From ca98b6664ba2331da30144fd91694baa28ca3adb Mon Sep 17 00:00:00 2001
From: eric <ericjiang378@gmail.com>
Date: Sat, 3 Feb 2018 16:37:13 -0500
Subject: [PATCH] compat and networktables

---
 compat.py | 27 +++++++++++++++++++++++++++
 nt.py     | 39 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 66 insertions(+)
 create mode 100644 compat.py
 create mode 100644 nt.py

diff --git a/compat.py b/compat.py
new file mode 100644
index 0000000..073cb67
--- /dev/null
+++ b/compat.py
@@ -0,0 +1,27 @@
+# OPENCV FUNCTIONS WITH COMPATIBILITY FOR BOTH OPENCV2 AND OPENCV3
+import cv2
+
+# Arguments:
+#   *Same as cv2.findContours(...)
+#
+# Returns: contours found in image. Does NOT return hierarchy.
+def findContours(*args, **kwargs):
+    cv_version =  cv2.__version__.split(".")[0]
+    if cv_version == "2":
+        return cv2.findContours(*args, **kwargs)[0]
+    elif cv_version == "3":
+        return cv2.findContours(*args, **kwargs)[1]
+
+def boxPoints(rect):
+    cv_version =  cv2.__version__.split(".")[0]
+    if cv_version == "2":
+        return cv2.cv.BoxPoints(rect)
+    elif cv_version == "3":
+        return cv2.boxPoints(rect)
+
+def fourcc(*args):
+    cv_version =  cv2.__version__.split(".")[0]
+    if cv_version == "2":
+        return cv2.cv.FOURCC(*args)
+    elif cv_version == "3":
+        return cv2.VideoWriter_fourcc(*args)
diff --git a/nt.py b/nt.py
new file mode 100644
index 0000000..9eb27b7
--- /dev/null
+++ b/nt.py
@@ -0,0 +1,39 @@
+import cv2
+import numpy as np
+import numbers
+import decimal
+import logging
+
+from networktables import NetworkTables
+
+# Inits NetworkTable. If no arguments are passed, default values will be used. 
+#
+# Argments:
+#   *server: server IP address or hostname you're connecting you as a client.
+#   *key: name of NetworkTable instance.
+#
+# Returns: NetworkTable instance of specified key.
+def initTable(server="10.3.34.50", key="vision"):
+    # necessary to see networkTables
+    logging.basicConfig(level=logging.DEBUG)
+
+    print("Initialized NetworkTables ", NetworkTables.initialize(server))
+    nt = NetworkTables.getTable(key)
+
+    return nt
+
+# Send data values to a NetworkTable.
+#
+# Arguments:
+#   *nt = a NetworkTable instance.
+#   *data = values (any type) to put on nt. Stored as a dictionary:
+#           { key1 : value1, key2 : value2, ...}
+def sendData(nt, data):
+    for key, value in data.iteritems():
+        print ("key", key, "value", value)
+        if isinstance(value, bool):
+            nt.putBoolean(key, value)
+        elif isinstance(value, numbers.Number):
+            nt.putNumber(key, value)
+        elif isinstance(value, str):
+            nt.putString(key, value)