Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add Axis camera creation functions and Http camera NT publishing. (#420)

Browse Source
This commit is contained in:
Peter Johnson
2016-12-24 21:05:08 -06:00
committed by GitHub
parent dc9a9e5d96
commit 4800c201e4
4 changed files with 359 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files

97
wpilibc/athena/include/CameraServer.h
View File

@@ -84,6 +84,100 @@ class CameraServer : public ErrorBase {
*/
void StartAutomaticCapture(const cs::VideoSource& camera);
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String)} with
* name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef host);
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String)} with
* name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(const char* host);
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String)} with
* name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(const std::string& host);
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String[])} with
* name "Axis Camera".
*
* @param hosts Array of Camera host IPs/DNS names
*/
cs::AxisCamera AddAxisCamera(llvm::ArrayRef<std::string> hosts);
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String[])} with
* name "Axis Camera".
*
* @param hosts Array of Camera host IPs/DNS names
*/
template <typename T>
cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
/**
* Adds an Axis IP camera.
*
* @param name The name to give the camera
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name, llvm::StringRef host);
/**
* Adds an Axis IP camera.
*
* @param name The name to give the camera
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name, const char* host);
/**
* Adds an Axis IP camera.
*
* @param name The name to give the camera
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name, const std::string& host);
/**
* Adds an Axis IP camera.
*
* @param name The name to give the camera
* @param hosts Array of Camera host IPs/DNS names
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name,
llvm::ArrayRef<std::string> hosts);
/**
* Adds an Axis IP camera.
*
* @param name The name to give the camera
* @param hosts Array of Camera host IPs/DNS names
*/
template <typename T>
cs::AxisCamera AddAxisCamera(llvm::StringRef name,
std::initializer_list<T> hosts);
/**
* Get OpenCV access to the primary camera feed. This allows you to
* get images from the camera for image processing on the roboRIO.
@@ -176,6 +270,7 @@ class CameraServer : public ErrorBase {
CameraServer();
std::shared_ptr<ITable> GetSourceTable(CS_Source source);
std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
void UpdateStreamValues();
static constexpr char const* kPublishName = "/CameraPublisher";
@@ -193,3 +288,5 @@ class CameraServer : public ErrorBase {
};
} // namespace frc
#include "CameraServer.inc"

30
wpilibc/athena/include/CameraServer.inc Normal file
View File

@@ -0,0 +1,30 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <string>
#include <vector>
namespace frc {
template <typename T>
inline cs::AxisCamera CameraServer::AddAxisCamera(
std::initializer_list<T> hosts) {
return AddAxisCamera("Axis Camera", hosts);
}
template <typename T>
inline cs::AxisCamera CameraServer::AddAxisCamera(
llvm::StringRef name, std::initializer_list<T> hosts) {
std::vector<std::string> vec;
vec.reserve(hosts.size());
for (const auto& host : hosts) vec.emplace_back(host);
return AddAxisCamera(name, vec);
}
} // namespace frc

