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Use Pimpl idiom for CameraServer

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This dramatically reduces header dependencies.
This commit is contained in:
Peter Johnson
2018-07-28 10:31:35 -07:00
parent 6933fefe55
commit 66e35128c9
2 changed files with 76 additions and 61 deletions
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109
cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
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@@ -7,8 +7,15 @@
#include "cameraserver/CameraServer.h"
#include <atomic>
#include <vector>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/DenseMap.h>
#include <wpi/SmallString.h>
#include <wpi/StringMap.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include "cameraserver/CameraServerShared.h"
@@ -16,6 +23,28 @@
using namespace frc;
static constexpr char const* kPublishName = "/CameraPublisher";
struct CameraServer::Impl {
Impl();
std::shared_ptr<nt::NetworkTable> GetSourceTable(CS_Source source);
std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
std::vector<std::string> GetSourceStreamValues(CS_Source source);
void UpdateStreamValues();
wpi::mutex m_mutex;
std::atomic<int> m_defaultUsbDevice;
std::string m_primarySourceName;
wpi::StringMap<cs::VideoSource> m_sources;
wpi::StringMap<cs::VideoSink> m_sinks;
wpi::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
std::shared_ptr<nt::NetworkTable> m_publishTable;
cs::VideoListener m_videoListener;
int m_tableListener;
int m_nextPort;
std::vector<std::string> m_addresses;
};
CameraServer* CameraServer::GetInstance() {
static CameraServer instance;
return &instance;
@@ -61,13 +90,13 @@ static std::string MakeStreamValue(wpi::StringRef address, int port) {
return rv;
}
std::shared_ptr<nt::NetworkTable> CameraServer::GetSourceTable(
std::shared_ptr<nt::NetworkTable> CameraServer::Impl::GetSourceTable(
CS_Source source) {
std::lock_guard<wpi::mutex> lock(m_mutex);
return m_tables.lookup(source);
}
std::vector<std::string> CameraServer::GetSinkStreamValues(CS_Sink sink) {
std::vector<std::string> CameraServer::Impl::GetSinkStreamValues(CS_Sink sink) {
CS_Status status = 0;
// Ignore all but MjpegServer
@@ -96,7 +125,8 @@ std::vector<std::string> CameraServer::GetSinkStreamValues(CS_Sink sink) {
return values;
}
std::vector<std::string> CameraServer::GetSourceStreamValues(CS_Source source) {
std::vector<std::string> CameraServer::Impl::GetSourceStreamValues(
CS_Source source) {
CS_Status status = 0;
// Ignore all but HttpCamera
@@ -124,7 +154,7 @@ std::vector<std::string> CameraServer::GetSourceStreamValues(CS_Source source) {
return values;
}
void CameraServer::UpdateStreamValues() {
void CameraServer::Impl::UpdateStreamValues() {
std::lock_guard<wpi::mutex> lock(m_mutex);
// Over all the sinks...
for (const auto& i : m_sinks) {
@@ -254,7 +284,7 @@ static void PutSourcePropertyValue(nt::NetworkTable* table,
}
}
CameraServer::CameraServer()
CameraServer::Impl::Impl()
: m_publishTable{nt::NetworkTableInstance::GetDefault().GetTable(
kPublishName)},
m_nextPort(kBasePort) {
@@ -432,9 +462,14 @@ CameraServer::CameraServer()
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_UPDATE);
}
CameraServer::CameraServer() : m_impl(new Impl) {}
CameraServer::~CameraServer() {}
#ifdef __linux__
cs::UsbCamera CameraServer::StartAutomaticCapture() {
cs::UsbCamera camera = StartAutomaticCapture(m_defaultUsbDevice++);
cs::UsbCamera camera = StartAutomaticCapture(m_impl->m_defaultUsbDevice++);
auto csShared = GetCameraServerShared();
csShared->ReportUsbCamera(camera.GetHandle());
return camera;
@@ -536,13 +571,13 @@ cs::CvSink CameraServer::GetVideo() {
cs::VideoSource source;
{
auto csShared = GetCameraServerShared();
std::lock_guard<wpi::mutex> lock(m_mutex);
if (m_primarySourceName.empty()) {
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) {
csShared->SetCameraServerError("no camera available");
return cs::CvSink{};
}
auto it = m_sources.find(m_primarySourceName);
