Use CameraServer directly instead of duplicating its functionality

photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java

@@ -17,11 +17,9 @@
 
 package org.photonvision.vision.frame.consumer;
 
+import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.*;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.util.PixelFormat;
-import java.util.ArrayList;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.frame.StaticFrames;
 import org.photonvision.vision.opencv.CVMat;
@@ -34,59 +32,13 @@ public class MJPGFrameConsumer implements AutoCloseable {
     private CvSource cvSource;
     private MjpegServer mjpegServer;
 
-    private VideoListener listener;
-
-    private final NetworkTable table;
-
     public MJPGFrameConsumer(String sourceName, int width, int height, int port) {
         this.cvSource = new CvSource(sourceName, PixelFormat.kMJPEG, width, height, 30);
-        this.table =
-                NetworkTableInstance.getDefault().getTable("/CameraPublisher").getSubTable(sourceName);
 
         this.mjpegServer = new MjpegServer("serve_" + cvSource.getName(), port);
         mjpegServer.setSource(cvSource);
         mjpegServer.setCompression(75);
-
+        CameraServer.addServer(mjpegServer);
-        listener =
-                new VideoListener(
-                        event -> {
-                            if (event.kind == VideoEvent.Kind.kNetworkInterfacesChanged) {
-                                table.getEntry("source").setString("cv:");
-                                table.getEntry("streams");
-                                table.getEntry("connected").setBoolean(true);
-                                table.getEntry("mode").setString(videoModeToString(cvSource.getVideoMode()));
-                                table.getEntry("modes").setStringArray(getSourceModeValues(cvSource.getHandle()));
-                                updateStreamValues();
-                            }
-                        },
-                        0x4fff,
-                        true);
-    }
-
-    private synchronized void updateStreamValues() {
-        // Get port
-        int port = mjpegServer.getPort();
-
-        // Generate values
-        var addresses = CameraServerJNI.getNetworkInterfaces();
-        ArrayList<String> values = new ArrayList<>(addresses.length + 1);
-        String listenAddress = CameraServerJNI.getMjpegServerListenAddress(mjpegServer.getHandle());
-        if (!listenAddress.isEmpty()) {
-            // If a listen address is specified, only use that
-            values.add(makeStreamValue(listenAddress, port));
-        } else {
-            // Otherwise generate for hostname and all interface addresses
-            values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
-            for (String addr : addresses) {
-                if ("127.0.0.1".equals(addr)) {
-                    continue; // ignore localhost
-                }
-                values.add(makeStreamValue(addr, port));
-            }
-        }
-
-        String[] streamAddresses = values.toArray(new String[0]);
-        table.getEntry("streams").setStringArray(streamAddresses);
     }
 
     public MJPGFrameConsumer(String name, int port) {
@@ -106,53 +58,12 @@ public class MJPGFrameConsumer implements AutoCloseable {
         }
     }
 
-    public int getCurrentStreamPort() {
-        return mjpegServer.getPort();
-    }
-
-    private static String makeStreamValue(String address, int port) {
-        return "mjpg:http://" + address + ":" + port + "/?action=stream";
-    }
-
-    private static String[] getSourceModeValues(int sourceHandle) {
-        VideoMode[] modes = CameraServerJNI.enumerateSourceVideoModes(sourceHandle);
-        String[] modeStrings = new String[modes.length];
-        for (int i = 0; i < modes.length; i++) {
-            modeStrings[i] = videoModeToString(modes[i]);
-        }
-        return modeStrings;
-    }
-
-    private static String videoModeToString(VideoMode mode) {
-        return mode.width
-                + "x"
-                + mode.height
-                + " "
-                + pixelFormatToString(mode.pixelFormat)
-                + " "
-                + mode.fps
-                + " fps";
-    }
-
-    private static String pixelFormatToString(PixelFormat pixelFormat) {
-        return switch (pixelFormat) {
-            case kMJPEG -> "MJPEG";
-            case kYUYV -> "YUYV";
-            case kRGB565 -> "RGB565";
-            case kBGR -> "BGR";
-            case kGray -> "Gray";
-            case kUYVY, kUnknown, kY16, kBGRA -> "Unknown";
-        };
-    }
-
     @Override
     public void close() {
-        table.getEntry("connected").setBoolean(false);
+        CameraServer.removeServer(mjpegServer.getName());
         mjpegServer.close();
         cvSource.close();
-        listener.close();
         mjpegServer = null;
         cvSource = null;
-        listener = null;
     }
 }