133
wpilibc/athena/src/CameraServer.cpp
View File

@@ -34,7 +34,8 @@ static llvm::StringRef MakeSourceValue(CS_Source source,
case cs::VideoSource::kHttp: {
llvm::StringRef prefix{"ip:"};
buf.append(prefix.begin(), prefix.end());
// TODO
auto urls = cs::GetHttpCameraUrls(source, &status);
if (!urls.empty()) buf.append(urls[0].begin(), urls[0].end());
break;
}
case cs::VideoSource::kCv:
@@ -61,41 +62,78 @@ std::shared_ptr<ITable> CameraServer::GetSourceTable(CS_Source source) {
return m_tables.lookup(source);
}
std::vector<std::string> CameraServer::GetSinkStreamValues(CS_Sink sink) {
CS_Status status = 0;
// Ignore all but MjpegServer
if (cs::GetSinkKind(sink, &status) != CS_SINK_MJPEG)
return std::vector<std::string>{};
// Get port
int port = cs::GetMjpegServerPort(sink, &status);
// Generate values
std::vector<std::string> values;
auto listenAddress = cs::GetMjpegServerListenAddress(sink, &status);
if (!listenAddress.empty()) {
// If a listen address is specified, only use that
values.emplace_back(MakeStreamValue(listenAddress, port));
} else {
// Otherwise generate for hostname and all interface addresses
values.emplace_back(MakeStreamValue(cs::GetHostname() + ".local", port));
for (const auto& addr : m_addresses) {
if (addr == "127.0.0.1") continue; // ignore localhost
values.emplace_back(MakeStreamValue(addr, port));
}
}
return values;
}
static std::vector<std::string> GetSourceStreamValues(CS_Source source) {
CS_Status status = 0;
// Ignore all but HttpCamera
if (cs::GetSourceKind(source, &status) != CS_SOURCE_HTTP)
return std::vector<std::string>{};
// Generate values
auto values = cs::GetHttpCameraUrls(source, &status);
for (auto& value : values) value = "mjpg:" + value;
// Set table value
return values;
}
void CameraServer::UpdateStreamValues() {
std::lock_guard<std::mutex> lock(m_mutex);
// Over all the sinks...
for (const auto& i : m_sinks) {
CS_Status status = 0;
// Ignore all but MjpegServer
if (i.second.GetKind() != cs::VideoSink::kMjpeg) continue;
CS_Sink sink = i.second.GetHandle();
// Get the source's subtable (if none exists, we're done)
CS_Source source = cs::GetSinkSource(sink, &status);
auto table = m_tables.lookup(source);
if (!table) continue;
// Get port
int port = cs::GetMjpegServerPort(sink, &status);
// Generate values
std::vector<std::string> values;
auto listenAddress = cs::GetMjpegServerListenAddress(sink, &status);
if (!listenAddress.empty()) {
// If a listen address is specified, only use that
values.emplace_back(MakeStreamValue(listenAddress, port));
} else {
// Otherwise generate for hostname and all interface addresses
values.emplace_back(MakeStreamValue(cs::GetHostname() + ".local", port));
for (const auto& addr : m_addresses) {
if (addr == "127.0.0.1") continue; // ignore localhost
values.emplace_back(MakeStreamValue(addr, port));
}
if (table) {
// Set table value
auto values = GetSinkStreamValues(sink);
if (!values.empty()) table->PutStringArray("streams", values);
}
}
// Set table value
table->PutStringArray("streams", values);
// Over all the sources...
for (const auto& i : m_sources) {
CS_Source source = i.second.GetHandle();
// Get the source's subtable (if none exists, we're done)
auto table = m_tables.lookup(source);
if (table) {
// Set table value
auto values = GetSourceStreamValues(source);
if (!values.empty()) table->PutStringArray("streams", values);
}
}
}
@@ -129,7 +167,8 @@ CameraServer::CameraServer()
cs::GetSourceDescription(event.sourceHandle, descBuf, &status));
table->PutBoolean("connected", cs::IsSourceConnected(
event.sourceHandle, &status));
table->PutStringArray("streams", std::vector<std::string>{});
table->PutStringArray("streams",
GetSourceStreamValues(event.sourceHandle));
break;
}
case cs::VideoEvent::kSourceDestroyed: {
@@ -227,6 +266,50 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef host) {
return AddAxisCamera("Axis Camera", host);
}
cs::AxisCamera CameraServer::AddAxisCamera(const char* host) {
return AddAxisCamera("Axis Camera", host);
}
cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
return AddAxisCamera("Axis Camera", host);
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::ArrayRef<std::string> hosts) {
return AddAxisCamera("Axis Camera", hosts);
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
llvm::StringRef host) {
cs::AxisCamera camera{name, host};
AddCamera(camera);
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
const char* host) {
cs::AxisCamera camera{name, host};
AddCamera(camera);
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
const std::string& host) {
cs::AxisCamera camera{name, host};
AddCamera(camera);
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
llvm::ArrayRef<std::string> hosts) {
cs::AxisCamera camera{name, hosts};
AddCamera(camera);
return camera;
}
void CameraServer::StartAutomaticCapture(const cs::VideoSource& camera) {
llvm::SmallString<64> name{"serve_"};
name += camera.GetName();

