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Update CameraServer support. (#386)

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* Follow MixedCase rename.

* Add GetVideo function to get cameras by name.
This commit is contained in:
Peter Johnson
2016-12-04 00:26:08 -08:00
committed by GitHub
parent 16181523c9
commit 06108b9479
3 changed files with 96 additions and 46 deletions
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51
wpilibc/athena/src/CameraServer.cpp
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@@ -24,14 +24,14 @@ static llvm::StringRef MakeSourceValue(CS_Source source,
CS_Status status = 0;
buf.clear();
switch (cs::GetSourceKind(source, &status)) {
case cs::VideoSource::kUSB: {
case cs::VideoSource::kUsb: {
llvm::StringRef prefix{"usb:"};
buf.append(prefix.begin(), prefix.end());
auto path = cs::GetUSBCameraPath(source, &status);
auto path = cs::GetUsbCameraPath(source, &status);
buf.append(path.begin(), path.end());
break;
}
case cs::VideoSource::kHTTP: {
case cs::VideoSource::kHttp: {
llvm::StringRef prefix{"ip:"};
buf.append(prefix.begin(), prefix.end());
// TODO
@@ -64,8 +64,8 @@ void CameraServer::UpdateStreamValues() {
// Over all the sinks...
for (const auto& i : m_sinks) {
CS_Status status = 0;
// Ignore all but MJPEGServer
if (i.second.GetKind() != cs::VideoSink::kMJPEG) continue;
// Ignore all but MjpegServer
if (i.second.GetKind() != cs::VideoSink::kMjpeg) continue;
CS_Sink sink = i.second.GetHandle();
// Get the source's subtable (if none exists, we're done)
@@ -74,11 +74,11 @@ void CameraServer::UpdateStreamValues() {
if (!table) continue;
// Get port
int port = cs::GetMJPEGServerPort(sink, &status);
int port = cs::GetMjpegServerPort(sink, &status);
// Generate values
std::vector<std::string> values;
auto listenAddress = cs::GetMJPEGServerListenAddress(sink, &status);
auto listenAddress = cs::GetMjpegServerListenAddress(sink, &status);
if (!listenAddress.empty()) {
// If a listen address is specified, only use that
values.emplace_back(MakeStreamValue(listenAddress, port));
@@ -197,30 +197,30 @@ CameraServer::CameraServer()
0x7fff, true};
}
cs::USBCamera CameraServer::StartAutomaticCapture() {
cs::UsbCamera CameraServer::StartAutomaticCapture() {
return StartAutomaticCapture(0);
}
cs::USBCamera CameraServer::StartAutomaticCapture(int dev) {
cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
llvm::SmallString<64> buf;
llvm::raw_svector_ostream name{buf};
name << "USB Camera " << dev;
cs::USBCamera camera{name.str(), dev};
cs::UsbCamera camera{name.str(), dev};
StartAutomaticCapture(camera);
return camera;
}
cs::USBCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
int dev) {
cs::USBCamera camera{name, dev};
cs::UsbCamera camera{name, dev};
StartAutomaticCapture(camera);
return camera;
}
cs::USBCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
llvm::StringRef path) {
cs::USBCamera camera{name, path};
cs::UsbCamera camera{name, path};
StartAutomaticCapture(camera);
return camera;
}
@@ -278,6 +278,23 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
return newsink;
}
cs::CvSink CameraServer::GetVideo(llvm::StringRef name) {
cs::VideoSource source;
{
std::lock_guard<std::mutex> lock(m_mutex);
auto it = m_sources.find(name);
if (it == m_sources.end()) {
llvm::SmallString<64> buf;
llvm::raw_svector_ostream err{buf};
err << "could not find camera " << name;
wpi_setWPIErrorWithContext(CameraServerError, err.str());
return cs::CvSink{};
}
source = it->second;
}
return GetVideo(source);
}
cs::CvSource CameraServer::PutVideo(llvm::StringRef name, int width,
int height) {
cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
@@ -285,7 +302,7 @@ cs::CvSource CameraServer::PutVideo(llvm::StringRef name, int width,
return source;
}
cs::MJPEGServer CameraServer::AddServer(llvm::StringRef name) {
cs::MjpegServer CameraServer::AddServer(llvm::StringRef name) {
int port;
{
std::lock_guard<std::mutex> lock(m_mutex);
@@ -294,8 +311,8 @@ cs::MJPEGServer CameraServer::AddServer(llvm::StringRef name) {
return AddServer(name, port);
}
cs::MJPEGServer CameraServer::AddServer(llvm::StringRef name, int port) {
cs::MJPEGServer server{name, port};
cs::MjpegServer CameraServer::AddServer(llvm::StringRef name, int port) {
cs::MjpegServer server{name, port};
AddServer(server);
return server;
}