cscore: Refactor sink and source creation

Also make sources and sinks members of Instance private, with appropriate accessor functions.
2026-06-19 00:41:43 +00:00 · 2018-11-06 19:42:39 -08:00
parent 81d10bc656
commit 0abae17653
13 changed files with 185 additions and 137 deletions
--- a/cscore/src/main/native/cpp/CvSinkImpl.cpp
+++ b/cscore/src/main/native/cpp/CvSinkImpl.cpp
@@ -124,27 +124,23 @@ namespace cs {

 CS_Sink CreateCvSink(const wpi::Twine& name, CS_Status* status) {
  auto& inst = Instance::GetInstance();
-  auto sink = std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                           inst.telemetry);
-  auto handle = inst.sinks.Allocate(CS_SINK_CV, sink);
-  inst.notifier.NotifySink(name, handle, CS_SINK_CREATED);
-  return handle;
+  return inst.CreateSink(
+      CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
+                                               inst.telemetry));
 }

 CS_Sink CreateCvSinkCallback(const wpi::Twine& name,
                             std::function<void(uint64_t time)> processFrame,
                             CS_Status* status) {
  auto& inst = Instance::GetInstance();
-  auto sink = std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                           inst.telemetry, processFrame);
-  auto handle = inst.sinks.Allocate(CS_SINK_CV, sink);
-  inst.notifier.NotifySink(name, handle, CS_SINK_CREATED);
-  return handle;
+  return inst.CreateSink(
+      CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
+                                               inst.telemetry, processFrame));
 }

 void SetSinkDescription(CS_Sink sink, const wpi::Twine& description,
                        CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_CV) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -153,7 +149,7 @@ void SetSinkDescription(CS_Sink sink, const wpi::Twine& description,
 }

 uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_CV) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -163,7 +159,7 @@ uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status) {

 uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image, double timeout,
                              CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_CV) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -172,7 +168,7 @@ uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image, double timeout,
 }

 std::string GetSinkError(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_CV) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
@@ -182,7 +178,7 @@ std::string GetSinkError(CS_Sink sink, CS_Status* status) {

 wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
                            CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_CV) {
    *status = CS_INVALID_HANDLE;
    return wpi::StringRef{};
@@ -191,7 +187,7 @@ wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
 }

 void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_CV) {
    *status = CS_INVALID_HANDLE;
    return;
--- a/cscore/src/main/native/cpp/CvSourceImpl.cpp
+++ b/cscore/src/main/native/cpp/CvSourceImpl.cpp
@@ -32,7 +32,11 @@ CvSourceImpl::CvSourceImpl(const wpi::Twine& name, wpi::Logger& logger,

 CvSourceImpl::~CvSourceImpl() {}

-void CvSourceImpl::Start() {}
+void CvSourceImpl::Start() {
+  m_notifier.NotifySource(*this, CS_SOURCE_CONNECTED);
+  m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
+  m_notifier.NotifySourceVideoMode(*this, m_mode);
+}

 bool CvSourceImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
  {
@@ -145,20 +149,13 @@ namespace cs {
 CS_Source CreateCvSource(const wpi::Twine& name, const VideoMode& mode,
                         CS_Status* status) {
  auto& inst = Instance::GetInstance();
-  auto source = std::make_shared<CvSourceImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry, mode);
-  auto handle = inst.sources.Allocate(CS_SOURCE_CV, source);
-  inst.notifier.NotifySource(name, handle, CS_SOURCE_CREATED);
-  // Generate initial events here so they come after the source created event
-  source->Start();  // causes a property event
-  inst.notifier.NotifySource(name, handle, CS_SOURCE_CONNECTED);
-  inst.notifier.NotifySource(name, handle, CS_SOURCE_VIDEOMODES_UPDATED);
-  inst.notifier.NotifySourceVideoMode(*source, mode);
-  return handle;
+  return inst.CreateSource(CS_SOURCE_CV, std::make_shared<CvSourceImpl>(
+                                             name, inst.logger, inst.notifier,
+                                             inst.telemetry, mode));
 }

 void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_CV) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -168,7 +165,7 @@ void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status) {

 void NotifySourceError(CS_Source source, const wpi::Twine& msg,
                       CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_CV) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -177,7 +174,7 @@ void NotifySourceError(CS_Source source, const wpi::Twine& msg,
 }

