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

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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
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155
wpilibj/src/athena/java/edu/wpi/first/wpilibj/CameraServer.java
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@@ -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.