if (it == m_sources.end()) {
auto it = m_impl->m_sources.find(m_impl->m_primarySourceName);
if (it == m_impl->m_sources.end()) {
csShared->SetCameraServerError("no camera available");
return cs::CvSink{};
}
@@ -556,9 +591,9 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
name += camera.GetName();
{
std::lock_guard<wpi::mutex> lock(m_mutex);
auto it = m_sinks.find(name);
if (it != m_sinks.end()) {
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
auto it = m_impl->m_sinks.find(name);
if (it != m_impl->m_sinks.end()) {
auto kind = it->second.GetKind();
if (kind != cs::VideoSink::kCv) {
wpi::SmallString<64> buf;
@@ -581,9 +616,9 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
cs::CvSink CameraServer::GetVideo(wpi::StringRef name) {
cs::VideoSource source;
{
std::lock_guard<wpi::mutex> lock(m_mutex);
auto it = m_sources.find(name);
if (it == m_sources.end()) {
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
auto it = m_impl->m_sources.find(name);
if (it == m_impl->m_sources.end()) {
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "could not find camera " << name;
@@ -606,8 +641,8 @@ cs::CvSource CameraServer::PutVideo(wpi::StringRef name, int width,
cs::MjpegServer CameraServer::AddServer(wpi::StringRef name) {
int port;
{
std::lock_guard<wpi::mutex> lock(m_mutex);
port = m_nextPort++;
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
port = m_impl->m_nextPort++;
}
return AddServer(name, port);
}
@@ -619,34 +654,34 @@ cs::MjpegServer CameraServer::AddServer(wpi::StringRef name, int port) {
}
void CameraServer::AddServer(const cs::VideoSink& server) {
std::lock_guard<wpi::mutex> lock(m_mutex);
m_sinks.try_emplace(server.GetName(), server);
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
m_impl->m_sinks.try_emplace(server.GetName(), server);
}
void CameraServer::RemoveServer(wpi::StringRef name) {
std::lock_guard<wpi::mutex> lock(m_mutex);
m_sinks.erase(name);
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
m_impl->m_sinks.erase(name);
}
cs::VideoSink CameraServer::GetServer() {
wpi::SmallString<64> name;
{
std::lock_guard<wpi::mutex> lock(m_mutex);
if (m_primarySourceName.empty()) {
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) {
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError("no camera available");
return cs::VideoSink{};
}
name = "serve_";
name += m_primarySourceName;
name += m_impl->m_primarySourceName;
}
return GetServer(name);
}
cs::VideoSink CameraServer::GetServer(wpi::StringRef name) {
std::lock_guard<wpi::mutex> lock(m_mutex);
auto it = m_sinks.find(name);
if (it == m_sinks.end()) {
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
auto it = m_impl->m_sinks.find(name);
if (it == m_impl->m_sinks.end()) {
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "could not find server " << name;
@@ -659,21 +694,21 @@ cs::VideoSink CameraServer::GetServer(wpi::StringRef name) {
void CameraServer::AddCamera(const cs::VideoSource& camera) {
std::string name = camera.GetName();
std::lock_guard<wpi::mutex> lock(m_mutex);
if (m_primarySourceName.empty()) m_primarySourceName = name;
m_sources.try_emplace(name, camera);
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) m_impl->m_primarySourceName = name;
m_impl->m_sources.try_emplace(name, camera);
}
void CameraServer::RemoveCamera(wpi::StringRef name) {
std::lock_guard<wpi::mutex> lock(m_mutex);
m_sources.erase(name);
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
m_impl->m_sources.erase(name);
}
void CameraServer::SetSize(int size) {
std::lock_guard<wpi::mutex> lock(m_mutex);
if (m_primarySourceName.empty()) return;
auto it = m_sources.find(m_primarySourceName);
if (it == m_sources.end()) return;
std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) return;
auto it = m_impl->m_sources.find(m_impl->m_primarySourceName);
if (it == m_impl->m_sources.end()) return;
if (size == kSize160x120)
it->second.SetResolution(160, 120);
else if (size == kSize320x240)