mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
[wpilib] Deprecate getInstance() in favor of static functions (#3440)
Co-authored-by: Noam Zaks <imnoamzaks@gmail.com>
This commit is contained in:
Peter Johnson
@@ -33,6 +33,7 @@ import java.util.concurrent.atomic.AtomicInteger;
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* Singleton class for creating and keeping camera servers. Also publishes camera information to
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* NetworkTables.
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*/
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@SuppressWarnings("PMD.UnusedPrivateField")
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public final class CameraServer {
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public static final int kBasePort = 1181;
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@@ -46,8 +47,9 @@ public final class CameraServer {
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/**
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* Get the CameraServer instance.
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*
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* @return CameraServer instance
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* @deprecated Use the static methods
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*/
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@Deprecated
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public static synchronized CameraServer getInstance() {
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if (server == null) {
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server = new CameraServer();
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@@ -55,18 +57,211 @@ public final class CameraServer {
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return server;
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}
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private final AtomicInteger m_defaultUsbDevice;
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private String m_primarySourceName;
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private final Map<String, VideoSource> m_sources;
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private final Map<String, VideoSink> m_sinks;
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private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
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private static final AtomicInteger m_defaultUsbDevice = new AtomicInteger();
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private static String m_primarySourceName;
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private static final Map<String, VideoSource> m_sources = new HashMap<>();
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private static final Map<String, VideoSink> m_sinks = new HashMap<>();
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private static final Map<Integer, NetworkTable> m_tables =
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new HashMap<>(); // indexed by source handle
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// source handle indexed by sink handle
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private final Map<Integer, Integer> m_fixedSources;
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private final NetworkTable m_publishTable;
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private final VideoListener m_videoListener; // NOPMD
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private final int m_tableListener; // NOPMD
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private int m_nextPort;
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private String[] m_addresses;
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private static final Map<Integer, Integer> m_fixedSources = new HashMap<>();
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private static final NetworkTable m_publishTable =
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NetworkTableInstance.getDefault().getTable(kPublishName);
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// We publish sources to NetworkTables using the following structure:
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// "/CameraPublisher/{Source.Name}/" - root
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// - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
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// - "streams" (string array): URLs that can be used to stream data
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// - "description" (string): Description of the source
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// - "connected" (boolean): Whether source is connected
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// - "mode" (string): Current video mode
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// - "modes" (string array): Available video modes
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// - "Property/{Property}" - Property values
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// - "PropertyInfo/{Property}" - Property supporting information
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// Listener for video events
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private static final VideoListener m_videoListener =
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new VideoListener(
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event -> {
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switch (event.kind) {
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case kSourceCreated:
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{
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// Create subtable for the camera
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NetworkTable table = m_publishTable.getSubTable(event.name);
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m_tables.put(event.sourceHandle, table);
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table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
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table
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.getEntry("description")
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.setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
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table
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.getEntry("connected")
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.setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
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table
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.getEntry("streams")
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.setStringArray(getSourceStreamValues(event.sourceHandle));
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try {
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VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
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table.getEntry("mode").setDefaultString(videoModeToString(mode));
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table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
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} catch (VideoException ignored) {
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// Do nothing. Let the other event handlers update this if there is an error.
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}
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break;
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}
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case kSourceDestroyed:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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table.getEntry("source").setString("");
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table.getEntry("streams").setStringArray(new String[0]);
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table.getEntry("modes").setStringArray(new String[0]);
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}
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break;
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}
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case kSourceConnected:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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// update the description too (as it may have changed)
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table
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.getEntry("description")
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.setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
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table.getEntry("connected").setBoolean(true);
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}
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break;
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}
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case kSourceDisconnected:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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table.getEntry("connected").setBoolean(false);
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}
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break;
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}
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case kSourceVideoModesUpdated:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
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}
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break;
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}
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case kSourceVideoModeChanged:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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table.getEntry("mode").setString(videoModeToString(event.mode));
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}
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break;
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}
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case kSourcePropertyCreated:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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putSourcePropertyValue(table, event, true);
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}
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break;
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}
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case kSourcePropertyValueUpdated:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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putSourcePropertyValue(table, event, false);
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}
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break;
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}
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case kSourcePropertyChoicesUpdated:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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try {
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String[] choices =
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CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
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table
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.getEntry("PropertyInfo/" + event.name + "/choices")
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.setStringArray(choices);
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} catch (VideoException ignored) {
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// ignore
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}
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}
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break;
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}
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case kSinkSourceChanged:
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case kSinkCreated:
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case kSinkDestroyed:
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case kNetworkInterfacesChanged:
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{
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m_addresses = CameraServerJNI.getNetworkInterfaces();
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updateStreamValues();
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break;
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}
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default:
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break;
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}
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},
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0x4fff,
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true);
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private static final int m_tableListener =
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NetworkTableInstance.getDefault()
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.addEntryListener(
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kPublishName + "/",
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event -> {
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String relativeKey = event.name.substring(kPublishName.length() + 1);
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// get source (sourceName/...)
