Squashed 'third_party/allwpilib_2019/' changes from 99e4f7dd2..c36bbcc9a
936627bd9 wpilibc: Remove direct CameraServer dependency (#1989)
8e333c0aa Use FPGA Time instead of wall clock time for odometry (#1996)
d4430b765 Gearsbot example: Use standard argument order (#1995)
75438ab2c Add RamseteCommand (#1951)
989df1b46 Bump Native Utils and OpenCV dependencies (#1993)
dbc33b61e Fix Timer usage in TrapezoidProfileCommand (#1992)
79f8c5644 Add TrapezoidProfileCommand (#1962)
9440edf2b Refactor TrajectoryGenerator (#1972)
73a30182c Add frc2::Timer (#1968)
36ea865ed Add toString for geometry and trajectory classes (#1991)
cbe05e7e8 Update ProfiledPIDController API (#1967)
d04eb3546 Deprecate old PID classes (#1964)
02264db69 Add JNI dependencies to myRobotCpp (#1980)
2a76c996e Use VID/PID detection for PS3Eye (#1977)
a3820bbdf Remove HAL_BaseInitialize (#1981)
a83fb4793 Update to 2020v5 image (#1983)
4b0ed910e Make SwerveDriveKinematics.toChassisSpeeds() public (#1976)
103c1b121 Remove DS caching from the HAL level (#1971)
6635ea75e Fix NPE in SendableRegistry.foreachLiveWindow() (#1974)
cfe23c5cd Fix grammar error in comment for configureButtonBindings (#1969)
4bde2654e Fix mac azure build (#1973)
4f034e6c1 generateTrajectory: default reversed param to false (#1953)
acf960f72 Sim GUI: Add option to disable outputs on DS disable
2d3dac99f Sim GUI: Handle low resolutions and scale default window positions
07c86e0cd Sim GUI: Support High DPI monitors
46ad95512 SimDeviceData: Add missing null check
5bce489b9 Add ProggyDotted font to imgui (both cmake and gradle)
55af553ac Simulation GUI: Map gamepad the same way as DS
c59f9cea5 CameraServer: Add VID/PID support for Linux USB devices (#1960)
3fc89c84d Make splinePointsFromSplines public (#1963)
2c5093797 Fix implicitly deleted move constructors (#1954)
f3ad927f4 Update Java SmartDashboard and LiveWindow to match C++
05c25deb7 Fix move handling of C++ Sendable in SmartDashboard and LiveWindow
d726591ce Fix Gazebo sim plugin build (#1959)
2ff694fa4 Unbreak gradle build when other compilers installed (#1958)
53816155b Improve command decorator names (#1945)
a38f183a9 Fix GenResources.cmake so it's usable in a submodule (#1956)
b3398dca3 Set gradlebase correctly for all examples (#1950)
2c311013d Add Aarch64Bionic platform detection (#1922)
c10f2003c Add generateTrajectory overload (#1944)
63cfa64fb Add getters for pose in odometry classes (#1943)
2402c2bad Fix C++ command group recursive constructor bug (#1941)
f4eedf597 Fix ConcurrentModificationException in CommandScheduler (#1938)
bb0b207d2 Fix array out of bounds exception caused by parallel race group (#1935)
7bd69e591 Fix typo in temperature (#1940)
ec9738245 Bump to 2020 v4 image (#1931)
46303a822 Add messaging to extension loading in the HAL (#1926)
d169d6be9 Set extract_static for Doxygen config so that static members show up (#1930)
4e183eb10 Bump to 2020 v3 image (#1929)
84c185803 LiveWindow: catch errors in callback/builder functions (#1921)
0e3b0f3da Remove deprecated free() calls (#1925)
7f839b87c Remove timeouts from azure builds (#1924)
45b766a5d Fix main thread ID being potentially incorrect for simulation (#1923)
56d782b16 Add secondary camera name for PS3Eye (#1920)
2b4894038 Add simulation GUI plugin
f97d16073 Add imgui build to cmake
55a844a3e HAL sim: Add encoder channel B access
10deba854 Remove sendables from SendableRegistry when close() is called (#1917)
a9f0e4668 Implement sim devices for ADXL345, ADXL362, ADXRS450, Ultrasonic
