.0
self.__filter_contours_min_perimeter = 0.0
self.__filter_contours_min_width = 0.0
self.__filter_contours_max_width = 1000.0
self.__filter_contours_min_height = 0.0
self.__filter_contours_max_height = 1000.0
self.__filter_contours_solidity = [0, 100]
self.__filter_contours_max_vertices = 1000000.0
self.__filter_contours_min_vertices = 0.0
self.__filter_contours_min_ratio = 0.0
self.__filter_contours_max_ratio = 1000.0
self.filter_contours_output = None
def __init__(self, receiverIP):
try:
# IPAddress can be static ip ("10.49.15.2" or name:"roboRIO-4915-FRC"/"localhost")
NetworkTable.setUpdateRate(.01) # default is .05 (50ms/20Hz), .01 (10ms/100Hz)
NetworkTable.setIPAddress(receiverIP)
NetworkTable.setClientMode()
NetworkTable.initialize()
self.sd = NetworkTable.getTable("SmartDashboard")
# we communcate target to robot via VisionTarget table
self.targetTable = self.sd.getSubTable("VisionTarget")
# robot communicates to us via fields within the VisionControl SubTable
# we opt for a different table to ensure we to receive callbacks from our
# own writes.
self.controlTable = self.sd.getSubTable("VisionControl")
self.controlTable.addConnectionListener(self.connectionListener)
self.controlTable.addTableListener(self.visionControlEvent)
self.control = Control()
self.target = Target()
self.fpsHistory = []
self.lastUpdate = time.time()
theComm = self
except:
xcpt = sys.exc_info()
print("ERROR initializing network tables", xcpt[0])
traceback.print_tb(xcpt[2])