155
wpilibj/src/athena/java/edu/wpi/first/wpilibj/CameraServer.java
View File

@@ -7,6 +7,7 @@
package edu.wpi.first.wpilibj;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
@@ -65,9 +66,14 @@ public class CameraServer {
switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
case kUsb:
return "usb:" + CameraServerJNI.getUsbCameraPath(source);
case kHttp:
// TODO
return "ip:";
case kHttp: {
String[] urls = CameraServerJNI.getHttpCameraUrls(source);
if (urls.length > 0) {
return "ip:" + urls[0];
} else {
return "ip:";
}
}
case kCv:
// FIXME: Should be "cv:", but LabVIEW dashboard requires "usb:".
// https://github.com/wpilibsuite/allwpilib/issues/407
@@ -87,45 +93,84 @@ public class CameraServer {
return m_tables.get(source);
}
@SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
private synchronized String[] getSinkStreamValues(int sink) {
// Ignore all but MjpegServer
if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
return new String[0];
}
// Get port
int port = CameraServerJNI.getMjpegServerPort(sink);
// Generate values
ArrayList<String> values = new ArrayList<String>(m_addresses.length + 1);
String listenAddress = CameraServerJNI.getMjpegServerListenAddress(sink);
if (!listenAddress.isEmpty()) {
// If a listen address is specified, only use that
values.add(makeStreamValue(listenAddress, port));
} else {
// Otherwise generate for hostname and all interface addresses
values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
for (String addr : m_addresses) {
if (addr.equals("127.0.0.1")) {
continue; // ignore localhost
}
values.add(makeStreamValue(addr, port));
}
}
return values.toArray(new String[0]);
}
@SuppressWarnings("JavadocMethod")
private static String[] getSourceStreamValues(int source) {
// Ignore all but HttpCamera
if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
!= VideoSource.Kind.kHttp) {
return new String[0];
}
// Generate values
String[] values = CameraServerJNI.getHttpCameraUrls(source);
for (int j = 0; j < values.length; j++) {
values[j] = "mjpg:" + values[j];
}
return values;
}
@SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
private synchronized void updateStreamValues() {
// Over all the sinks...
for (VideoSink i : m_sinks.values()) {
// Ignore all but MjpegServer
if (i.getKind() != VideoSink.Kind.kMjpeg) {
continue;
}
int sink = i.getHandle();
// Get the source's subtable (if none exists, we're done)
int source = CameraServerJNI.getSinkSource(sink);
ITable table = m_tables.get(source);
if (table == null) {
continue;
}
// Get port
int port = CameraServerJNI.getMjpegServerPort(sink);
// Generate values
ArrayList<String> values = new ArrayList<String>(m_addresses.length + 1);
String listenAddress = CameraServerJNI.getMjpegServerListenAddress(sink);
if (!listenAddress.isEmpty()) {
// If a listen address is specified, only use that
values.add(makeStreamValue(listenAddress, port));
} else {
// Otherwise generate for hostname and all interface addresses
values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
for (String addr : m_addresses) {
if (addr.equals("127.0.0.1")) {
continue; // ignore localhost
}
values.add(makeStreamValue(addr, port));
if (table != null) {
// Set table value
String[] values = getSinkStreamValues(sink);
if (values.length > 0) {
table.putStringArray("streams", values);
}
}
}
// Set table value
table.putStringArray("streams", values.toArray(new String[0]));
// Over all the sources...
for (VideoSource i : m_sources.values()) {
int source = i.getHandle();
// Get the source's subtable (if none exists, we're done)
ITable table = m_tables.get(source);
if (table != null) {
// Set table value
String[] values = getSourceStreamValues(source);
if (values.length > 0) {
table.putStringArray("streams", values);
}
}
}
}
@@ -157,7 +202,7 @@ public class CameraServer {
table.putString("description",
CameraServerJNI.getSourceDescription(event.sourceHandle));
table.putBoolean("connected", CameraServerJNI.isSourceConnected(event.sourceHandle));
table.putStringArray("streams", new String[0]);
table.putStringArray("streams", getSourceStreamValues(event.sourceHandle));
break;
}
case kSourceDestroyed: {
@@ -300,6 +345,54 @@ public class CameraServer {
server.setSource(camera);
}
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #addAxisCamera(String, String)} with
* name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
public AxisCamera addAxisCamera(String host) {
return addAxisCamera("Axis Camera", host);
}
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #addAxisCamera(String, String[])} with
* name "Axis Camera".
*
* @param hosts Array of Camera host IPs/DNS names
*/
public AxisCamera addAxisCamera(String[] hosts) {
return addAxisCamera("Axis Camera", hosts);
}
/**
* Adds an Axis IP camera.
*
* @param name The name to give the camera
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
public AxisCamera addAxisCamera(String name, String host) {
AxisCamera camera = new AxisCamera(name, host);
addCamera(camera);
return camera;
}
/**
* Adds an Axis IP camera.
*
* @param name The name to give the camera
* @param hosts Array of Camera host IPs/DNS names
*/
public AxisCamera addAxisCamera(String name, String[] hosts) {
AxisCamera camera = new AxisCamera(name, hosts);
addCamera(camera);
return camera;
}
/**
* Get OpenCV access to the primary camera feed. This allows you to
* get images from the camera for image processing on the roboRIO.