mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
[ntcore] NetworkTables 4 (#3217)
This commit is contained in:
Peter Johnson
@@ -15,13 +15,18 @@ import edu.wpi.first.cscore.VideoException;
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import edu.wpi.first.cscore.VideoListener;
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import edu.wpi.first.cscore.VideoMode;
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import edu.wpi.first.cscore.VideoMode.PixelFormat;
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import edu.wpi.first.cscore.VideoProperty;
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import edu.wpi.first.cscore.VideoSink;
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import edu.wpi.first.cscore.VideoSource;
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import edu.wpi.first.networktables.EntryListenerFlags;
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import edu.wpi.first.networktables.BooleanEntry;
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import edu.wpi.first.networktables.BooleanPublisher;
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import edu.wpi.first.networktables.IntegerEntry;
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import edu.wpi.first.networktables.IntegerPublisher;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.networktables.StringArrayPublisher;
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import edu.wpi.first.networktables.StringArrayTopic;
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import edu.wpi.first.networktables.StringEntry;
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import edu.wpi.first.networktables.StringPublisher;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.HashMap;
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@@ -38,11 +43,167 @@ public final class CameraServer {
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private static final String kPublishName = "/CameraPublisher";
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private static final class PropertyPublisher implements AutoCloseable {
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@SuppressWarnings({"PMD.MissingBreakInSwitch", "PMD.ImplicitSwitchFallThrough", "fallthrough"})
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PropertyPublisher(NetworkTable table, VideoEvent event) {
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String name;
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String infoName;
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if (event.name.startsWith("raw_")) {
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name = "RawProperty/" + event.name;
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infoName = "RawPropertyInfo/" + event.name;
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} else {
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name = "Property/" + event.name;
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infoName = "PropertyInfo/" + event.name;
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}
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try {
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switch (event.propertyKind) {
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case kBoolean:
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m_booleanValueEntry = table.getBooleanTopic(name).getEntry(false);
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m_booleanValueEntry.setDefault(event.value != 0);
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break;
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case kEnum:
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m_choicesTopic = table.getStringArrayTopic(infoName + "/choices");
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// fall through
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case kInteger:
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m_integerValueEntry = table.getIntegerTopic(name).getEntry(0);
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m_minPublisher = table.getIntegerTopic(infoName + "/min").publish();
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m_maxPublisher = table.getIntegerTopic(infoName + "/max").publish();
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m_stepPublisher = table.getIntegerTopic(infoName + "/step").publish();
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m_defaultPublisher = table.getIntegerTopic(infoName + "/default").publish();
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m_integerValueEntry.setDefault(event.value);
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m_minPublisher.set(CameraServerJNI.getPropertyMin(event.propertyHandle));
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m_maxPublisher.set(CameraServerJNI.getPropertyMax(event.propertyHandle));
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m_stepPublisher.set(CameraServerJNI.getPropertyStep(event.propertyHandle));
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m_defaultPublisher.set(CameraServerJNI.getPropertyDefault(event.propertyHandle));
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break;
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case kString:
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m_stringValueEntry = table.getStringTopic(name).getEntry("");
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m_stringValueEntry.setDefault(event.valueStr);
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break;
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default:
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break;
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}
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} catch (VideoException ignored) {
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// ignore
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}
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}
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void update(VideoEvent event) {
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switch (event.propertyKind) {
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case kBoolean:
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if (m_booleanValueEntry != null) {
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m_booleanValueEntry.set(event.value != 0);
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}
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break;
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case kInteger:
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case kEnum:
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if (m_integerValueEntry != null) {
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m_integerValueEntry.set(event.value);
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}
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break;
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case kString:
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if (m_stringValueEntry != null) {
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m_stringValueEntry.set(event.valueStr);
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}
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break;
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default:
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break;
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}
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}
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@Override
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public void close() throws Exception {
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if (m_booleanValueEntry != null) {
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m_booleanValueEntry.close();
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}
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if (m_integerValueEntry != null) {
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m_integerValueEntry.close();
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}
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if (m_stringValueEntry != null) {
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m_stringValueEntry.close();
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}
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if (m_minPublisher != null) {
