mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 00:28:06 -06:00
astatin3
92 lines
2.4 KiB
Python
92 lines
2.4 KiB
Python
import argparse
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from time import sleep
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import ntcore
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from tabulate import tabulate
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def list_topics(inst: ntcore.NetworkTableInstance, root: str):
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topics = inst.getTable(root).getTopics()
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subtables = inst.getTable(root).getSubTables()
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print(f"Topics under {root}")
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print(
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tabulate(
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[
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[topic.getName(), topic.getType().name, topic.getTypeString()]
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for topic in topics
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],
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headers=["Topic Name", "Type", "Type String"],
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)
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)
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print("")
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print(f"Tables under {root}")
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print(tabulate([[table] for table in subtables], headers=["Table Name"]))
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print("")
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def print_topic(inst: ntcore.NetworkTableInstance, topic: str):
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sub = inst.getTopic(topic).genericSubscribe(
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options=ntcore.PubSubOptions(sendAll=True, pollStorage=20)
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)
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print("")
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print(f"Subscribed to {topic}, typestring '{sub.getTopic().getTypeString()}'")
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print(f"Properties:")
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print(sub.getTopic().getProperties())
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print("")
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start_time = ntcore._now()
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count = 0
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while True:
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now = ntcore._now()
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new_count = len(sub.readQueue())
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count = count + new_count
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hz = count / float(max(now - start_time, 0.1) * 1e-6)
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print(f"{topic} = {sub.get().value()} (rate={hz:.1f}hz, samples={count})")
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sleep(1)
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def connect(inst: ntcore.NetworkTableInstance, server: str):
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inst.stopServer()
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inst.setServer(server)
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inst.startClient4("catnt")
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def main():
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parser = argparse.ArgumentParser(description="Cat a topic")
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parser.add_argument(
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"--echo", type=str, help="Fully qualified topic name", required=False
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)
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parser.add_argument(
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"--server",
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type=str,
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default="127.0.0.1",
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help="IP address of the NT4 server",
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required=False,
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)
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parser.add_argument("--list", help="List all topics", required=False)
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args = parser.parse_args()
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inst = ntcore.NetworkTableInstance.getDefault()
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connect(inst, args.server)
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# retained to keep the subscriber alive
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topicNameSubscriber = ntcore.MultiSubscriber(
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inst, ["/"], ntcore.PubSubOptions(topicsOnly=True)
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)
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sleep(1)
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while not inst.isConnected():
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sleep(0.1)
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if args.list:
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list_topics(inst, args.list)
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if args.echo:
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print_topic(inst, args.echo)
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if __name__ == "__main__":
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main()
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