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cscore: Use Twine instead of StringRef in API (#1244)

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This commit is contained in:
Peter Johnson
2018-07-29 12:53:41 -07:00
committed by GitHub
parent 97a8f8f47b
commit 195e101816
35 changed files with 365 additions and 350 deletions
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101
cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
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@@ -82,12 +82,10 @@ static wpi::StringRef MakeSourceValue(CS_Source source,
return wpi::StringRef{buf.begin(), buf.size()};
}
static std::string MakeStreamValue(wpi::StringRef address, int port) {
std::string rv;
wpi::raw_string_ostream stream(rv);
stream << "mjpg:http://" << address << ':' << port << "/?action=stream";
stream.flush();
return rv;
static std::string MakeStreamValue(const wpi::Twine& address, int port) {
return ("mjpg:http://" + address + wpi::Twine(':') + wpi::Twine(port) +
"/?action=stream")
.str();
}
std::shared_ptr<nt::NetworkTable> CameraServer::Impl::GetSourceTable(
@@ -223,14 +221,6 @@ static std::vector<std::string> GetSourceModeValues(int source) {
return rv;
}
static inline wpi::StringRef Concatenate(wpi::StringRef lhs, wpi::StringRef rhs,
wpi::SmallVectorImpl<char>& buf) {
buf.clear();
wpi::raw_svector_ostream oss{buf};
oss << lhs << rhs;
return oss.str();
}
static void PutSourcePropertyValue(nt::NetworkTable* table,
const cs::VideoEvent& event, bool isNew) {
wpi::SmallString<64> name;
@@ -261,13 +251,13 @@ static void PutSourcePropertyValue(nt::NetworkTable* table,
case cs::VideoProperty::kEnum:
if (isNew) {
entry.SetDefaultDouble(event.value);
table->GetEntry(Concatenate(infoName, "/min", buf))
table->GetEntry(infoName + "/min")
.SetDouble(cs::GetPropertyMin(event.propertyHandle, &status));
table->GetEntry(Concatenate(infoName, "/max", buf))
table->GetEntry(infoName + "/max")
.SetDouble(cs::GetPropertyMax(event.propertyHandle, &status));
table->GetEntry(Concatenate(infoName, "/step", buf))
table->GetEntry(infoName + "/step")
.SetDouble(cs::GetPropertyStep(event.propertyHandle, &status));
table->GetEntry(Concatenate(infoName, "/default", buf))
table->GetEntry(infoName + "/default")
.SetDouble(cs::GetPropertyDefault(event.propertyHandle, &status));
} else {
entry.SetDouble(event.value);
@@ -411,7 +401,7 @@ CameraServer::Impl::Impl()
// else tries to change it.
wpi::SmallString<64> buf;
m_tableListener = nt::NetworkTableInstance::GetDefault().AddEntryListener(
Concatenate(kPublishName, "/", buf),
kPublishName + wpi::Twine('/'),
[=](const nt::EntryNotification& event) {
wpi::StringRef relativeKey =
event.name.substr(wpi::StringRef(kPublishName).size() + 1);
@@ -476,18 +466,14 @@ cs::UsbCamera CameraServer::StartAutomaticCapture() {
}
cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
wpi::SmallString<64> buf;
wpi::raw_svector_ostream name{buf};
name << "USB Camera " << dev;
cs::UsbCamera camera{name.str(), dev};
cs::UsbCamera camera{"USB Camera " + wpi::Twine(dev), dev};
StartAutomaticCapture(camera);
auto csShared = GetCameraServerShared();
csShared->ReportUsbCamera(camera.GetHandle());
return camera;
}
cs::UsbCamera CameraServer::StartAutomaticCapture(wpi::StringRef name,
cs::UsbCamera CameraServer::StartAutomaticCapture(const wpi::Twine& name,
int dev) {
cs::UsbCamera camera{name, dev};
StartAutomaticCapture(camera);
@@ -496,8 +482,8 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(wpi::StringRef name,
return camera;
}
cs::UsbCamera CameraServer::StartAutomaticCapture(wpi::StringRef name,
wpi::StringRef path) {
cs::UsbCamera CameraServer::StartAutomaticCapture(const wpi::Twine& name,
const wpi::Twine& path) {
cs::UsbCamera camera{name, path};
StartAutomaticCapture(camera);
auto csShared = GetCameraServerShared();
@@ -506,7 +492,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(wpi::StringRef name,
}
#endif
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef host) {
cs::AxisCamera CameraServer::AddAxisCamera(const wpi::Twine& host) {
return AddAxisCamera("Axis Camera", host);
}
@@ -522,8 +508,8 @@ cs::AxisCamera CameraServer::AddAxisCamera(wpi::ArrayRef<std::string> hosts) {
return AddAxisCamera("Axis Camera", hosts);
}
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
wpi::StringRef host) {
cs::AxisCamera CameraServer::AddAxisCamera(const wpi::Twine& name,
const wpi::Twine& host) {
cs::AxisCamera camera{name, host};
StartAutomaticCapture(camera);
auto csShared = GetCameraServerShared();
@@ -531,7 +517,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
cs::AxisCamera CameraServer::AddAxisCamera(const wpi::Twine& name,
const char* host) {
cs::AxisCamera camera{name, host};
StartAutomaticCapture(camera);
@@ -540,7 +526,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
cs::AxisCamera CameraServer::AddAxisCamera(const wpi::Twine& name,
const std::string& host) {
cs::AxisCamera camera{name, host};
StartAutomaticCapture(camera);