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int subKeyIndex = relativeKey.indexOf('/');
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if (subKeyIndex == -1) {
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return;
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}
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String sourceName = relativeKey.substring(0, subKeyIndex);
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VideoSource source = m_sources.get(sourceName);
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if (source == null) {
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return;
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}
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// get subkey
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relativeKey = relativeKey.substring(subKeyIndex + 1);
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// handle standard names
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String propName;
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if ("mode".equals(relativeKey)) {
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// reset to current mode
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event.getEntry().setString(videoModeToString(source.getVideoMode()));
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return;
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} else if (relativeKey.startsWith("Property/")) {
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propName = relativeKey.substring(9);
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} else if (relativeKey.startsWith("RawProperty/")) {
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propName = relativeKey.substring(12);
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} else {
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return; // ignore
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}
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// everything else is a property
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VideoProperty property = source.getProperty(propName);
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switch (property.getKind()) {
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case kNone:
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return;
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case kBoolean:
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// reset to current setting
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event.getEntry().setBoolean(property.get() != 0);
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return;
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case kInteger:
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case kEnum:
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// reset to current setting
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event.getEntry().setDouble(property.get());
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return;
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case kString:
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// reset to current setting
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event.getEntry().setString(property.getString());
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return;
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default:
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return;
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}
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},
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EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
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private static int m_nextPort = kBasePort;
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private static String[] m_addresses = new String[0];
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@SuppressWarnings("MissingJavadocMethod")
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private static String makeSourceValue(int source) {
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@@ -95,7 +290,7 @@ public final class CameraServer {
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}
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@SuppressWarnings("MissingJavadocMethod")
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private synchronized String[] getSinkStreamValues(int sink) {
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private static synchronized String[] getSinkStreamValues(int sink) {
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// Ignore all but MjpegServer
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if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
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return new String[0];
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@@ -125,7 +320,7 @@ public final class CameraServer {
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}
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@SuppressWarnings("MissingJavadocMethod")
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private synchronized String[] getSourceStreamValues(int source) {
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private static synchronized String[] getSourceStreamValues(int source) {
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// Ignore all but HttpCamera
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if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
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!= VideoSource.Kind.kHttp) {
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@@ -160,7 +355,7 @@ public final class CameraServer {
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}
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@SuppressWarnings("MissingJavadocMethod")
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private synchronized void updateStreamValues() {
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private static synchronized void updateStreamValues() {
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// Over all the sinks...