aa9064586 Add ability to associate other devices with a SimDevice
81c2c8a7d Add simulation generic device/value support
e8d6f8a2c Move mockdata/HAL_Value.h to hal/Value.h
1b266717a Add simulation module support to cmake build (#1906)
fb8f3bd06 Add testbench yaml file (#1915)
846d8def0 Update to 2020 v2 image (#1913)
d6ac6e512 Fix PortForwarder package declaration (#1912)
227157086 Fix PS3Eye exposure setting (#1911)
885744d7e Add myRobot C++ version to cmake build (#1907)
366091fa8 Document that ConditionalCommand requires all subsystems (#1909)
c58b072c8 Fix Drive usage reporting order (#1908)
762c88adb Update compiler versions in readme (#1905)
af8ce568d Add Ramsete unicycle controller (#1790)
b2c2934d0 Fix javadoc warnings about invalid usage of ">" (#1904)
cce26ec78 Replace CRLF line endings with LF (#1902)
cb54602d4 Add support for writing RTR CAN Frames to the CAN API (#1900)
9f740e590 Use OS for serial port instead of NI VISA (#1875)
b23baf611 Add ability to run robot main loop in a separate thread (#1895)
457f94ba2 Add trajectory generation using hermite splines (#1843)
fd612052f Update native utils to use new frchome directory (#1884)
8858ec55c Remove periodic can read call (#1868)
41efb8015 Update CANAPITypes.h (#1860)
c93be1b2d Remove LabVIEW HAL support (#1901)
680f8919e Remove eigen, units and libuv from doxygen generation (#1898)
c5812524f Bump GradleJNI plugin version (#1899)
971303da8 Add PortForwarder class (#1890)
50db77bf2 Fix wpiutil cmake eigen install source directory (#1891)
85d42c199 C++ PIDCommand: Add GetMeasurement() and UseOutput() (#1892)
2dfbb855d wpilibj: Fix SwerveDriveKinematics ctor parameter name (#1889)
471f375a3 Simplify Sendable interface (#1864)
1d8c4d016 Replace ::value and ::type with _v and _t suffixes (#1885)
a5650b943 Add Units Utility class for Java (#1829)
904479ad4 Deprecate GearTooth class for removal (#1878)
86b666bba Add equality comparator to geometry classes (#1882)
62f07c182 Make one-arg Rotation2d constructor implicit (#1883)
f405582f8 Add kinematics suite (#1787)
561cbbd14 Deprecate Filter class for removal (#1876)
84e2973aa Remove unused include from Filesystem.h (#1877)
f49859ebf Remove NI VISA headers, as they are now included in NI Libraries (#1879)
bc59db5e6 Rename DEBUG macro to DEBUG0 (#1871)
dd928b4cb Remove JNI logging (#1872)
3e0f7d099 Use units for new NotifierCommand (#1869)
5ffe15d5f Remove ability to build all combined artifacts (#1867)
516cbef2c Remove RoboRIO ifdef from simulation headers (#1859)
9b6ffc201 Replace SetOutputRange() with SetIntegratorRange()
ff8b8f0a8 Remove percent tolerance from PID controller
0ca8d667d Clean up AutoCloseable and other Java warnings (#1866)
7112add67 Watchdog: use units::second_t instead of double (#1863)
761bc3ef8 Change C++ WaitCommand to use units (#1865)
1fb301123 Add MathUtils.clamp() for Java (#1861)
eb3e0c9c9 Fix cmake Eigen include directory (#1862)
2250b7fbe Rename GearsBotNew example to GearsBot
c9f9feff1 Replace deprecated API usage in C++ examples
d6b9c7e14 CONTRIBUTING.md: Point to frc-docs instead of screensteps (#1858)
d10a1a797 Fix eigen build in vcpkg (#1856)
2bdb44325 Add frc2 includes to list of "other lib" regexes (#1855)
4b2b21d24 Replace outdated Java collections (#508)
8993ce5bf Move Eigen headers out of main include folder (#1854)
0f532a117 Add PWMSparkMax (#1751)
f7ad363d8 Add jni cross compile options for aarch64 (#1853)
9afea3340 Add support for aarch64 jetson bionic builds (#1844)
d787b5d60 Add more items to .gitignore (#1850)
5dd0d1b7d Use units in SPI
