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Update wpilibc to use new NetworkTables package and interfaces.

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This commit is contained in:
Peter Johnson
2017-09-02 00:17:43 -07:00
parent 4e80570c4c
commit 040a8c6bcc
74 changed files with 937 additions and 721 deletions
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112
wpilibc/src/main/native/cpp/CameraServer.cpp
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@@ -12,6 +12,7 @@
#include "Utility.h"
#include "WPIErrors.h"
#include "networktables/NetworkTableInstance.h"
#include "ntcore_cpp.h"
using namespace frc;
@@ -61,7 +62,8 @@ static std::string MakeStreamValue(llvm::StringRef address, int port) {
return rv;
}
std::shared_ptr<ITable> CameraServer::GetSourceTable(CS_Source source) {
std::shared_ptr<nt::NetworkTable> CameraServer::GetSourceTable(
CS_Source source) {
std::lock_guard<std::mutex> lock(m_mutex);
return m_tables.lookup(source);
}
@@ -140,7 +142,7 @@ void CameraServer::UpdateStreamValues() {
// Set table value
auto values = GetSinkStreamValues(sink);
if (!values.empty()) table->PutStringArray("streams", values);
if (!values.empty()) table->GetEntry("streams").SetStringArray(values);
}
}
@@ -153,7 +155,7 @@ void CameraServer::UpdateStreamValues() {
if (table) {
// Set table value
auto values = GetSourceStreamValues(source);
if (!values.empty()) table->PutStringArray("streams", values);
if (!values.empty()) table->GetEntry("streams").SetStringArray(values);
}
}
}
@@ -258,8 +260,8 @@ static inline llvm::StringRef Concatenate(llvm::StringRef lhs,
return oss.str();
}
static void PutSourcePropertyValue(ITable* table, const cs::VideoEvent& event,
bool isNew) {
static void PutSourcePropertyValue(nt::NetworkTable* table,
const cs::VideoEvent& event, bool isNew) {
llvm::SmallString<64> name;
llvm::SmallString<64> infoName;
if (llvm::StringRef{event.name}.startswith("raw_")) {
@@ -276,34 +278,35 @@ static void PutSourcePropertyValue(ITable* table, const cs::VideoEvent& event,
llvm::SmallString<64> buf;
CS_Status status = 0;
nt::NetworkTableEntry entry = table->GetEntry(name);
switch (event.propertyKind) {
case cs::VideoProperty::kBoolean:
if (isNew)
table->SetDefaultBoolean(name, event.value != 0);
entry.SetDefaultBoolean(event.value != 0);
else
table->PutBoolean(name, event.value != 0);
entry.SetBoolean(event.value != 0);
break;
case cs::VideoProperty::kInteger:
case cs::VideoProperty::kEnum:
if (isNew) {
table->SetDefaultNumber(name, event.value);
table->PutNumber(Concatenate(infoName, "/min", buf),
cs::GetPropertyMin(event.propertyHandle, &status));
table->PutNumber(Concatenate(infoName, "/max", buf),
cs::GetPropertyMax(event.propertyHandle, &status));
table->PutNumber(Concatenate(infoName, "/step", buf),
cs::GetPropertyStep(event.propertyHandle, &status));
table->PutNumber(Concatenate(infoName, "/default", buf),
cs::GetPropertyDefault(event.propertyHandle, &status));
entry.SetDefaultDouble(event.value);
table->GetEntry(Concatenate(infoName, "/min", buf))
.SetDouble(cs::GetPropertyMin(event.propertyHandle, &status));
table->GetEntry(Concatenate(infoName, "/max", buf))
.SetDouble(cs::GetPropertyMax(event.propertyHandle, &status));
table->GetEntry(Concatenate(infoName, "/step", buf))
.SetDouble(cs::GetPropertyStep(event.propertyHandle, &status));
table->GetEntry(Concatenate(infoName, "/default", buf))
.SetDouble(cs::GetPropertyDefault(event.propertyHandle, &status));
} else {
table->PutNumber(name, event.value);
entry.SetDouble(event.value);
}
break;
case cs::VideoProperty::kString:
if (isNew)
table->SetDefaultString(name, event.valueStr);
entry.SetDefaultString(event.valueStr);
else
table->PutString(name, event.valueStr);
entry.SetString(event.valueStr);
break;
default:
break;
@@ -311,7 +314,8 @@ static void PutSourcePropertyValue(ITable* table, const cs::VideoEvent& event,
}
CameraServer::CameraServer()
: m_publishTable{NetworkTable::GetTable(kPublishName)},
: m_publishTable{nt::NetworkTableInstance::GetDefault().GetTable(
kPublishName)},
m_nextPort(kBasePort) {
// We publish sources to NetworkTables using the following structure:
// "/CameraPublisher/{Source.Name}/" - root
@@ -337,28 +341,30 @@ CameraServer::CameraServer()
m_tables.insert(std::make_pair(event.sourceHandle, table));
}
llvm::SmallString<64> buf;
table->PutString("source",
MakeSourceValue(event.sourceHandle, buf));
table->GetEntry("source").SetString(
MakeSourceValue(event.sourceHandle, buf));
llvm::SmallString<64> descBuf;
table->PutString(