 void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_CV) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -187,7 +184,7 @@ void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {

 void SetSourceDescription(CS_Source source, const wpi::Twine& description,
                          CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_CV) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -199,7 +196,7 @@ CS_Property CreateSourceProperty(CS_Source source, const wpi::Twine& name,
                                 CS_PropertyKind kind, int minimum, int maximum,
                                 int step, int defaultValue, int value,
                                 CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_CV) {
    *status = CS_INVALID_HANDLE;
    return -1;
@@ -214,7 +211,7 @@ CS_Property CreateSourcePropertyCallback(
    CS_Source source, const wpi::Twine& name, CS_PropertyKind kind, int minimum,
    int maximum, int step, int defaultValue, int value,
    std::function<void(CS_Property property)> onChange, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_CV) {
    *status = CS_INVALID_HANDLE;
    return -1;
@@ -228,7 +225,7 @@ CS_Property CreateSourcePropertyCallback(
 void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
                                  wpi::ArrayRef<std::string> choices,
                                  CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_CV) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -241,7 +238,7 @@ void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
    *status = CS_INVALID_HANDLE;
    return;
  }
-  auto data2 = Instance::GetInstance().sources.Get(Handle{i, Handle::kSource});
+  auto data2 = Instance::GetInstance().GetSource(Handle{i, Handle::kSource});
  if (!data2 || data->source.get() != data2->source.get()) {
    *status = CS_INVALID_HANDLE;
    return;
--- a/cscore/src/main/native/cpp/CvSourceImpl.h
+++ b/cscore/src/main/native/cpp/CvSourceImpl.h
@@ -28,7 +28,7 @@ class CvSourceImpl : public SourceImpl {
               Telemetry& telemetry, const VideoMode& mode);
  ~CvSourceImpl() override;

-  void Start();
+  void Start() override;

  bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;

--- a/cscore/src/main/native/cpp/HttpCameraImpl.cpp
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.cpp
@@ -482,10 +482,7 @@ CS_Source CreateHttpCamera(const wpi::Twine& name, const wpi::Twine& url,
      break;
  }
  if (!source->SetUrls(url.str(), status)) return 0;
-  auto handle = inst.sources.Allocate(CS_SOURCE_HTTP, source);
-  inst.notifier.NotifySource(name, handle, CS_SOURCE_CREATED);
-  source->Start();
-  return handle;
+  return inst.CreateSource(CS_SOURCE_HTTP, source);
 }

 CS_Source CreateHttpCamera(const wpi::Twine& name,
@@ -499,14 +496,11 @@ CS_Source CreateHttpCamera(const wpi::Twine& name,
  auto source = std::make_shared<HttpCameraImpl>(name, kind, inst.logger,
                                                 inst.notifier, inst.telemetry);
  if (!source->SetUrls(urls, status)) return 0;
-  auto handle = inst.sources.Allocate(CS_SOURCE_HTTP, source);
-  inst.notifier.NotifySource(name, handle, CS_SOURCE_CREATED);
-  source->Start();
-  return handle;
+  return inst.CreateSource(CS_SOURCE_HTTP, source);
 }

 CS_HttpCameraKind GetHttpCameraKind(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_HTTP) {
    *status = CS_INVALID_HANDLE;
    return CS_HTTP_UNKNOWN;
@@ -520,7 +514,7 @@ void SetHttpCameraUrls(CS_Source source, wpi::ArrayRef<std::string> urls,
    *status = CS_EMPTY_VALUE;
    return;
  }
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_HTTP) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -530,7 +524,7 @@ void SetHttpCameraUrls(CS_Source source, wpi::ArrayRef<std::string> urls,

 std::vector<std::string> GetHttpCameraUrls(CS_Source source,
                                           CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_HTTP) {
    *status = CS_INVALID_HANDLE;
    return std::vector<std::string>{};
--- a/cscore/src/main/native/cpp/HttpCameraImpl.h
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.h
@@ -34,7 +34,7 @@ class HttpCameraImpl : public SourceImpl {
                 wpi::Logger& logger, Notifier& notifier, Telemetry& telemetry);
  ~HttpCameraImpl() override;

-  void Start();
+  void Start() override;