07ac711b3 Fix units deprecated warning in IterativeRobot
decfd858b Correctly report -1 for POV on disconnected joystick (#1852)
076ed7770 Add new C++ Command framework (#1785)
a0be07c37 Refactor HAL handle move construction/assignment (#1845)
558c38308 Add new Java Command framework (#1682)
1379735af Delete RobotState and SensorUtil constructors (#1847)
e3d86fee4 Move circular buffer class from wpilib to wpiutil (#1840)
4cd8a5667 TimedRobot.cpp: Fix deprecation warning (#1846)
b2861f894 Use 2020 artifacts and artifactory server (#1838)
98cc32703 Update to use artifactory to publish artifacts (#1833)
fa0640300 Move drive integration tests into wpilibj/src/test (#1836)
e716c36b8 Fix Nat.java generation to be incremental (#1831)
9fd2b5e3f Fix MSVC builds on cmake windows in vcpkg (#1835)
7e95010a2 Add compile-time EJML matrix wrapper to wpiutil (#1804)
3ebc5a6d3 Add ProfiledPIDController
fc98a79db Clean up PIDController interface in preparation for ProfiledPIDController
fdc098267 Fix compilation error in elevator trapezoid profile example (#1826)
a3dd84e85 Make XBoxController Button enum public (#1823)
a216b9e9e Add TrapezoidProfile example (#1814)
8f386f6bb wpilibc: Add unit-safety to C++ geometry classes (#1811)
c07ac2353 wpilibc: Add overloads for units (#1815)
f1d71da8a Move GetStackTrace and Demangle to wpiutil, add Windows support (#1819)
ef037457e Make LinearFilter copyable and moveable (#1789)
76930250c Remove objective-cpp support (#1816)
1c246418f Move TrapezoidProfileTest to trajectory folder (#1812)
95a54a0f2 Add java arcade drive example (#1810)
a4530243e HAL sim: Fix incorrectly setting dio port to initialized on cleanup (#1813)
09d00a622 Update Java examples to use new PIDController (#1809)
ba9b51742 Add missing Java examples (#841)
6411bd79c InterruptableSensorBase: Fix callback function deletion (#1807)
810e58ea8 I2C: Add tip about writeBulk() to transaction() (#1806)
607d6c148 Fix wpilibj integration tests jar name (#1808)
c9873e81b Remove PIDControllerRunner and mutex from new PIDController (#1795)
98d0706de Fix cscore build with OpenCV 4 (#1803)
fbe67c90c Make Sendable setters synchronous (#1799)
c67a488a0 Format SendableBuilderImpl javadocs (#1802)
8e93ce892 Fix PIDControllerRunner member destruction order (#1801)
c98ca7310 Add EJML dependency to wpiutil (#1769)
3b12276bc SendableBase: remove unnecessary synchronization (#1797)
e6d348f38 Fix missing default name in Java PIDController (#1792)
df12fc2a8 Java cleanups (#1776)
39561751f Update GradleVSCode version (#1786)
37d316aa0 Add C++20 std::math constants shim (#1788)
dd4310959 Deprecate frc/WPILib.h (#1779)
823174f30 Update native utils to 2020.0.4 (#1783)
37c695266 Squelch -Wdeprecated-copy for Eigen with GCC >= 9
04c9b000f Revert "Fix build of Eigen 3.3.7 with GCC 9"
ca3e71e21 wpiutil: Fix Process::Spawn() (#1778)
d946d5a2b Fix Eigen compilation errors and add tests (#1777)
8b1b9ac75 Fix build of Eigen 3.3.7 with GCC 9
2f680ba99 Add Eigen linear algebra library
a885db7d4 Make MotorEncoderTest use LinearFilter (#1775)
ee2410169 Add geometry classes (#1766)
48fe54271 Add HALSIM_SetSendError implementation (#1773)
dff58c87f Fix unused warning in release build (#1771)
dde61aad3 Remove TimerEventHandler typedef from Notifier class (#1767)
0f6ef80ab Add RobotState#IsEStopped and DriverStation#IsEStopped (#952)
e48886187 Move unit tests from integration test suite (#1170)
dffa1a5cb Make null checks more descriptive (#1688)
fe59d854d Notifier: add null check (#1684)
10731f3d6 Update uv Udp wrapper for latest features
