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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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99
wpilibc/wpilibC++Devices/src/CameraServer.cpp
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@@ -10,7 +10,7 @@
#include <netdb.h>
constexpr uint8_t CameraServer::kMagicNumber[];
CameraServer *CameraServer::s_instance = nullptr;
CameraServer* CameraServer::s_instance = nullptr;
CameraServer* CameraServer::GetInstance() {
if (s_instance == NULL) {
@@ -19,39 +19,43 @@ CameraServer* CameraServer::GetInstance() {
return s_instance;
}
CameraServer::CameraServer() :
m_camera(),
m_serverThread(&CameraServer::Serve, this),
m_captureThread(),
m_imageMutex(),
m_newImageVariable(),
m_dataPool(3),
m_quality(50),
m_autoCaptureStarted(false),
m_hwClient(true),
m_imageData(nullptr, 0, 0, false) {
for (int i = 0; i < 3; i++)
m_dataPool.push_back(new uint8_t[kMaxImageSize]);
CameraServer::CameraServer()
: m_camera(),
m_serverThread(&CameraServer::Serve, this),
m_captureThread(),
m_imageMutex(),
m_newImageVariable(),
m_dataPool(3),
m_quality(50),
m_autoCaptureStarted(false),
m_hwClient(true),
m_imageData(nullptr, 0, 0, false) {
for (int i = 0; i < 3; i++) m_dataPool.push_back(new uint8_t[kMaxImageSize]);
}
void CameraServer::FreeImageData(std::tuple<uint8_t*, unsigned int, unsigned int, bool> imageData) {
if (std::get<3>(imageData)) imaqDispose(std::get<0>(imageData));
void CameraServer::FreeImageData(
std::tuple<uint8_t*, unsigned int, unsigned int, bool> imageData) {
if (std::get<3>(imageData))
imaqDispose(std::get<0>(imageData));
else if (std::get<0>(imageData) != nullptr) {
std::unique_lock<std::recursive_mutex> lock(m_imageMutex);
m_dataPool.push_back(std::get<0>(imageData));
}
}
void CameraServer::SetImageData(uint8_t* data, unsigned int size, unsigned int start, bool imaqData) {
void CameraServer::SetImageData(uint8_t* data, unsigned int size,
unsigned int start, bool imaqData) {
std::unique_lock<std::recursive_mutex> lock(m_imageMutex);
FreeImageData(m_imageData);
m_imageData = std::make_tuple(data, size, start, imaqData);
m_newImageVariable.notify_all();
}
void CameraServer::SetImage(Image const *image) {
void CameraServer::SetImage(Image const* image) {
unsigned int dataSize = 0;
uint8_t* data = (uint8_t*) imaqFlatten(image, IMAQ_FLATTEN_IMAGE, IMAQ_COMPRESSION_JPEG, 10 * m_quality, &dataSize);
uint8_t* data =
(uint8_t*)imaqFlatten(image, IMAQ_FLATTEN_IMAGE, IMAQ_COMPRESSION_JPEG,
10 * m_quality, &dataSize);
// If we're using a HW camera, then find the start of the data
bool hwClient;
@@ -63,15 +67,17 @@ void CameraServer::SetImage(Image const *image) {
unsigned int start = 0;
if (hwClient) {
while (start < dataSize - 1) {
if (data[start] == 0xFF && data[start + 1] == 0xD8) break;
else start++;
if (data[start] == 0xFF && data[start + 1] == 0xD8)
break;
else
start++;
}
}
dataSize -= start;
wpi_assert(dataSize > 2);
SetImageData(data, dataSize, start, true);
}
}
void CameraServer::AutoCapture() {
Image* frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
@@ -98,8 +104,9 @@ void CameraServer::AutoCapture() {
}
}
void CameraServer::StartAutomaticCapture(char const *cameraName) {
std::shared_ptr<USBCamera> camera = std::make_shared<USBCamera>(cameraName, true);
void CameraServer::StartAutomaticCapture(char const* cameraName) {