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m_minPublisher.close();
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}
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if (m_maxPublisher != null) {
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m_maxPublisher.close();
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}
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if (m_stepPublisher != null) {
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m_stepPublisher.close();
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}
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if (m_defaultPublisher != null) {
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m_defaultPublisher.close();
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}
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if (m_choicesPublisher != null) {
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m_choicesPublisher.close();
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}
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}
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BooleanEntry m_booleanValueEntry;
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IntegerEntry m_integerValueEntry;
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StringEntry m_stringValueEntry;
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IntegerPublisher m_minPublisher;
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IntegerPublisher m_maxPublisher;
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IntegerPublisher m_stepPublisher;
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IntegerPublisher m_defaultPublisher;
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StringArrayTopic m_choicesTopic;
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StringArrayPublisher m_choicesPublisher;
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}
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private static final class SourcePublisher implements AutoCloseable {
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SourcePublisher(NetworkTable table, int sourceHandle) {
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this.m_table = table;
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m_sourcePublisher = table.getStringTopic("source").publish();
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m_descriptionPublisher = table.getStringTopic("description").publish();
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m_connectedPublisher = table.getBooleanTopic("connected").publish();
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m_streamsPublisher = table.getStringArrayTopic("streams").publish();
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m_modeEntry = table.getStringTopic("mode").getEntry("");
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m_modesPublisher = table.getStringArrayTopic("modes").publish();
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m_sourcePublisher.set(makeSourceValue(sourceHandle));
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m_descriptionPublisher.set(CameraServerJNI.getSourceDescription(sourceHandle));
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m_connectedPublisher.set(CameraServerJNI.isSourceConnected(sourceHandle));
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m_streamsPublisher.set(getSourceStreamValues(sourceHandle));
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try {
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VideoMode mode = CameraServerJNI.getSourceVideoMode(sourceHandle);
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m_modeEntry.setDefault(videoModeToString(mode));
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m_modesPublisher.set(getSourceModeValues(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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}
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@Override
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public void close() throws Exception {
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m_sourcePublisher.close();
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m_descriptionPublisher.close();
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m_connectedPublisher.close();
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m_streamsPublisher.close();
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m_modeEntry.close();
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m_modesPublisher.close();
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for (PropertyPublisher pp : m_properties.values()) {
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pp.close();
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}
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}
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final NetworkTable m_table;
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final StringPublisher m_sourcePublisher;
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final StringPublisher m_descriptionPublisher;
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final BooleanPublisher m_connectedPublisher;
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final StringArrayPublisher m_streamsPublisher;
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final StringEntry m_modeEntry;
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final StringArrayPublisher m_modesPublisher;
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final Map<Integer, PropertyPublisher> m_properties = new HashMap<>();
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}
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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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private static final Map<Integer, SourcePublisher> m_publishers =
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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 static final Map<Integer, Integer> m_fixedSources = new HashMap<>();
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@@ -61,189 +222,124 @@ public final class CameraServer {
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// - "PropertyInfo/{Property}" - Property supporting information
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// Listener for video events
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@SuppressWarnings("PMD.UnusedPrivateField")
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@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.AvoidCatchingGenericException"})
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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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synchronized (CameraServer.class) {
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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_publishers.put(
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event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
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break;
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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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case kSourceDestroyed:
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{
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SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
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if (publisher != null) {
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try {
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publisher.close();
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} catch (Exception e) {
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// ignore (nothing we can do about it)
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}
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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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SourcePublisher publisher = m_publishers.get(event.sourceHandle);
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if (publisher != null) {
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// update the description too (as it may have changed)
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publisher.m_descriptionPublisher.set(
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CameraServerJNI.getSourceDescription(event.sourceHandle));