  // Property functions
  void SetProperty(int property, int value, CS_Status* status) override;
--- a/cscore/src/main/native/cpp/Instance.cpp
+++ b/cscore/src/main/native/cpp/Instance.cpp
@@ -53,12 +53,36 @@ void Instance::SetDefaultLogger() { logger.SetLogger(def_log_func); }

 std::pair<CS_Source, std::shared_ptr<SourceData>> Instance::FindSource(
    const SourceImpl& source) {
-  return sources.FindIf(
+  return m_sources.FindIf(
      [&](const SourceData& data) { return data.source.get() == &source; });
 }

 std::pair<CS_Sink, std::shared_ptr<SinkData>> Instance::FindSink(
    const SinkImpl& sink) {
-  return sinks.FindIf(
+  return m_sinks.FindIf(
      [&](const SinkData& data) { return data.sink.get() == &sink; });
 }
+
+CS_Source Instance::CreateSource(CS_SourceKind kind,
+                                 std::shared_ptr<SourceImpl> source) {
+  auto handle = m_sources.Allocate(kind, source);
+  notifier.NotifySource(source->GetName(), handle, CS_SOURCE_CREATED);
+  source->Start();
+  return handle;
+}
+
+CS_Sink Instance::CreateSink(CS_SinkKind kind, std::shared_ptr<SinkImpl> sink) {
+  auto handle = m_sinks.Allocate(kind, sink);
+  notifier.NotifySink(sink->GetName(), handle, CS_SINK_CREATED);
+  return handle;
+}
+
+void Instance::DestroySource(CS_Source handle) {
+  if (auto data = m_sources.Free(handle))
+    notifier.NotifySource(data->source->GetName(), handle, CS_SOURCE_DESTROYED);
+}
+
+void Instance::DestroySink(CS_Sink handle) {
+  if (auto data = m_sinks.Free(handle))
+    notifier.NotifySink(data->sink->GetName(), handle, CS_SINK_DESTROYED);
+}
--- a/cscore/src/main/native/cpp/Instance.h
+++ b/cscore/src/main/native/cpp/Instance.h
@@ -51,13 +51,16 @@ class Instance {

  static Instance& GetInstance();

-  UnlimitedHandleResource<Handle, SourceData, Handle::kSource> sources;
-  UnlimitedHandleResource<Handle, SinkData, Handle::kSink> sinks;
-
  wpi::Logger logger;
  Notifier notifier;
  Telemetry telemetry;
  NetworkListener network_listener;
+
+ private:
+  UnlimitedHandleResource<Handle, SourceData, Handle::kSource> m_sources;
+  UnlimitedHandleResource<Handle, SinkData, Handle::kSink> m_sinks;
+
+ public:
  wpi::EventLoopRunner event_loop;

  std::pair<CS_Sink, std::shared_ptr<SinkData>> FindSink(const SinkImpl& sink);
@@ -66,6 +69,41 @@ class Instance {

  void SetDefaultLogger();

+  std::shared_ptr<SourceData> GetSource(CS_Source handle) {
+    return m_sources.Get(handle);
+  }
+
+  std::shared_ptr<SinkData> GetSink(CS_Sink handle) {
+    return m_sinks.Get(handle);
+  }
+
+  CS_Source CreateSource(CS_SourceKind kind,
+                         std::shared_ptr<SourceImpl> source);
+
+  CS_Sink CreateSink(CS_SinkKind kind, std::shared_ptr<SinkImpl> sink);
+
+  void DestroySource(CS_Source handle);
+  void DestroySink(CS_Sink handle);
+
+  wpi::ArrayRef<CS_Source> EnumerateSourceHandles(
+      wpi::SmallVectorImpl<CS_Source>& vec) {
+    return m_sources.GetAll(vec);
+  }
+
+  wpi::ArrayRef<CS_Sink> EnumerateSinkHandles(
+      wpi::SmallVectorImpl<CS_Sink>& vec) {
+    return m_sinks.GetAll(vec);
+  }
+
+  wpi::ArrayRef<CS_Sink> EnumerateSourceSinks(
+      CS_Source source, wpi::SmallVectorImpl<CS_Sink>& vec) {
+    vec.clear();
+    m_sinks.ForEach([&](CS_Sink sinkHandle, const SinkData& data) {
+      if (source == data.sourceHandle.load()) vec.push_back(sinkHandle);
+    });
+    return vec;
+  }
+
 private:
  Instance();
 };
--- a/cscore/src/main/native/cpp/MjpegServerImpl.cpp
+++ b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
@@ -915,19 +915,18 @@ CS_Sink CreateMjpegServer(const wpi::Twine& name,
                          CS_Status* status) {
  auto& inst = Instance::GetInstance();
  wpi::SmallString<128> listenAddressBuf;
-  auto sink = std::make_shared<MjpegServerImpl>(
-      name, inst.logger, inst.notifier, inst.telemetry, listenAddress, port,
-      std::unique_ptr<wpi::NetworkAcceptor>(new wpi::TCPAcceptor(
-          port,
-          listenAddress.toNullTerminatedStringRef(listenAddressBuf).data(),
-          inst.logger)));
-  auto handle = inst.sinks.Allocate(CS_SINK_MJPEG, sink);
-  inst.notifier.NotifySink(name, handle, CS_SINK_CREATED);
-  return handle;
+  return inst.CreateSink(
+      CS_SINK_MJPEG,
+      std::make_shared<MjpegServerImpl>(
+          name, inst.logger, inst.notifier, inst.telemetry, listenAddress, port,
+          std::unique_ptr<wpi::NetworkAcceptor>(new wpi::TCPAcceptor(
+              port,
+              listenAddress.toNullTerminatedStringRef(listenAddressBuf).data(),
+              inst.logger))));
 }

