Handshaking with wanted robot NT keys

2020/comm.py

@@ -28,11 +28,11 @@ def PutNumberArray(key, value):
     if theComm != None:
         theComm.sd.putNumberArray("Vision/"+key, value)
 
-def getCurrentPose():
+def getCurrentTime():
     if theComm != None:
-        # Get the current pose
-        robotState = theComm.controlTable.getNumberArray("robotPose",(-1,-1,-1))
-        return robotState # x,y,time
+        # Get the current time
+        timestamp = theComm.robotTable.getNumber("timestamp",(-1))
+        return timestamp # x,y,time
 
 def getCameraPosition():
     if theComm != None:
@@ -80,7 +80,8 @@ def __init__(self, serverIP):
             self.UpdateVisionState("Standby")
 
             # We communicate target to robot via Vision table.
-            self.controlTable = NetworkTables.getTable("/VisionControl`")
+            self.controlTable = NetworkTables.getTable("/VisionControl")
+            self.robotTable =  NetworkTables.getTable("SmartDashboard/RobotState") #XXX: Might not work
             self.control = Control()
 
             # Robot communicates to us via fields within the Vision/Control

2020/targets.py

@@ -84,7 +84,7 @@ class TargetPNP(Target):
     def __init__(self):
         super().__init__(self)
         # Should be /SmartDashboard/Vision/PNPValue
-        self.subkey = "RobotPose"
+        self.subkey = "Target"
         self.poseValue = None # Should be a tuple?
         self.timeValue = None
 
@@ -94,7 +94,8 @@ def update(self, pose, time):
 
     def send(self):
         # Push to network tables
-        comm.PutNumberArray(self.subkey, (self.poseValue,self.timeValue))
+        # Should result in a key of '/Vision/Target/Result'
+        comm.PutNumberArray(self.subkey + "/Result", (self.poseValue,self.timeValue))
 
 # Currently no doctests, however if needed un-comment
 '''
@@ -107,4 +108,4 @@ def send(self):
     logging.info("Began logger")
 
     doctest.testmod()
-'''
+'''