"description",
cs::GetSourceDescription(event.sourceHandle, descBuf, &status));
table->PutBoolean("connected", cs::IsSourceConnected(
event.sourceHandle, &status));
table->PutStringArray("streams",
GetSourceStreamValues(event.sourceHandle));
table->GetEntry("description")
.SetString(cs::GetSourceDescription(event.sourceHandle, descBuf,
&status));
table->GetEntry("connected")
.SetBoolean(cs::IsSourceConnected(event.sourceHandle, &status));
table->GetEntry("streams").SetStringArray(
GetSourceStreamValues(event.sourceHandle));
auto mode = cs::GetSourceVideoMode(event.sourceHandle, &status);
table->SetDefaultString("mode", VideoModeToString(mode));
table->PutStringArray("modes",
GetSourceModeValues(event.sourceHandle));
table->GetEntry("mode").SetDefaultString(VideoModeToString(mode));
table->GetEntry("modes").SetStringArray(
GetSourceModeValues(event.sourceHandle));
break;
}
case cs::VideoEvent::kSourceDestroyed: {
auto table = GetSourceTable(event.sourceHandle);
if (table) {
table->PutString("source", "");
table->PutStringArray("streams", std::vector<std::string>{});
table->PutStringArray("modes", std::vector<std::string>{});
table->GetEntry("source").SetString("");
table->GetEntry("streams").SetStringArray(
std::vector<std::string>{});
table->GetEntry("modes").SetStringArray(
std::vector<std::string>{});
}
break;
}
@@ -367,28 +373,29 @@ CameraServer::CameraServer()
if (table) {
// update the description too (as it may have changed)
llvm::SmallString<64> descBuf;
table->PutString("description",
cs::GetSourceDescription(event.sourceHandle,
descBuf, &status));
table->PutBoolean("connected", true);
table->GetEntry("description")
.SetString(cs::GetSourceDescription(event.sourceHandle,
descBuf, &status));
table->GetEntry("connected").SetBoolean(true);
}
break;
}
case cs::VideoEvent::kSourceDisconnected: {
auto table = GetSourceTable(event.sourceHandle);
if (table) table->PutBoolean("connected", false);
if (table) table->GetEntry("connected").SetBoolean(false);
break;
}
case cs::VideoEvent::kSourceVideoModesUpdated: {
auto table = GetSourceTable(event.sourceHandle);
if (table)
table->PutStringArray("modes",
GetSourceModeValues(event.sourceHandle));
table->GetEntry("modes").SetStringArray(
GetSourceModeValues(event.sourceHandle));
break;
}
case cs::VideoEvent::kSourceVideoModeChanged: {
auto table = GetSourceTable(event.sourceHandle);
if (table) table->PutString("mode", VideoModeToString(event.mode));
if (table)
table->GetEntry("mode").SetString(VideoModeToString(event.mode));
break;
}
case cs::VideoEvent::kSourcePropertyCreated: {
@@ -409,7 +416,7 @@ CameraServer::CameraServer()
name += "/choices";
auto choices =
cs::GetEnumPropertyChoices(event.propertyHandle, &status);
table->PutStringArray(name, choices);
table->GetEntry(name).SetStringArray(choices);
}
break;
}
@@ -432,12 +439,11 @@ CameraServer::CameraServer()
// synchronization issues, so just update to current setting if someone
// else tries to change it.
llvm::SmallString<64> buf;
m_tableListener = nt::AddEntryListener(
m_tableListener = nt::NetworkTableInstance::GetDefault().AddEntryListener(
Concatenate(kPublishName, "/", buf),
[=](unsigned int uid, llvm::StringRef key,
std::shared_ptr<nt::Value> value, unsigned int flags) {
[=](const nt::EntryNotification& event) {
llvm::StringRef relativeKey =
key.substr(llvm::StringRef(kPublishName).size() + 1);
event.name.substr(llvm::StringRef(kPublishName).size() + 1);
// get source (sourceName/...)
auto subKeyIndex = relativeKey.find('/');
@@ -451,10 +457,10 @@ CameraServer::CameraServer()
// handle standard names
llvm::StringRef propName;
nt::NetworkTableEntry entry{event.entry};
if (relativeKey == "mode") {
// reset to current mode
nt::SetEntryValue(key, nt::Value::MakeString(VideoModeToString(
sourceIt->second.GetVideoMode())));
entry.SetString(VideoModeToString(sourceIt->second.GetVideoMode()));
return;
} else if (relativeKey.startswith("Property/")) {
propName = relativeKey.substr(9);
@@ -470,14 +476,14 @@ CameraServer::CameraServer()
case cs::VideoProperty::kNone:
return;
case cs::VideoProperty::kBoolean:
nt::SetEntryValue(key, nt::Value::MakeBoolean(property.Get() != 0));
entry.SetBoolean(property.Get() != 0);
return;
case cs::VideoProperty::kInteger:
case cs::VideoProperty::kEnum:
nt::SetEntryValue(key, nt::Value::MakeDouble(property.Get()));
entry.SetDouble(property.Get());
return;
case cs::VideoProperty::kString:
nt::SetEntryValue(key, nt::Value::MakeString(property.GetString()));
entry.SetString(property.GetString());
return;
default:
return;