89f7b72b6 Update libuv to 1.30.1 release
85f2f8740 wpiutil: Add unique_function (#1761)
73ec94078 Remove SampleRobot (#1658)
62be0392b Replace std::lock_guard and std::lock with std::scoped_lock (#1758)
24d31df55 Make sure move constructor is generated for TrapezoidProfile (#1757)
841ef5d73 Remove template types from lock RAII wrapper usages (#1756)
e582518ba Fix some move constructors (#1754)
8757bc471 Remove pre-C++17 shims (#1752)
ea9512977 Add replacement PIDController class (#1300)
9b798d228 Add TrapezoidProfile class (#1673)
804926fb5 Unconditionally skip athena builds for sim (#1748)
118e9d29d Add C++14 units library (#1749)
c705953d7 Add usage reporting to LinearFilter (#1750)
852d1b9ca Don't cross-build gazebo for raspbian (#1747)
eedb3a1ad Fix GCC 9 warnings (#1730)
60dce66a4 Remove wpi::ArrayRef std::initializer_list constructor (#1745)
9e19b29c3 Use base azure image for primary wpilib build (#1744)
299425071 Update jni library, fix cross builds of the jni symbol check (#1742)
a6b0e9b85 Only disable execution of cross compile google tests (#1741)
3c2093119 Use docker container to run wpiformat (#1740)
5fe2eebce Revert "Don't build halsim_gazebo on raspbian (#1737)" (#1743)
4b1b92bb7 Replace wpi::optional with C++17 std::optional (#1732)
0fbb0d989 Update to 2020 compilers (#1733)
2dc94e605 Disable google tests on cross compilers (#1738)
d9cb57a42 Don't build halsim_gazebo on raspbian (#1737)
f7cfdd7ce Replace crlf line endings with lf (#1731)
b6d5d90d9 Add JaCoCo Support (#1734)
c7ab2baa6 Add way to disable the jni check tasks from a property (#1736)
0c45c5b7e Fix skip athena and skip raspbian flags (#1735)
3dfb01d45 Update to new Native Utils (#1696)
30e936837 Clean up LinearDigitalFilter class (#782)
311e2de4c Remove deprecated Joystick constants (#1715)
c08fd6682 Update CAN manufacturer list (#1706)
258bba0c2 ErrorBase and WPIError improvements (#1727)
372ca4f45 cmake: Enable googletest unit tests (#1720)
223d47af0 HALSIM: support mocking of HAL_SendError() (#1728)
55cb683db Change compiler flags to C++17 (#1723)
ee8a33c56 wpiutil: SafeThread: Add thread id, support getting shared_ptr (#1722)
61426d08d wpiutil: Signal: make operator() const (#1721)
b630b63ef Remove functions in LiveWindow deprecated since 2018 (#1716)
1d0c05d4f Styleguide fixes for #1718 (#1719)
f07569df1 Fix newer GCC/clang compiler warnings (#1718)
0120f3124 C++ SPI: Fix SetClockRate to take int (#1717)
c2829ed98 Configure gradle to ignore unresolved headers (#1711)
221e66f46 Allow disabling static init of JNI libraries (#1672)
738852e11 cmake: Add cross toolchain files for Rio and Pi (#1710)
27b697b08 Remove frc directory include shims (#1714)
9e45373a7 Remove functions and classes deprecated for 2018 season (#1059)
eeb1025ac SPI: Report port as instance for usage reporting (#1704)
bc6f1e246 Windows compiler options improvements (#1709)
bb48ae391 cmake: Move example programs into folders (#1654)
221011494 Update for C++17 and fix MSVC warnings (#1694)
fb1239a2a Add raw sources and sinks to cscore (#1670)
7de947734 Add lambda overloads for interrupts (#1636)
90957aeea Move libuv to its own subfolder in build (#1661)
47aae502a Styleguide fixes (#1702)
0bff98b5e Correct DifferentialDrive::ArcadeDrive param docs (#1698)
b52e40b80 Allow widgets to be added by passing value suppliers (#1690)
4a00cd77b Add usage reporting for the Shuffleboard API (#1685)
e25e515f2 Publish artifacts on azure (#1678)
322ef9b96 Force Java 11, fix javadoc generation (#1695)
d42ef5df0 Fix Watchdog print formatting (#1693)
