untested use nicknames for mapping to cam

Author: ds12a

PiSideCode/init.py

@@ -265,6 +265,7 @@ def log_performance(walleye_data):
                 # for i in range(len(poses)):
                 #     if poses[i][0].X() < 2000: # TODO what is this doing here?
                 walleye_data.robot_publisher.udp_pose_publish(
+                    [walleye_data.cam_nicknames[identifier] for identifier in images.keys()],
                     [pose[0] for pose in poses],
                     [pose[1] for pose in poses],
                     ambig,
@@ -276,7 +277,7 @@ def log_performance(walleye_data):
 
             # Tag servoing mode
             elif len(tag_corners) > 0:
-                walleye_data.robot_publisher.udp_tag_publish(tags, tag_corners, list(img_time.values()))
+                walleye_data.robot_publisher.udp_tag_publish([walleye_data.cam_nicknames[identifier] for identifier in images.keys()], tags, tag_corners, list(img_time.values()))
 
             # Update video stream for web interface
             if walleye_data.should_update_web_stream:

PiSideCode/publisher/network_table_publisher.py

@@ -60,7 +60,7 @@ def get_time(self) -> int:
     def set_table(self, name: str):
         self.table = self.inst.getTable(name)
 
-    def udp_pose_publish(self, pose1, pose2, ambig, timestamps, tags, tag_corners):
+    def udp_pose_publish(self, names, pose1, pose2, ambig, timestamps, tags, tag_corners):
         data_dict = {}
 
         for i in range(len(pose1)):
@@ -79,7 +79,7 @@ def udp_pose_publish(self, pose1, pose2, ambig, timestamps, tags, tag_corners):
                 "Tags": tags[i].tolist(),
                 "TagCorners": tag_corners[i].tolist(),
             }
-            data_dict[self.name + str(i)] = camDict
+            data_dict[names[i]] = camDict
         data_str = json.dumps(data_dict)
 
         try:
@@ -88,7 +88,7 @@ def udp_pose_publish(self, pose1, pose2, ambig, timestamps, tags, tag_corners):
             # NetworkIO.logger.error("Failed to publish pose in UDP: ", exc_info=e)
             pass
 
-    def udp_tag_publish(self, tags, tag_corners, timestamps):
+    def udp_tag_publish(self, names, tags, tag_corners, timestamps):
         data_dict = {}
 
         # Loop through each camera
@@ -99,7 +99,7 @@ def udp_tag_publish(self, tags, tag_corners, timestamps):
             self.update_num[i] += 1 
 
             # Data for camera i
-            data_dict[self.name + str(i)] = {
+            data_dict[names[i]] = {
                 "Mode": 1,
                 "Update": (self.update_num[i]),
                 "Tags": tags[i].tolist(),