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for (VideoSink i : m_sinks.values()) {
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int sink = i.getHandle();
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@@ -304,218 +499,7 @@ public final class CameraServer {
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}
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}
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@SuppressWarnings("MissingJavadocMethod")
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private CameraServer() {
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m_defaultUsbDevice = new AtomicInteger();
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m_sources = new HashMap<>();
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m_sinks = new HashMap<>();
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m_fixedSources = new HashMap<>();
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m_tables = new HashMap<>();
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m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
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m_nextPort = kBasePort;
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m_addresses = new String[0];
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// We publish sources to NetworkTables using the following structure:
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// "/CameraPublisher/{Source.Name}/" - root
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// - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
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// - "streams" (string array): URLs that can be used to stream data
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// - "description" (string): Description of the source
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// - "connected" (boolean): Whether source is connected
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// - "mode" (string): Current video mode
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// - "modes" (string array): Available video modes
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// - "Property/{Property}" - Property values
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// - "PropertyInfo/{Property}" - Property supporting information
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// Listener for video events
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m_videoListener =
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new VideoListener(
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event -> {
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switch (event.kind) {
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case kSourceCreated:
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{
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// Create subtable for the camera
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NetworkTable table = m_publishTable.getSubTable(event.name);
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m_tables.put(event.sourceHandle, table);
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table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
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table
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.getEntry("description")
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.setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
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table
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.getEntry("connected")
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.setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
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table
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.getEntry("streams")
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.setStringArray(getSourceStreamValues(event.sourceHandle));
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try {
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VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
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table.getEntry("mode").setDefaultString(videoModeToString(mode));
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table
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.getEntry("modes")
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.setStringArray(getSourceModeValues(event.sourceHandle));
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} catch (VideoException ignored) {
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// Do nothing. Let the other event handlers update this if there is an error.
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}
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break;
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}
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case kSourceDestroyed:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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table.getEntry("source").setString("");
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table.getEntry("streams").setStringArray(new String[0]);
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table.getEntry("modes").setStringArray(new String[0]);
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}
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break;
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}
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case kSourceConnected:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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// update the description too (as it may have changed)
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table
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.getEntry("description")
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.setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
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table.getEntry("connected").setBoolean(true);
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}
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break;
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}
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case kSourceDisconnected:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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table.getEntry("connected").setBoolean(false);
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}
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break;
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}
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case kSourceVideoModesUpdated:
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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if (table != null) {
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table
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.getEntry("modes")
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.setStringArray(getSourceModeValues(event.sourceHandle));
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}
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break;
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}
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case kSourceVideoModeChanged:
|
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
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||||
if (table != null) {
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table.getEntry("mode").setString(videoModeToString(event.mode));
|
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}
|
||||
break;
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}
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case kSourcePropertyCreated:
|
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{
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NetworkTable table = m_tables.get(event.sourceHandle);
|
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if (table != null) {
|
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putSourcePropertyValue(table, event, true);
|
||||
}
|
||||
break;
|
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}
|
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case kSourcePropertyValueUpdated:
|
||||
{
|
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NetworkTable table = m_tables.get(event.sourceHandle);
|
||||
if (table != null) {
|
||||
putSourcePropertyValue(table, event, false);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourcePropertyChoicesUpdated:
|
||||
{
|
||||
NetworkTable table = m_tables.get(event.sourceHandle);
|
||||
if (table != null) {
|
||||
try {
|
||||
String[] choices =
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CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
|
||||
table
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.getEntry("PropertyInfo/" + event.name + "/choices")
|
||||
.setStringArray(choices);
|
||||
} catch (VideoException ignored) {
|
||||
// ignore
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSinkSourceChanged:
|
||||
case kSinkCreated:
|
||||
case kSinkDestroyed:
|
||||
case kNetworkInterfacesChanged:
|
||||
{
|
||||
m_addresses = CameraServerJNI.getNetworkInterfaces();
|
||||
updateStreamValues();
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
},
|
||||
0x4fff,
|
||||
true);
|
||||
|
||||
// Listener for NetworkTable events
|
||||
// We don't currently support changing settings via NT due to
|
||||
// synchronization issues, so just update to current setting if someone
|
||||
// else tries to change it.
|
||||
m_tableListener =
|
||||
NetworkTableInstance.getDefault()
|
||||
.addEntryListener(
|
||||
kPublishName + "/",
|
||||
event -> {
|
||||
String relativeKey = event.name.substring(kPublishName.length() + 1);
|
||||
|
||||
// get source (sourceName/...)