f432f65be Update copyright year in license to 2019 (#1524)
1726b77ac wpiutil: uv: Remove copy from SimpleBufferPool (#1680)
620bec9ca wpiutil: uv: Add LoopClosing status to Handle (#1647)
7cd6e2e7f UsbCamera: Solve race in windows initialization (#1638)
7732836bd Completely disable watchdog tests on mac (#1679)
698edfda9 Remove framework load, disable mac timeout test (#1676)
1c454b000 Add Shuffleboard calls to IterativeRobotBase in C++ (#1607)
f42905b32 Include missing headers in HAL.h (#1660)
bdc822fad Only generate passthrough URLs for RoboRIO (#1624)
d3affb16b Make failure of HAL_GetFPGATime() more descriptive (#1633)
2de3bf7f5 Update LLVM from stable upstream (#1653)
3cf4f38f5 Fix build on macos10.14.4 (#1648)
4e0c10f48 Fix CAN Clean using wrong ID (#1668)
3b0631324 Fix Gray to BGR conversion in CameraServer (#1665)
6cd1c73ef Fix GUID comparison creating weird symbol (#1659)
063bbab6f MavenArtifacts.md: update links to HTTPS (#1674)
aab4c494d Fix type in build.gradle (#1604)
bf46af260 Disable extraneous data warnings in libjpeg (#1630)
655763a9a Limit length of message sent to DS SendError call (#1618)
a095ec2d8 Fix linker errors with free functions in Threads.h (#1625)
12ab035aa Fix receive side of LabVIEW USB streams (#1621)
Change-Id: Ibd382e1a48925c200850cf90a8121e35c0fcffe3
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: c36bbcc9a9095489fc078229db4fba3ecd0f9b78
diff --git a/cameraserver/CMakeLists.txt b/cameraserver/CMakeLists.txt
index a3a7460..d77cb4e 100644
--- a/cameraserver/CMakeLists.txt
+++ b/cameraserver/CMakeLists.txt
@@ -1,5 +1,8 @@
project(cameraserver)
+include(CompileWarnings)
+include(AddTest)
+
find_package( OpenCV REQUIRED )
# Java bindings
@@ -32,6 +35,7 @@
target_include_directories(cameraserver PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/cameraserver>)
+wpilib_target_warnings(cameraserver)
target_link_libraries(cameraserver PUBLIC ntcore cscore wpiutil ${OpenCV_LIBS})
set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
@@ -43,15 +47,24 @@
install(TARGETS cameraserver RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
endif()
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (cameraserver_config_dir ${wpilib_dest})
else()
set (cameraserver_config_dir share/cameraserver)
endif()
-install(FILES cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
+configure_file(cameraserver-config.cmake.in ${CMAKE_BINARY_DIR}/cameraserver-config.cmake )
+install(FILES ${CMAKE_BINARY_DIR}/cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
install(EXPORT cameraserver DESTINATION ${cameraserver_config_dir})
file(GLOB multiCameraServer_src multiCameraServer/src/main/native/cpp/*.cpp)
add_executable(multiCameraServer ${multiCameraServer_src})
+wpilib_target_warnings(multiCameraServer)
target_link_libraries(multiCameraServer cameraserver)
+
+set_property(TARGET multiCameraServer PROPERTY FOLDER "examples")
+
+if (WITH_TESTS)
+ wpilib_add_test(cameraserver src/test/native/cpp)
+ target_link_libraries(cameraserver_test cameraserver gtest)
+endif()
diff --git a/cameraserver/build.gradle b/cameraserver/build.gradle
index 2b19454..d59d749 100644
--- a/cameraserver/build.gradle
+++ b/cameraserver/build.gradle
@@ -30,23 +30,20 @@
apply from: "${rootDir}/shared/opencv.gradle"
-model {
- // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
- // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
- // where some extra symbols are added that cannot be resolved at link time. This configuration
- // lets you specify specific symbols to exlude from exporting.
