diff --git a/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java b/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java
index a1ba6d091d..bc3bc1e1f0 100644
--- a/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java
+++ b/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java
@@ -20,6 +20,5 @@
public enum ProgramStatus {
UHOH,
RUNNING,
- RUNNING_NT,
- RUNNING_NT_TARGET
+ RUNNING_NT
}
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
index a62e0f3b4c..4cd2d1e0bd 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -32,6 +32,7 @@
import org.photonvision.common.configuration.NetworkConfig;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.hardware.HardwareManager;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.scripting.ScriptEventType;
@@ -91,6 +92,7 @@ public void accept(NetworkTableEvent event) {
event.connInfo.remote_port,
event.connInfo.protocol_version);
logger.error(msg);
+ HardwareManager.getInstance().setNTConnected(false);
hasReportedConnectionFailure = true;
getInstance().broadcastConnectedStatus();
@@ -102,6 +104,7 @@ public void accept(NetworkTableEvent event) {
event.connInfo.remote_port,
event.connInfo.protocol_version);
logger.info(msg);
+ HardwareManager.getInstance().setNTConnected(true);
hasReportedConnectionFailure = false;
ScriptManager.queueEvent(ScriptEventType.kNTConnected);
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/statusLEDs/StatusLEDConsumer.java b/photon-core/src/main/java/org/photonvision/common/dataflow/statusLEDs/StatusLEDConsumer.java
new file mode 100644
index 0000000000..175b4c4d91
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/statusLEDs/StatusLEDConsumer.java
@@ -0,0 +1,35 @@
+/*
+ * 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 .
+ */
+
+package org.photonvision.common.dataflow.statusLEDs;
+
+import org.photonvision.common.dataflow.CVPipelineResultConsumer;
+import org.photonvision.common.hardware.HardwareManager;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+
+public class StatusLEDConsumer implements CVPipelineResultConsumer {
+ private final int index;
+
+ public StatusLEDConsumer(int index) {
+ this.index = index;
+ }
+
+ @Override
+ public void accept(CVPipelineResult t) {
+ HardwareManager.getInstance().setTargetsVisibleStatus(this.index, t.hasTargets());
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
index 2a049cccae..dcb0ac69dc 100644
--- a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
@@ -20,7 +20,8 @@
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
import java.io.IOException;
-import org.photonvision.common.ProgramStatus;
+import java.util.HashMap;
+import java.util.Map;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.HardwareConfig;
import org.photonvision.common.configuration.HardwareSettings;
@@ -32,6 +33,7 @@
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.ShellExec;
+import org.photonvision.common.util.TimedTaskManager;
public class HardwareManager {
private static HardwareManager instance;
@@ -96,6 +98,10 @@ private HardwareManager(HardwareConfig hardwareConfig, HardwareSettings hardware
? new StatusLED(hardwareConfig.statusRGBPins)
: null;
+ if (statusLED != null) {
+ TimedTaskManager.getInstance().addTask("StatusLEDUpdate", this::statusLEDUpdate, 150);
+ }
+
var hasBrightnessRange = hardwareConfig.ledBrightnessRange.size() == 2;
visionLED =
hardwareConfig.ledPins.isEmpty()
@@ -160,21 +166,61 @@ public boolean restartDevice() {
}
}
- public void setStatus(ProgramStatus status) {
- switch (status) {
- case UHOH:
- // red flashing, green off
- break;
- case RUNNING:
- // red solid, green off
- break;
- case RUNNING_NT:
- // red off, green solid
- break;
- case RUNNING_NT_TARGET:
- // red off, green flashing
- break;
+ // API's supporting status LEDs
+
+ private Map pipelineTargets = new HashMap();
+ private boolean ntConnected = false;
+ private boolean systemRunning = false;
+ private int blinkCounter = 0;
+
+ public void setTargetsVisibleStatus(int pipelineIdx, boolean hasTargets) {
+ pipelineTargets.put(pipelineIdx, hasTargets);
+ }
+
+ public void setNTConnected(boolean isConnected) {
+ this.ntConnected = isConnected;
+ }
+
+ public void setRunning(boolean isRunning) {
+ this.systemRunning = isRunning;
+ }
+
+ private void statusLEDUpdate() {
+ // make blinky
+ boolean blinky = ((blinkCounter % 3) > 0);
+
+ // check if any pipeline has a visible target
+ boolean anyTarget = false;
+ for (var t : this.pipelineTargets.values()) {
+ if (t) {
+ anyTarget = true;
+ }
+ }
+
+ if (this.systemRunning) {
+ if (!this.ntConnected) {
+ if (anyTarget) {
+ // Blue Flashing
+ statusLED.setRGB(false, false, blinky);
+ } else {
+ // Yellow flashing
+ statusLED.setRGB(blinky, blinky, false);
+ }
+ } else {
+ if (anyTarget) {
+ // Blue
+ statusLED.setRGB(false, false, blinky);
+ } else {
+ // blinky green
+ statusLED.setRGB(false, blinky, false);
+ }
+ }
+ } else {
+ // Faulted, not running... blinky red
+ statusLED.setRGB(blinky, false, false);
}
+
+ blinkCounter++;
}
public HardwareConfig getConfig() {
diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java b/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java
index 0c10b3548e..efef23454e 100644
--- a/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java
@@ -45,4 +45,14 @@ public StatusLED(List statusLedPins) {
blueLED = new CustomGPIO(statusLedPins.get(2));
}
}
+
+ public void setRGB(boolean r, boolean g, boolean b) {
+ // Outputs are active-low, so invert the level applied
+ redLED.setState(!r);
+ redLED.setBrightness(r ? 0 : 100);
+ greenLED.setState(!g);
+ greenLED.setBrightness(g ? 0 : 100);
+ blueLED.setState(!b);
+ blueLED.setBrightness(b ? 0 : 100);
+ }
}
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
index 483f6a7c0c..38becf9227 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -33,6 +33,7 @@
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.common.dataflow.networktables.NTDataPublisher;
+import org.photonvision.common.dataflow.statusLEDs.StatusLEDConsumer;
import org.photonvision.common.dataflow.websocket.UIDataPublisher;
import org.photonvision.common.hardware.HardwareManager;
import org.photonvision.common.logging.LogGroup;
@@ -72,6 +73,7 @@ public class VisionModule {
new LinkedList<>();
private final NTDataPublisher ntConsumer;
private final UIDataPublisher uiDataConsumer;
+ private final StatusLEDConsumer statusLEDsConsumer;
protected final int moduleIndex;
protected final QuirkyCamera cameraQuirks;
@@ -143,8 +145,10 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
pipelineManager::getDriverMode,
this::setDriverMode);
uiDataConsumer = new UIDataPublisher(index);
+ statusLEDsConsumer = new StatusLEDConsumer(index);
addResultConsumer(ntConsumer);
addResultConsumer(uiDataConsumer);
+ addResultConsumer(statusLEDsConsumer);
addResultConsumer(
(result) ->
lastPipelineResultBestTarget = result.hasTargets() ? result.targets.get(0) : null);
diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
index f01e431d30..daf8c243ca 100644
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -375,6 +375,7 @@ public static void main(String[] args) {
}
logger.info("Starting server...");
+ HardwareManager.getInstance().setRunning(true);
Server.start(DEFAULT_WEBPORT);
}
}