@@ -549,7 +535,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
cs::AxisCamera CameraServer::AddAxisCamera(const wpi::Twine& name,
wpi::ArrayRef<std::string> hosts) {
cs::AxisCamera camera{name, hosts};
StartAutomaticCapture(camera);
@@ -559,11 +545,8 @@ cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
}
void CameraServer::StartAutomaticCapture(const cs::VideoSource& camera) {
wpi::SmallString<64> name{"serve_"};
name += camera.GetName();
AddCamera(camera);
auto server = AddServer(name);
auto server = AddServer(wpi::Twine("serve_") + camera.GetName());
server.SetSource(camera);
}
@@ -596,11 +579,9 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
if (it != m_impl->m_sinks.end()) {
auto kind = it->second.GetKind();
if (kind != cs::VideoSink::kCv) {
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "expected OpenCV sink, but got " << kind;
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError(err.str());
csShared->SetCameraServerError("expected OpenCV sink, but got " +
wpi::Twine(kind));
return cs::CvSink{};
}
return *static_cast<cs::CvSink*>(&it->second);
@@ -613,17 +594,16 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
return newsink;
}
cs::CvSink CameraServer::GetVideo(wpi::StringRef name) {
cs::CvSink CameraServer::GetVideo(const wpi::Twine& name) {
wpi::SmallString<64> nameBuf;
wpi::StringRef nameStr = name.toStringRef(nameBuf);
cs::VideoSource source;
{
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
auto it = m_impl->m_sources.find(name);
auto it = m_impl->m_sources.find(nameStr);
if (it == m_impl->m_sources.end()) {
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "could not find camera " << name;
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError(err.str());
csShared->SetCameraServerError("could not find camera " + nameStr);
return cs::CvSink{};
}
source = it->second;
@@ -631,14 +611,14 @@ cs::CvSink CameraServer::GetVideo(wpi::StringRef name) {
return GetVideo(source);
}
cs::CvSource CameraServer::PutVideo(wpi::StringRef name, int width,
cs::CvSource CameraServer::PutVideo(const wpi::Twine& name, int width,
int height) {
cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
StartAutomaticCapture(source);
return source;
}
cs::MjpegServer CameraServer::AddServer(wpi::StringRef name) {
cs::MjpegServer CameraServer::AddServer(const wpi::Twine& name) {
int port;
{
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
@@ -647,7 +627,7 @@ cs::MjpegServer CameraServer::AddServer(wpi::StringRef name) {
return AddServer(name, port);
}
cs::MjpegServer CameraServer::AddServer(wpi::StringRef name, int port) {
cs::MjpegServer CameraServer::AddServer(const wpi::Twine& name, int port) {
cs::MjpegServer server{name, port};
AddServer(server);
return server;
@@ -658,9 +638,10 @@ void CameraServer::AddServer(const cs::VideoSink& server) {
m_impl->m_sinks.try_emplace(server.GetName(), server);
}
void CameraServer::RemoveServer(wpi::StringRef name) {
void CameraServer::RemoveServer(const wpi::Twine& name) {
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
m_impl->m_sinks.erase(name);
wpi::SmallString<64> nameBuf;
m_impl->m_sinks.erase(name.toStringRef(nameBuf));
}
cs::VideoSink CameraServer::GetServer() {
@@ -678,15 +659,14 @@ cs::VideoSink CameraServer::GetServer() {
return GetServer(name);
}
cs::VideoSink CameraServer::GetServer(wpi::StringRef name) {
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);
auto it = m_impl->m_sinks.find(name);
auto it = m_impl->m_sinks.find(nameStr);
if (it == m_impl->m_sinks.end()) {
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "could not find server " << name;
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError(err.str());
csShared->SetCameraServerError("could not find server " + nameStr);
return cs::VideoSink{};
}
return it->second;
@@ -699,9 +679,10 @@ void CameraServer::AddCamera(const cs::VideoSource& camera) {
m_impl->m_sources.try_emplace(name, camera);
}
void CameraServer::RemoveCamera(wpi::StringRef name) {
void CameraServer::RemoveCamera(const wpi::Twine& name) {
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
m_impl->m_sources.erase(name);
wpi::SmallString<64> nameBuf;
m_impl->m_sources.erase(name.toStringRef(nameBuf));
}
void CameraServer::SetSize(int size) {

6
cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
View File

@@ -15,9 +15,9 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
void ReportUsbCamera(int id) override {}
void ReportAxisCamera(int id) override {}
void ReportVideoServer(int id) override {}
void SetCameraServerError(wpi::StringRef error) override {}
void SetVisionRunnerError(wpi::StringRef error) override {}
void ReportDriverStationError(wpi::StringRef error) override {}
void SetCameraServerError(const wpi::Twine& error) override {}
void SetVisionRunnerError(const wpi::Twine& error) override {}
void ReportDriverStationError(const wpi::Twine& error) override {}
std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
return std::make_pair(std::thread::id(), false);
}