 std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_MJPEG) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
@@ -936,7 +935,7 @@ std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status) {
 }

 int GetMjpegServerPort(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || data->kind != CS_SINK_MJPEG) {
    *status = CS_INVALID_HANDLE;
    return 0;
--- a/cscore/src/main/native/cpp/SourceImpl.h
+++ b/cscore/src/main/native/cpp/SourceImpl.h
@@ -42,6 +42,8 @@ class SourceImpl : public PropertyContainer {
  SourceImpl(const SourceImpl& oth) = delete;
  SourceImpl& operator=(const SourceImpl& oth) = delete;

+  virtual void Start() = 0;
+
  wpi::StringRef GetName() const { return m_name; }

  void SetDescription(const wpi::Twine& description);
--- a/cscore/src/main/native/cpp/UnlimitedHandleResource.h
+++ b/cscore/src/main/native/cpp/UnlimitedHandleResource.h
@@ -50,11 +50,13 @@ class UnlimitedHandleResource {

  std::shared_ptr<TStruct> Get(THandle handle);

-  void Free(THandle handle);
+  std::shared_ptr<TStruct> Free(THandle handle);

  template <typename T>
  wpi::ArrayRef<T> GetAll(wpi::SmallVectorImpl<T>& vec);

+  std::vector<std::shared_ptr<TStruct>> FreeAll();
+
  // @param func functor with (THandle, const TStruct&) parameters
  template <typename F>
  void ForEach(F func);
@@ -121,14 +123,17 @@ UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Get(
 }

 template <typename THandle, typename TStruct, int typeValue, typename TMutex>
-inline void UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Free(
+inline std::shared_ptr<TStruct>
+UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Free(
    THandle handle) {
  auto index =
      handle.GetTypedIndex(static_cast<typename THandle::Type>(typeValue));
-  if (index < 0) return;
+  if (index < 0) return nullptr;
  std::lock_guard<TMutex> sync(m_handleMutex);
-  if (index >= static_cast<int>(m_structures.size())) return;
+  if (index >= static_cast<int>(m_structures.size())) return nullptr;
+  auto rv = std::move(m_structures[index]);
  m_structures[index].reset();
+  return rv;
 }

 template <typename THandle, typename TStruct, int typeValue, typename TMutex>
@@ -140,6 +145,15 @@ UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::GetAll(
  return vec;
 }