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publisher.m_connectedPublisher.set(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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SourcePublisher publisher = m_publishers.get(event.sourceHandle);
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if (publisher != null) {
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publisher.m_connectedPublisher.set(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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SourcePublisher publisher = m_publishers.get(event.sourceHandle);
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if (publisher != null) {
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publisher.m_modesPublisher.set(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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SourcePublisher publisher = m_publishers.get(event.sourceHandle);
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if (publisher != null) {
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publisher.m_modeEntry.set(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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SourcePublisher publisher = m_publishers.get(event.sourceHandle);
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if (publisher != null) {
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publisher.m_properties.put(
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event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
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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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SourcePublisher publisher = m_publishers.get(event.sourceHandle);
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if (publisher != null) {
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PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
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if (pp != null) {
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pp.update(event);
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}
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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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SourcePublisher publisher = m_publishers.get(event.sourceHandle);
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if (publisher != null) {
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PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
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if (pp != null && pp.m_choicesTopic != null) {
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try {
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String[] choices =
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CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
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if (pp.m_choicesPublisher == null) {
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pp.m_choicesPublisher = pp.m_choicesTopic.publish();
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}
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pp.m_choicesPublisher.set(choices);
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} catch (VideoException ignored) {
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// ignore (just don't publish choices if we can't get them)
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}
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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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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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},
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0x4fff,
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true);
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@SuppressWarnings("PMD.UnusedPrivateField")
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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
|
||||
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
|
||||
event.getEntry().setDouble(property.get());
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||||
return;
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||||
case kString:
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||||
// reset to current setting
|
||||
event.getEntry().setString(property.getString());
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||||
return;
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||||
default:
|
||||
return;
|
||||
}
|
||||
},
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||||
EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
|
||||
|
||||
private static int m_nextPort = kBasePort;
|
||||
private static String[] m_addresses = new String[0];
|
||||
|
||||
@@ -369,8 +465,8 @@ public final class CameraServer {
|
||||
if (source == 0) {
|
||||
continue;
|
||||
}
|
||||
NetworkTable table = m_tables.get(source);
|
||||
if (table != null) {
|
||||
SourcePublisher publisher = m_publishers.get(source);
|
||||
if (publisher != null) {
|
||||
// Don't set stream values if this is a HttpCamera passthrough
|
||||
if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
|
||||
== VideoSource.Kind.kHttp) {
|
||||
@@ -380,7 +476,7 @@ public final class CameraServer {
|
||||
// Set table value
|
||||
String[] values = getSinkStreamValues(sink);
|
||||
if (values.length > 0) {
|
||||
table.getEntry("streams").setStringArray(values);
|
||||
publisher.m_streamsPublisher.set(values);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -390,12 +486,12 @@ public final class CameraServer {
|
||||
int source = i.getHandle();
|
||||
|
||||
// Get the source's subtable (if none exists, we're done)
|
||||
NetworkTable table = m_tables.get(source);
|
||||
if (table != null) {
|
||||
SourcePublisher publisher = m_publishers.get(source);
|
||||
if (publisher != null) {
|
||||
// Set table value
|
||||
String[] values = getSourceStreamValues(source);
|
||||
if (values.length > 0) {
|
||||
table.getEntry("streams").setStringArray(values);
|
||||
publisher.m_streamsPublisher.set(values);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -449,69 +545,6 @@ public final class CameraServer {
|
||||
return modeStrings;
|
||||
}
|
||||
|
||||
/**
|
||||
* Publish a source property value to NetworkTables.
|
||||
*
|
||||
* @param table NetworkTable to which to push value.
|
||||
* @param event Video event.
|
||||
* @param isNew Whether the property value hasn't been pushed to NetworkTables before.
|
||||
*/
|
||||
private static void putSourcePropertyValue(NetworkTable table, VideoEvent event, boolean isNew) {
|
||||
String name;
|
||||
String infoName;
|
||||
if (event.name.startsWith("raw_")) {
|
||||
name = "RawProperty/" + event.name;
|
||||
infoName = "RawPropertyInfo/" + event.name;
|
||||
} else {
|
||||
name = "Property/" + event.name;
|
||||
infoName = "PropertyInfo/" + event.name;
|
||||
}
|
||||
|
||||
NetworkTableEntry entry = table.getEntry(name);
|
||||
try {
|
||||
switch (event.propertyKind) {
|
||||
case kBoolean:
|
||||
if (isNew) {
|
||||
entry.setDefaultBoolean(event.value != 0);
|
||||
} else {
|
||||
entry.setBoolean(event.value != 0);
|
||||
}
|
||||
break;
|
||||
case kInteger:
|
||||
case kEnum:
|
||||
if (isNew) {
|
||||
entry.setDefaultDouble(event.value);
|
||||
table
|
||||
.getEntry(infoName + "/min")
|
||||
.setDouble(CameraServerJNI.getPropertyMin(event.propertyHandle));
|
||||
table
|
||||
.getEntry(infoName + "/max")
|
||||
.setDouble(CameraServerJNI.getPropertyMax(event.propertyHandle));
|
||||
table
|
||||
.getEntry(infoName + "/step")
|
||||
.setDouble(CameraServerJNI.getPropertyStep(event.propertyHandle));
|
||||
table
|
||||
.getEntry(infoName + "/default")
|
||||
.setDouble(CameraServerJNI.getPropertyDefault(event.propertyHandle));
|
||||
} else {
|
||||
entry.setDouble(event.value);
|
||||
}
|
||||
break;
|
||||
case kString:
|
||||
if (isNew) {
|
||||
entry.setDefaultString(event.valueStr);
|
||||
} else {
|
||||
entry.setString(event.valueStr);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
} catch (VideoException ignored) {
|
||||
// ignore
|
||||
}
|
||||
}
|
||||
|
||||
private CameraServer() {}
|
||||
|
||||
/**
|
||||
|
||||
Reference in New Issue
Block a user