- exportsConfigs {
- cameraserver(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
- }
+nativeUtils.exportsConfigs {
+ cameraserver {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
}
+}
+
+model {
components {}
binaries {
all {
@@ -66,7 +63,7 @@
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
- def arch = it.targetPlatform.architecture.name
+ def arch = it.targetPlatform.name
if (arch == systemArch) {
def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
diff --git a/cameraserver/cameraserver-config.cmake b/cameraserver/cameraserver-config.cmake
deleted file mode 100644
index 2c2b1cc..0000000
--- a/cameraserver/cameraserver-config.cmake
+++ /dev/null
@@ -1,8 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-find_dependency(ntcore)
-find_dependency(cscore)
-find_dependency(OpenCV)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/cameraserver.cmake)
diff --git a/cameraserver/cameraserver-config.cmake.in b/cameraserver/cameraserver-config.cmake.in
new file mode 100644
index 0000000..301b25b
--- /dev/null
+++ b/cameraserver/cameraserver-config.cmake.in
@@ -0,0 +1,8 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
+find_dependency(OpenCV)
+
+include(${SELF_DIR}/cameraserver.cmake)
diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
index fe54225..3ef23c3 100644
--- a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
+++ b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,8 +9,9 @@
import java.util.ArrayList;
import java.util.Arrays;
-import java.util.Hashtable;
+import java.util.HashMap;
import java.util.Map;
+import java.util.Objects;
import java.util.concurrent.atomic.AtomicInteger;
import edu.wpi.cscore.AxisCamera;
@@ -142,17 +143,21 @@
values[j] = "mjpg:" + values[j];
}
- // Look to see if we have a passthrough server for this source
- for (VideoSink i : m_sinks.values()) {
- int sink = i.getHandle();
- int sinkSource = CameraServerJNI.getSinkSource(sink);
- if (source == sinkSource
- && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) == VideoSink.Kind.kMjpeg) {
- // Add USB-only passthrough
- String[] finalValues = Arrays.copyOf(values, values.length + 1);
- int port = CameraServerJNI.getMjpegServerPort(sink);
- finalValues[values.length] = makeStreamValue("172.22.11.2", port);
- return finalValues;
+ if (CameraServerSharedStore.getCameraServerShared().isRoboRIO()) {
+ // Look to see if we have a passthrough server for this source
+ // Only do this on the roboRIO
+ for (VideoSink i : m_sinks.values()) {
+ int sink = i.getHandle();
+ int sinkSource = CameraServerJNI.getSinkSource(sink);
+ if (source == sinkSource
+ && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
+ == VideoSink.Kind.kMjpeg) {
+ // Add USB-only passthrough
+ String[] finalValues = Arrays.copyOf(values, values.length + 1);
+ int port = CameraServerJNI.getMjpegServerPort(sink);
+ finalValues[values.length] = makeStreamValue("172.22.11.2", port);
+ return finalValues;
+ }
}
}
@@ -166,13 +171,9 @@
int sink = i.getHandle();
// Get the source's subtable (if none exists, we're done)
- int source;
- Integer fixedSource = m_fixedSources.get(sink);
- if (fixedSource != null) {
- source = fixedSource;
- } else {
- source = CameraServerJNI.getSinkSource(sink);
- }
+ int source = Objects.requireNonNullElseGet(m_fixedSources.get(sink),
+ () -> CameraServerJNI.getSinkSource(sink));
+
if (source == 0) {
continue;
}
@@ -301,10 +302,10 @@
"PMD.NPathComplexity"})
private CameraServer() {
m_defaultUsbDevice = new AtomicInteger();
- m_sources = new Hashtable<>();
- m_sinks = new Hashtable<>();
- m_fixedSources = new Hashtable<>();
- m_tables = new Hashtable<>();
+ m_sources = new HashMap<>();
+ m_sinks = new HashMap<>();
+ m_fixedSources = new HashMap<>();
+ m_tables = new HashMap<>();
m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
m_nextPort = kBasePort;
m_addresses = new String[0];
@@ -615,7 +616,9 @@
// create a dummy CvSource
CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
MjpegServer server = startAutomaticCapture(source);
- m_fixedSources.put(server.getHandle(), source.getHandle());
+ synchronized (this) {
+ m_fixedSources.put(server.getHandle(), source.getHandle());
+ }
return server;
}
diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
index 32a4d01..c9cbb8f 100644
--- a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
+++ b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -43,4 +43,13 @@
* @param id the usage id
*/
void reportAxisCamera(int id);
+
+ /**
+ * Get if running on a roboRIO.