|
||||
int subKeyIndex = relativeKey.indexOf('/');
|
||||
if (subKeyIndex == -1) {
|
||||
return;
|
||||
}
|
||||
String sourceName = relativeKey.substring(0, subKeyIndex);
|
||||
VideoSource source = m_sources.get(sourceName);
|
||||
if (source == null) {
|
||||
return;
|
||||
}
|
||||
|
||||
// get subkey
|
||||
relativeKey = relativeKey.substring(subKeyIndex + 1);
|
||||
|
||||
// handle standard names
|
||||
String propName;
|
||||
if ("mode".equals(relativeKey)) {
|
||||
// reset to current mode
|
||||
event.getEntry().setString(videoModeToString(source.getVideoMode()));
|
||||
return;
|
||||
} else if (relativeKey.startsWith("Property/")) {
|
||||
propName = relativeKey.substring(9);
|
||||
} else if (relativeKey.startsWith("RawProperty/")) {
|
||||
propName = relativeKey.substring(12);
|
||||
} else {
|
||||
return; // ignore
|
||||
}
|
||||
|
||||
// everything else is a property
|
||||
VideoProperty property = source.getProperty(propName);
|
||||
switch (property.getKind()) {
|
||||
case kNone:
|
||||
return;
|
||||
case kBoolean:
|
||||
// reset to current setting
|
||||
event.getEntry().setBoolean(property.get() != 0);
|
||||
return;
|
||||
case kInteger:
|
||||
case kEnum:
|
||||
// reset to current setting
|
||||
event.getEntry().setDouble(property.get());
|
||||
return;
|
||||
case kString:
|
||||
// reset to current setting
|
||||
event.getEntry().setString(property.getString());
|
||||
return;
|
||||
default:
|
||||
return;
|
||||
}
|
||||
},
|
||||
EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
|
||||
}
|
||||
private CameraServer() {}
|
||||
|
||||
/**
|
||||
* Start automatically capturing images to send to the dashboard.
|
||||
@@ -529,7 +513,7 @@ public final class CameraServer {
|
||||
*
|
||||
* @return The USB camera capturing images.
|
||||
*/
|
||||
public UsbCamera startAutomaticCapture() {
|
||||
public static UsbCamera startAutomaticCapture() {
|
||||
UsbCamera camera = startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
|
||||
CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
|
||||
return camera;
|
||||
@@ -544,7 +528,7 @@ public final class CameraServer {
|
||||
* @param dev The device number of the camera interface
|
||||
* @return The USB camera capturing images.
|
||||
*/
|
||||
public UsbCamera startAutomaticCapture(int dev) {
|
||||
public static UsbCamera startAutomaticCapture(int dev) {
|
||||
UsbCamera camera = new UsbCamera("USB Camera " + dev, dev);
|
||||
startAutomaticCapture(camera);
|
||||
CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
|
||||
@@ -558,7 +542,7 @@ public final class CameraServer {
|
||||
* @param dev The device number of the camera interface
|
||||
* @return The USB camera capturing images.
|
||||
*/
|
||||
public UsbCamera startAutomaticCapture(String name, int dev) {
|
||||
public static UsbCamera startAutomaticCapture(String name, int dev) {
|
||||
UsbCamera camera = new UsbCamera(name, dev);
|
||||
startAutomaticCapture(camera);
|
||||
CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
|
||||
@@ -572,7 +556,7 @@ public final class CameraServer {
|
||||
* @param path The device path (e.g. "/dev/video0") of the camera
|
||||
* @return The USB camera capturing images.
|
||||
*/
|
||||
public UsbCamera startAutomaticCapture(String name, String path) {
|
||||
public static UsbCamera startAutomaticCapture(String name, String path) {
|
||||
UsbCamera camera = new UsbCamera(name, path);
|
||||
startAutomaticCapture(camera);
|
||||
CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
|
||||
@@ -585,7 +569,7 @@ public final class CameraServer {
|
||||
* @param camera Camera
|
||||
* @return The MJPEG server serving images from the given camera.
|
||||
*/
|
||||
public MjpegServer startAutomaticCapture(VideoSource camera) {
|
||||
public static MjpegServer startAutomaticCapture(VideoSource camera) {
|
||||
addCamera(camera);
|
||||
MjpegServer server = addServer("serve_" + camera.getName());
|
||||
server.setSource(camera);
|
||||
@@ -600,7 +584,7 @@ public final class CameraServer {
|
||||
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
|
||||
* @return The Axis camera capturing images.