+template <typename THandle, typename TStruct, int typeValue, typename TMutex>
+inline std::vector<std::shared_ptr<TStruct>>
+UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::FreeAll() {
+  std::lock_guard<TMutex> sync(m_handleMutex);
+  auto rv = std::move(m_structures);
+  m_structures.clear();
+  return rv;
+}
+
 template <typename THandle, typename TStruct, int typeValue, typename TMutex>
 template <typename F>
 inline void
--- a/cscore/src/main/native/cpp/cscore_cpp.cpp
+++ b/cscore/src/main/native/cpp/cscore_cpp.cpp
@@ -28,7 +28,7 @@ static std::shared_ptr<PropertyContainer> GetPropertyContainer(
  Handle handle{propertyHandle};
  if (handle.IsType(Handle::kProperty)) {
    int i = handle.GetParentIndex();
-    auto data = Instance::GetInstance().sources.Get(Handle{i, Handle::kSource});
+    auto data = Instance::GetInstance().GetSource(Handle{i, Handle::kSource});
    if (!data) {
      *status = CS_INVALID_HANDLE;
      return nullptr;
@@ -36,7 +36,7 @@ static std::shared_ptr<PropertyContainer> GetPropertyContainer(
    container = data->source;
  } else if (handle.IsType(Handle::kSinkProperty)) {
    int i = handle.GetParentIndex();
-    auto data = Instance::GetInstance().sinks.Get(Handle{i, Handle::kSink});
+    auto data = Instance::GetInstance().GetSink(Handle{i, Handle::kSink});
    if (!data) {
      *status = CS_INVALID_HANDLE;
      return nullptr;
@@ -160,7 +160,7 @@ std::vector<std::string> GetEnumPropertyChoices(CS_Property property,
 //

 CS_SourceKind GetSourceKind(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return CS_SOURCE_UNKNOWN;
@@ -169,7 +169,7 @@ CS_SourceKind GetSourceKind(CS_Source source, CS_Status* status) {
 }

 std::string GetSourceName(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
@@ -179,7 +179,7 @@ std::string GetSourceName(CS_Source source, CS_Status* status) {

 wpi::StringRef GetSourceName(CS_Source source, wpi::SmallVectorImpl<char>& buf,
                             CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return wpi::StringRef{};
@@ -188,7 +188,7 @@ wpi::StringRef GetSourceName(CS_Source source, wpi::SmallVectorImpl<char>& buf,
 }

 std::string GetSourceDescription(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
@@ -200,7 +200,7 @@ std::string GetSourceDescription(CS_Source source, CS_Status* status) {
 wpi::StringRef GetSourceDescription(CS_Source source,
                                    wpi::SmallVectorImpl<char>& buf,
                                    CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return wpi::StringRef{};
@@ -209,7 +209,7 @@ wpi::StringRef GetSourceDescription(CS_Source source,
 }

 uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -220,7 +220,7 @@ uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status) {
 void SetSourceConnectionStrategy(CS_Source source,
                                 CS_ConnectionStrategy strategy,
                                 CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -229,7 +229,7 @@ void SetSourceConnectionStrategy(CS_Source source,
 }

 bool IsSourceConnected(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return false;
@@ -238,7 +238,7 @@ bool IsSourceConnected(CS_Source source, CS_Status* status) {
 }

 bool IsSourceEnabled(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return false;
@@ -248,7 +248,7 @@ bool IsSourceEnabled(CS_Source source, CS_Status* status) {

 CS_Property GetSourceProperty(CS_Source source, const wpi::Twine& name,
                              CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -264,7 +264,7 @@ CS_Property GetSourceProperty(CS_Source source, const wpi::Twine& name,
 wpi::ArrayRef<CS_Property> EnumerateSourceProperties(
    CS_Source source, wpi::SmallVectorImpl<CS_Property>& vec,
    CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -277,7 +277,7 @@ wpi::ArrayRef<CS_Property> EnumerateSourceProperties(
 }

 VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return VideoMode{};
@@ -287,7 +287,7 @@ VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status) {

 bool SetSourceVideoMode(CS_Source source, const VideoMode& mode,
                        CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return false;
@@ -297,7 +297,7 @@ bool SetSourceVideoMode(CS_Source source, const VideoMode& mode,

 bool SetSourcePixelFormat(CS_Source source, VideoMode::PixelFormat pixelFormat,
                          CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return false;
@@ -307,7 +307,7 @@ bool SetSourcePixelFormat(CS_Source source, VideoMode::PixelFormat pixelFormat,

 bool SetSourceResolution(CS_Source source, int width, int height,
                         CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return false;
@@ -316,7 +316,7 @@ bool SetSourceResolution(CS_Source source, int width, int height,
 }

 bool SetSourceFPS(CS_Source source, int fps, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return false;
@@ -326,7 +326,7 @@ bool SetSourceFPS(CS_Source source, int fps, CS_Status* status) {