+ *
+ * @return true if on roboRIO
+ */
+ default boolean isRoboRIO() {
+ return false;
+ }
}
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java b/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
index 24ffcda..8d8b12e 100644
--- a/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
+++ b/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -77,7 +77,7 @@
public void runOnce() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
- if (id != null && Thread.currentThread().getId() == id.longValue()) {
+ if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runOnce() cannot be called from the main robot thread");
}
@@ -110,7 +110,7 @@
public void runForever() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
- if (id != null && Thread.currentThread().getId() == id.longValue()) {
+ if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runForever() cannot be called from the main robot thread");
}
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
index a3caf5c..2302b1a 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -56,21 +56,21 @@
CS_Status status = 0;
buf.clear();
switch (cs::GetSourceKind(source, &status)) {
- case cs::VideoSource::kUsb: {
+ case CS_SOURCE_USB: {
wpi::StringRef prefix{"usb:"};
buf.append(prefix.begin(), prefix.end());
auto path = cs::GetUsbCameraPath(source, &status);
buf.append(path.begin(), path.end());
break;
}
- case cs::VideoSource::kHttp: {
+ case CS_SOURCE_HTTP: {
wpi::StringRef prefix{"ip:"};
buf.append(prefix.begin(), prefix.end());
auto urls = cs::GetHttpCameraUrls(source, &status);
if (!urls.empty()) buf.append(urls[0].begin(), urls[0].end());
break;
}
- case cs::VideoSource::kCv:
+ case CS_SOURCE_CV:
return "cv:";
default:
return "unknown:";
@@ -87,7 +87,7 @@
std::shared_ptr<nt::NetworkTable> CameraServer::Impl::GetSourceTable(
CS_Source source) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_tables.lookup(source);
}
@@ -132,7 +132,9 @@
auto values = cs::GetHttpCameraUrls(source, &status);
for (auto& value : values) value = "mjpg:" + value;
+#ifdef __FRC_ROBORIO__
// Look to see if we have a passthrough server for this source
+ // Only do this on the roboRIO
for (const auto& i : m_sinks) {
CS_Sink sink = i.second.GetHandle();
CS_Source sinkSource = cs::GetSinkSource(sink, &status);
@@ -144,13 +146,14 @@
break;
}
}
+#endif
// Set table value
return values;
}
void CameraServer::Impl::UpdateStreamValues() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
// Over all the sinks...
for (const auto& i : m_sinks) {
CS_Status status = 0;
@@ -239,14 +242,14 @@
CS_Status status = 0;
nt::NetworkTableEntry entry = table->GetEntry(name);
switch (event.propertyKind) {
- case cs::VideoProperty::kBoolean:
+ case CS_PROP_BOOLEAN:
if (isNew)
entry.SetDefaultBoolean(event.value != 0);
else
entry.SetBoolean(event.value != 0);
break;
- case cs::VideoProperty::kInteger:
- case cs::VideoProperty::kEnum:
+ case CS_PROP_INTEGER:
+ case CS_PROP_ENUM:
if (isNew) {
entry.SetDefaultDouble(event.value);
table->GetEntry(infoName + "/min")
@@ -261,7 +264,7 @@
entry.SetDouble(event.value);
}
break;
- case cs::VideoProperty::kString:
+ case CS_PROP_STRING:
if (isNew)
entry.SetDefaultString(event.valueStr);
else
@@ -296,7 +299,7 @@
// Create subtable for the camera
auto table = m_publishTable->GetSubTable(event.name);
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_tables.insert(std::make_pair(event.sourceHandle, table));
}
wpi::SmallString<64> buf;
@@ -561,7 +564,7 @@
cs::VideoSource source;
{
auto csShared = GetCameraServerShared();
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) {
csShared->SetCameraServerError("no camera available");
return cs::CvSink{};
@@ -581,7 +584,7 @@
name += camera.GetName();
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
auto it = m_impl->m_sinks.find(name);
if (it != m_impl->m_sinks.end()) {
auto kind = it->second.GetKind();
@@ -606,7 +609,7 @@
wpi::StringRef nameStr = name.toStringRef(nameBuf);
cs::VideoSource source;
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
auto it = m_impl->m_sources.find(nameStr);
if (it == m_impl->m_sources.end()) {
auto csShared = GetCameraServerShared();
@@ -628,7 +631,7 @@
cs::MjpegServer CameraServer::AddServer(const wpi::Twine& name) {
int port;
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
port = m_impl->m_nextPort++;
}
return AddServer(name, port);
@@ -641,12 +644,12 @@
}
void CameraServer::AddServer(const cs::VideoSink& server) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