|
||||
*/
|
||||
public AxisCamera addAxisCamera(String host) {
|
||||
public static AxisCamera addAxisCamera(String host) {
|
||||
return addAxisCamera("Axis Camera", host);
|
||||
}
|
||||
|
||||
@@ -612,7 +596,7 @@ public final class CameraServer {
|
||||
* @param hosts Array of Camera host IPs/DNS names
|
||||
* @return The Axis camera capturing images.
|
||||
*/
|
||||
public AxisCamera addAxisCamera(String[] hosts) {
|
||||
public static AxisCamera addAxisCamera(String[] hosts) {
|
||||
return addAxisCamera("Axis Camera", hosts);
|
||||
}
|
||||
|
||||
@@ -623,7 +607,7 @@ public final class CameraServer {
|
||||
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
|
||||
* @return The Axis camera capturing images.
|
||||
*/
|
||||
public AxisCamera addAxisCamera(String name, String host) {
|
||||
public static AxisCamera addAxisCamera(String name, String host) {
|
||||
AxisCamera camera = new AxisCamera(name, host);
|
||||
// Create a passthrough MJPEG server for USB access
|
||||
startAutomaticCapture(camera);
|
||||
@@ -638,7 +622,7 @@ public final class CameraServer {
|
||||
* @param hosts Array of Camera host IPs/DNS names
|
||||
* @return The Axis camera capturing images.
|
||||
*/
|
||||
public AxisCamera addAxisCamera(String name, String[] hosts) {
|
||||
public static AxisCamera addAxisCamera(String name, String[] hosts) {
|
||||
AxisCamera camera = new AxisCamera(name, hosts);
|
||||
// Create a passthrough MJPEG server for USB access
|
||||
startAutomaticCapture(camera);
|
||||
@@ -654,11 +638,11 @@ public final class CameraServer {
|
||||
* @param name The name to give the camera
|
||||
* @return The MJPEG server serving images from the given camera.
|
||||
*/
|
||||
public MjpegServer addSwitchedCamera(String name) {
|
||||
public static MjpegServer addSwitchedCamera(String name) {
|
||||
// create a dummy CvSource
|
||||
CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
|
||||
MjpegServer server = startAutomaticCapture(source);
|
||||
synchronized (this) {
|
||||
synchronized (CameraServer.class) {
|
||||
m_fixedSources.put(server.getHandle(), source.getHandle());
|
||||
}
|
||||
|
||||
@@ -674,9 +658,9 @@ public final class CameraServer {
|
||||
*
|
||||
* @return OpenCV sink for the primary camera feed
|
||||
*/
|
||||
public CvSink getVideo() {
|
||||
public static CvSink getVideo() {
|
||||
VideoSource source;
|
||||
synchronized (this) {
|
||||
synchronized (CameraServer.class) {
|
||||
if (m_primarySourceName == null) {
|
||||
throw new VideoException("no camera available");
|
||||
}
|
||||
@@ -695,10 +679,10 @@ public final class CameraServer {
|
||||
* @param camera Camera (e.g. as returned by startAutomaticCapture).
|
||||
* @return OpenCV sink for the specified camera
|
||||
*/
|
||||
public CvSink getVideo(VideoSource camera) {
|
||||
public static CvSink getVideo(VideoSource camera) {
|
||||
String name = "opencv_" + camera.getName();
|
||||
|
||||
synchronized (this) {
|
||||
synchronized (CameraServer.class) {
|
||||
VideoSink sink = m_sinks.get(name);
|
||||
if (sink != null) {
|
||||
VideoSink.Kind kind = sink.getKind();
|
||||
@@ -722,9 +706,9 @@ public final class CameraServer {
|
||||
* @param name Camera name
|
||||
* @return OpenCV sink for the specified camera
|
||||
*/
|
||||
public CvSink getVideo(String name) {
|
||||
public static CvSink getVideo(String name) {
|
||||
VideoSource source;
|
||||
synchronized (this) {
|
||||
synchronized (CameraServer.class) {
|
||||
source = m_sources.get(name);
|
||||
if (source == null) {
|
||||
throw new VideoException("could not find camera " + name);
|
||||
@@ -742,7 +726,7 @@ public final class CameraServer {
|
||||
* @param height Height of the image being sent
|
||||