 std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
                                                 CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return std::vector<VideoMode>{};
@@ -338,21 +338,17 @@ wpi::ArrayRef<CS_Sink> EnumerateSourceSinks(CS_Source source,
                                            wpi::SmallVectorImpl<CS_Sink>& vec,
                                            CS_Status* status) {
  auto& inst = Instance::GetInstance();
-  auto data = inst.sources.Get(source);
+  auto data = inst.GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return wpi::ArrayRef<CS_Sink>{};
  }
-  vec.clear();
-  inst.sinks.ForEach([&](CS_Sink sinkHandle, const SinkData& data) {
-    if (source == data.sourceHandle.load()) vec.push_back(sinkHandle);
-  });
-  return vec;
+  return inst.EnumerateSourceSinks(source, vec);
 }

 CS_Source CopySource(CS_Source source, CS_Status* status) {
  if (source == 0) return 0;
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -364,16 +360,12 @@ CS_Source CopySource(CS_Source source, CS_Status* status) {
 void ReleaseSource(CS_Source source, CS_Status* status) {
  if (source == 0) return;
  auto& inst = Instance::GetInstance();
-  auto data = inst.sources.Get(source);
+  auto data = inst.GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
  }
-  if (data->refCount-- == 0) {
-    inst.notifier.NotifySource(data->source->GetName(), source,
-                               CS_SOURCE_DESTROYED);
-    inst.sources.Free(source);
-  }
+  if (data->refCount-- == 0) inst.DestroySource(source);
 }

 //
@@ -381,7 +373,7 @@ void ReleaseSource(CS_Source source, CS_Status* status) {
 //

 void SetCameraBrightness(CS_Source source, int brightness, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -390,7 +382,7 @@ void SetCameraBrightness(CS_Source source, int brightness, CS_Status* status) {
 }

 int GetCameraBrightness(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -399,7 +391,7 @@ int GetCameraBrightness(CS_Source source, CS_Status* status) {
 }

 void SetCameraWhiteBalanceAuto(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -408,7 +400,7 @@ void SetCameraWhiteBalanceAuto(CS_Source source, CS_Status* status) {
 }

 void SetCameraWhiteBalanceHoldCurrent(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -418,7 +410,7 @@ void SetCameraWhiteBalanceHoldCurrent(CS_Source source, CS_Status* status) {

 void SetCameraWhiteBalanceManual(CS_Source source, int value,
                                 CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -427,7 +419,7 @@ void SetCameraWhiteBalanceManual(CS_Source source, int value,
 }

 void SetCameraExposureAuto(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -436,7 +428,7 @@ void SetCameraExposureAuto(CS_Source source, CS_Status* status) {
 }

 void SetCameraExposureHoldCurrent(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -445,7 +437,7 @@ void SetCameraExposureHoldCurrent(CS_Source source, CS_Status* status) {
 }

 void SetCameraExposureManual(CS_Source source, int value, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -458,7 +450,7 @@ void SetCameraExposureManual(CS_Source source, int value, CS_Status* status) {
 //

 CS_SinkKind GetSinkKind(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return CS_SINK_UNKNOWN;
@@ -467,7 +459,7 @@ CS_SinkKind GetSinkKind(CS_Sink sink, CS_Status* status) {
 }

 std::string GetSinkName(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
@@ -477,7 +469,7 @@ std::string GetSinkName(CS_Sink sink, CS_Status* status) {

 wpi::StringRef GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
                           CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return wpi::StringRef{};
@@ -486,7 +478,7 @@ wpi::StringRef GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
 }

 std::string GetSinkDescription(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
@@ -497,7 +489,7 @@ std::string GetSinkDescription(CS_Sink sink, CS_Status* status) {

 wpi::StringRef GetSinkDescription(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
                                  CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return wpi::StringRef{};
@@ -507,7 +499,7 @@ wpi::StringRef GetSinkDescription(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,

 CS_Property GetSinkProperty(CS_Sink sink, const wpi::Twine& name,
                            CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -522,7 +514,7 @@ CS_Property GetSinkProperty(CS_Sink sink, const wpi::Twine& name,

 wpi::ArrayRef<CS_Property> EnumerateSinkProperties(
    CS_Sink sink, wpi::SmallVectorImpl<CS_Property>& vec, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -534,7 +526,7 @@ wpi::ArrayRef<CS_Property> EnumerateSinkProperties(
 }