m_impl->m_sinks.try_emplace(server.GetName(), server);
}
void CameraServer::RemoveServer(const wpi::Twine& name) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
wpi::SmallString<64> nameBuf;
m_impl->m_sinks.erase(name.toStringRef(nameBuf));
}
@@ -654,7 +657,7 @@
cs::VideoSink CameraServer::GetServer() {
wpi::SmallString<64> name;
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) {
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError("no camera available");
@@ -669,7 +672,7 @@
cs::VideoSink CameraServer::GetServer(const wpi::Twine& name) {
wpi::SmallString<64> nameBuf;
wpi::StringRef nameStr = name.toStringRef(nameBuf);
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
auto it = m_impl->m_sinks.find(nameStr);
if (it == m_impl->m_sinks.end()) {
auto csShared = GetCameraServerShared();
@@ -681,19 +684,19 @@
void CameraServer::AddCamera(const cs::VideoSource& camera) {
std::string name = camera.GetName();
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) m_impl->m_primarySourceName = name;
m_impl->m_sources.try_emplace(name, camera);
}
void CameraServer::RemoveCamera(const wpi::Twine& name) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
wpi::SmallString<64> nameBuf;
m_impl->m_sources.erase(name.toStringRef(nameBuf));
}
void CameraServer::SetSize(int size) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) return;
auto it = m_impl->m_sources.find(m_impl->m_primarySourceName);
if (it == m_impl->m_sources.end()) return;
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
index 97ab090..7d30d28 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
+++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,20 +24,22 @@
};
} // namespace
-namespace frc {
-
-static std::unique_ptr<CameraServerShared> cameraServerShared = nullptr;
+static std::unique_ptr<frc::CameraServerShared> cameraServerShared = nullptr;
static wpi::mutex setLock;
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared) {
- std::unique_lock<wpi::mutex> lock(setLock);
- cameraServerShared = std::move(shared);
-}
+namespace frc {
CameraServerShared* GetCameraServerShared() {
- std::unique_lock<wpi::mutex> lock(setLock);
+ std::unique_lock lock(setLock);
if (!cameraServerShared) {
cameraServerShared = std::make_unique<DefaultCameraServerShared>();
}
return cameraServerShared.get();
}
} // namespace frc
+
+extern "C" {
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared) {
+ std::unique_lock lock(setLock);
+ cameraServerShared.reset(shared);
+}
+} // extern "C"
diff --git a/cameraserver/src/main/native/include/CameraServer.h b/cameraserver/src/main/native/include/CameraServer.h
deleted file mode 100644
index 2fcc0f2..0000000
--- a/cameraserver/src/main/native/include/CameraServer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
-#else
-#warning "CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
-#endif
-
-// clang-format on
-
-#include "cameraserver/CameraServer.h"
diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServer.h b/cameraserver/src/main/native/include/cameraserver/CameraServer.h
index 46c2448..8f384fd 100644
--- a/cameraserver/src/main/native/include/cameraserver/CameraServer.h
+++ b/cameraserver/src/main/native/include/cameraserver/CameraServer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include <wpi/Twine.h>
#include "cscore.h"
+#include "cscore_cv.h"
namespace frc {
diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h b/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
index 72b784e..cb72c9b 100644
--- a/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
+++ b/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,6 +26,10 @@
virtual std::pair<std::thread::id, bool> GetRobotMainThreadId() const = 0;
};
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared);
CameraServerShared* GetCameraServerShared();
} // namespace frc
+
+extern "C" {
+// Takes ownership
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared);
+} // extern "C"
diff --git a/cameraserver/src/main/native/include/vision/VisionRunner.h b/cameraserver/src/main/native/include/vision/VisionRunner.h
index a317f80..610ac4d 100644
--- a/cameraserver/src/main/native/include/vision/VisionRunner.h
+++ b/cameraserver/src/main/native/include/vision/VisionRunner.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
#include <memory>
#include "cscore.h"
+#include "cscore_cv.h"
#include "vision/VisionPipeline.h"
namespace frc {