* @return OpenCV source for the MJPEG stream
|
||||
*/
|
||||
public CvSource putVideo(String name, int width, int height) {
|
||||
public static CvSource putVideo(String name, int width, int height) {
|
||||
CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, width, height, 30);
|
||||
startAutomaticCapture(source);
|
||||
return source;
|
||||
@@ -754,9 +738,9 @@ public final class CameraServer {
|
||||
* @param name Server name
|
||||
* @return The MJPEG server
|
||||
*/
|
||||
public MjpegServer addServer(String name) {
|
||||
public static MjpegServer addServer(String name) {
|
||||
int port;
|
||||
synchronized (this) {
|
||||
synchronized (CameraServer.class) {
|
||||
port = m_nextPort;
|
||||
m_nextPort++;
|
||||
}
|
||||
@@ -770,7 +754,7 @@ public final class CameraServer {
|
||||
* @param port Server port
|
||||
* @return The MJPEG server
|
||||
*/
|
||||
public MjpegServer addServer(String name, int port) {
|
||||
public static MjpegServer addServer(String name, int port) {
|
||||
MjpegServer server = new MjpegServer(name, port);
|
||||
addServer(server);
|
||||
return server;
|
||||
@@ -781,8 +765,8 @@ public final class CameraServer {
|
||||
*
|
||||
* @param server Server
|
||||
*/
|
||||
public void addServer(VideoSink server) {
|
||||
synchronized (this) {
|
||||
public static void addServer(VideoSink server) {
|
||||
synchronized (CameraServer.class) {
|
||||
m_sinks.put(server.getName(), server);
|
||||
}
|
||||
}
|
||||
@@ -792,8 +776,8 @@ public final class CameraServer {
|
||||
*
|
||||
* @param name Server name
|
||||
*/
|
||||
public void removeServer(String name) {
|
||||
synchronized (this) {
|
||||
public static void removeServer(String name) {
|
||||
synchronized (CameraServer.class) {
|
||||
m_sinks.remove(name);
|
||||
}
|
||||
}
|
||||
@@ -806,8 +790,8 @@ public final class CameraServer {
|
||||
*
|
||||
* @return The server for the primary camera feed
|
||||
*/
|
||||
public VideoSink getServer() {
|
||||
synchronized (this) {
|
||||
public static VideoSink getServer() {
|
||||
synchronized (CameraServer.class) {
|
||||
if (m_primarySourceName == null) {
|
||||
throw new VideoException("no camera available");
|
||||
}
|
||||
@@ -821,8 +805,8 @@ public final class CameraServer {
|
||||
* @param name Server name
|
||||
* @return The server
|
||||
*/
|
||||
public VideoSink getServer(String name) {
|
||||
synchronized (this) {
|
||||
public static VideoSink getServer(String name) {
|
||||
synchronized (CameraServer.class) {
|
||||
return m_sinks.get(name);
|
||||
}
|
||||
}
|
||||
@@ -832,9 +816,9 @@ public final class CameraServer {
|
||||
*
|
||||
* @param camera Camera
|
||||
*/
|
||||
public void addCamera(VideoSource camera) {
|
||||
public static void addCamera(VideoSource camera) {
|
||||
String name = camera.getName();
|
||||
synchronized (this) {
|
||||
synchronized (CameraServer.class) {
|
||||
if (m_primarySourceName == null) {
|
||||
m_primarySourceName = name;
|
||||
}
|
||||
@@ -847,8 +831,8 @@ public final class CameraServer {
|
||||
*
|
||||
* @param name Camera name
|
||||
*/
|
||||
public void removeCamera(String name) {
|
||||
synchronized (this) {
|
||||
public static void removeCamera(String name) {
|
||||
synchronized (CameraServer.class) {
|
||||
m_sources.remove(name);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -44,7 +44,7 @@
|
||||
*
|
||||
* {@literal @}Override
|
||||
* public void robotInit() {
|
||||
* usbCamera = CameraServer.getInstance().startAutomaticCapture(0);
|
||||
* usbCamera = CameraServer.startAutomaticCapture(0);
|
||||
* findTotePipeline = new MyFindTotePipeline();
|
||||
* findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
|
||||
* }
|
||||
|
||||
Reference in New Issue
Block a user