std::shared_ptr<USBCamera> camera =
std::make_shared<USBCamera>(cameraName, true);
camera->OpenCamera();
StartAutomaticCapture(camera);
}
@@ -124,9 +131,12 @@ bool CameraServer::IsAutoCaptureStarted() {
void CameraServer::SetSize(unsigned int size) {
std::unique_lock<std::recursive_mutex> lock(m_imageMutex);
if (!m_camera) return;
if (size == kSize160x120) m_camera->SetSize(160, 120);
else if (size == kSize320x240) m_camera->SetSize(320, 240);
else if (size == kSize640x480) m_camera->SetSize(640, 480);
if (size == kSize160x120)
m_camera->SetSize(160, 120);
else if (size == kSize320x240)
m_camera->SetSize(320, 240);
else if (size == kSize640x480)
m_camera->SetSize(640, 480);
}
void CameraServer::SetQuality(unsigned int quality) {
@@ -142,11 +152,11 @@ unsigned int CameraServer::GetQuality() {
void CameraServer::Serve() {
int sock = socket(AF_INET, SOCK_STREAM, 0);
if (sock == -1)
wpi_setErrnoError();
if (sock == -1) wpi_setErrnoError();
int reuseAddr = 1;
if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseAddr, sizeof(reuseAddr)) == -1)
if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseAddr,
sizeof(reuseAddr)) == -1)
wpi_setErrnoError();
sockaddr_in address, clientAddress;
@@ -156,16 +166,16 @@ void CameraServer::Serve() {
address.sin_addr.s_addr = htonl(INADDR_ANY);
address.sin_port = htons(kPort);
if (bind(sock, (struct sockaddr *)&address, sizeof(address)) == -1)
if (bind(sock, (struct sockaddr*)&address, sizeof(address)) == -1)
wpi_setErrnoError();
if (listen(sock, 10) == -1)
wpi_setErrnoError();
if (listen(sock, 10) == -1) wpi_setErrnoError();
while(true) {
while (true) {
socklen_t clientAddressLen = sizeof(clientAddress);
int conn = accept(sock, (struct sockaddr*)&clientAddress, &clientAddressLen);
int conn =
accept(sock, (struct sockaddr*)&clientAddress, &clientAddressLen);
if (conn == -1) {
wpi_setErrnoError();
continue;
@@ -182,10 +192,12 @@ void CameraServer::Serve() {
req.size = ntohl(req.size);
}
// TODO: Support the SW Compression. The rest of the code below will work as though this
// TODO: Support the SW Compression. The rest of the code below will work as
// though this
// check isn't here
if (req.compression != kHardwareCompression) {
wpi_setWPIErrorWithContext(IncompatibleState, "Choose \"USB Camera HW\" on the dashboard");
wpi_setWPIErrorWithContext(IncompatibleState,
"Choose \"USB Camera HW\" on the dashboard");
close(conn);
continue;
}
@@ -198,8 +210,10 @@ void CameraServer::Serve() {
m_newImageVariable.wait(lock);
}
m_hwClient = req.compression == kHardwareCompression;
if (!m_hwClient) SetQuality(100 - req.compression);
else if (m_camera) m_camera->SetFPS(req.fps);
if (!m_hwClient)
SetQuality(100 - req.compression);
else if (m_camera)
m_camera->SetFPS(req.fps);
SetSize(req.size);
}
@@ -217,12 +231,13 @@ void CameraServer::Serve() {
unsigned int size = std::get<1>(imageData);
unsigned int netSize = htonl(size);
unsigned int start = std::get<2>(imageData);
uint8_t *data = std::get<0>(imageData);
uint8_t* data = std::get<0>(imageData);
if (data == nullptr) continue;
if (write(conn, kMagicNumber, sizeof(kMagicNumber)) == -1) {
wpi_setErrnoErrorWithContext("[CameraServer] Error sending magic number");
wpi_setErrnoErrorWithContext(
"[CameraServer] Error sending magic number");
FreeImageData(imageData);
break;
}