 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
@@ -542,7 +534,7 @@ void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status) {
  if (source == 0) {
    data->sink->SetSource(nullptr);
  } else {
-    auto sourceData = Instance::GetInstance().sources.Get(source);
+    auto sourceData = Instance::GetInstance().GetSource(source);
    if (!sourceData) {
      *status = CS_INVALID_HANDLE;
      return;
@@ -555,7 +547,7 @@ void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status) {
 }

 CS_Source GetSinkSource(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -565,7 +557,7 @@ CS_Source GetSinkSource(CS_Sink sink, CS_Status* status) {

 CS_Property GetSinkSourceProperty(CS_Sink sink, const wpi::Twine& name,
                                  CS_Status* status) {
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -575,7 +567,7 @@ CS_Property GetSinkSourceProperty(CS_Sink sink, const wpi::Twine& name,

 CS_Sink CopySink(CS_Sink sink, CS_Status* status) {
  if (sink == 0) return 0;
-  auto data = Instance::GetInstance().sinks.Get(sink);
+  auto data = Instance::GetInstance().GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return 0;
@@ -587,15 +579,12 @@ CS_Sink CopySink(CS_Sink sink, CS_Status* status) {
 void ReleaseSink(CS_Sink sink, CS_Status* status) {
  if (sink == 0) return;
  auto& inst = Instance::GetInstance();
-  auto data = inst.sinks.Get(sink);
+  auto data = inst.GetSink(sink);
  if (!data) {
    *status = CS_INVALID_HANDLE;
    return;
  }
-  if (data->refCount-- == 0) {
-    inst.notifier.NotifySink(data->sink->GetName(), sink, CS_SINK_DESTROYED);
-    inst.sinks.Free(sink);
-  }
+  if (data->refCount-- == 0) inst.DestroySink(sink);
 }

 //
@@ -682,12 +671,12 @@ void SetDefaultLogger(unsigned int min_level) {

 wpi::ArrayRef<CS_Source> EnumerateSourceHandles(
    wpi::SmallVectorImpl<CS_Source>& vec, CS_Status* status) {
-  return Instance::GetInstance().sources.GetAll(vec);
+  return Instance::GetInstance().EnumerateSourceHandles(vec);
 }

 wpi::ArrayRef<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec,
                                            CS_Status* status) {
-  return Instance::GetInstance().sinks.GetAll(vec);
+  return Instance::GetInstance().EnumerateSinkHandles(vec);
 }

 std::string GetHostname() { return wpi::GetHostname(); }
--- a/cscore/src/main/native/linux/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/linux/UsbCameraImpl.cpp
@@ -1264,18 +1264,13 @@ CS_Source CreateUsbCameraDev(const wpi::Twine& name, int dev,
 CS_Source CreateUsbCameraPath(const wpi::Twine& name, const wpi::Twine& path,
                              CS_Status* status) {
  auto& inst = Instance::GetInstance();
-  auto source = std::make_shared<UsbCameraImpl>(
-      name, inst.logger, inst.notifier, inst.telemetry, path);
-  auto handle = inst.sources.Allocate(CS_SOURCE_USB, source);
-  inst.notifier.NotifySource(name, handle, CS_SOURCE_CREATED);
-  // Start thread after the source created event to ensure other events
-  // come after it.
-  source->Start();
-  return handle;
+  return inst.CreateSource(CS_SOURCE_USB, std::make_shared<UsbCameraImpl>(
+                                              name, inst.logger, inst.notifier,
+                                              inst.telemetry, path));
 }

 std::string GetUsbCameraPath(CS_Source source, CS_Status* status) {
-  auto data = Instance::GetInstance().sources.Get(source);
+  auto data = Instance::GetInstance().GetSource(source);
  if (!data || data->kind != CS_SOURCE_USB) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
--- a/cscore/src/main/native/linux/UsbCameraImpl.h
+++ b/cscore/src/main/native/linux/UsbCameraImpl.h
@@ -40,7 +40,7 @@ class UsbCameraImpl : public SourceImpl {
                Telemetry& telemetry, const wpi::Twine& path);
  ~UsbCameraImpl() override;

-  void Start();
+  void Start() override;

  // Property functions
  void SetProperty(int property, int value, CS_Status* status) override;