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Update NetworkTables for new API.

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This fixes breakages due to the JNI move.

Depends on: https://github.com/wpilibsuite/ntcore/pull/204
This commit is contained in:
Peter Johnson
2017-08-27 19:31:46 -07:00
parent ef3267833f
commit 91529cc435
3 changed files with 59 additions and 56 deletions
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109
wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
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@@ -21,9 +21,10 @@ import edu.wpi.cscore.VideoMode.PixelFormat;
import edu.wpi.cscore.VideoProperty;
import edu.wpi.cscore.VideoSink;
import edu.wpi.cscore.VideoSource;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.networktables.NetworkTablesJNI;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.ArrayList;
import java.util.Hashtable;
@@ -59,8 +60,8 @@ public class CameraServer {
private String m_primarySourceName;
private final Hashtable<String, VideoSource> m_sources;
private final Hashtable<String, VideoSink> m_sinks;
private final Hashtable<Integer, ITable> m_tables; // indexed by source handle
private final ITable m_publishTable;
private final Hashtable<Integer, NetworkTable> m_tables; // indexed by source handle
private final NetworkTable m_publishTable;
private final VideoListener m_videoListener; //NOPMD
private final int m_tableListener; //NOPMD
private int m_nextPort;
@@ -168,7 +169,7 @@ public class CameraServer {
if (source == 0) {
continue;
}
ITable table = m_tables.get(source);
NetworkTable table = m_tables.get(source);
if (table != null) {
// Don't set stream values if this is a HttpCamera passthrough
if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
@@ -179,7 +180,7 @@ public class CameraServer {
// Set table value
String[] values = getSinkStreamValues(sink);
if (values.length > 0) {
table.putStringArray("streams", values);
table.getEntry("streams").setStringArray(values);
}
}
}
@@ -189,12 +190,12 @@ public class CameraServer {
int source = i.getHandle();
// Get the source's subtable (if none exists, we're done)
ITable table = m_tables.get(source);
NetworkTable table = m_tables.get(source);
if (table != null) {
// Set table value
String[] values = getSourceStreamValues(source);
if (values.length > 0) {
table.putStringArray("streams", values);
table.getEntry("streams").setStringArray(values);
}
}
}
@@ -237,7 +238,7 @@ public class CameraServer {
}
@SuppressWarnings("JavadocMethod")
private static void putSourcePropertyValue(ITable table, VideoEvent event, boolean isNew) {
private static void putSourcePropertyValue(NetworkTable table, VideoEvent event, boolean isNew) {
String name;
String infoName;
if (event.name.startsWith("raw_")) {
@@ -248,35 +249,36 @@ public class CameraServer {
infoName = "PropertyInfo/" + event.name;
}
NetworkTableEntry entry = table.getEntry(name);
switch (event.propertyKind) {
case kBoolean:
if (isNew) {
table.setDefaultBoolean(name, event.value != 0);
entry.setDefaultBoolean(event.value != 0);
} else {
table.putBoolean(name, event.value != 0);
entry.setBoolean(event.value != 0);
}
break;
case kInteger:
case kEnum:
if (isNew) {
table.setDefaultNumber(name, event.value);
table.putNumber(infoName + "/min",
entry.setDefaultDouble(event.value);
table.getEntry(infoName + "/min").setDouble(
CameraServerJNI.getPropertyMin(event.propertyHandle));
table.putNumber(infoName + "/max",
table.getEntry(infoName + "/max").setDouble(
CameraServerJNI.getPropertyMax(event.propertyHandle));
table.putNumber(infoName + "/step",
table.getEntry(infoName + "/step").setDouble(
CameraServerJNI.getPropertyStep(event.propertyHandle));
table.putNumber(infoName + "/default",
table.getEntry(infoName + "/default").setDouble(
CameraServerJNI.getPropertyDefault(event.propertyHandle));
} else {
table.putNumber(name, event.value);
entry.setDouble(event.value);
}
break;
case kString:
if (isNew) {
table.setDefaultString(name, event.valueStr);
entry.setDefaultString(event.valueStr);
} else {
table.putString(name, event.valueStr);
entry.setString(event.valueStr);
}
break;
default:
@@ -290,7 +292,7 @@ public class CameraServer {
m_sources = new Hashtable<>();
m_sinks = new Hashtable<>();
m_tables = new Hashtable<>();
m_publishTable = NetworkTable.getTable(kPublishName);
m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
m_nextPort = kBasePort;
m_addresses = new String[0];
@@ -310,81 +312,82 @@ public class CameraServer {
switch (event.kind) {
case kSourceCreated: {
// Create subtable for the camera
ITable table = m_publishTable.getSubTable(event.name);
NetworkTable table = m_publishTable.getSubTable(event.name);
m_tables.put(event.sourceHandle, table);
table.putString("source", makeSourceValue(event.sourceHandle));
table.putString("description",
table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
table.getEntry("description").setString(
CameraServerJNI.getSourceDescription(event.sourceHandle));
table.putBoolean("connected", CameraServerJNI.isSourceConnected(event.sourceHandle));
table.putStringArray("streams", getSourceStreamValues(event.sourceHandle));
table.getEntry("connected").setBoolean(
CameraServerJNI.isSourceConnected(event.sourceHandle));
table.getEntry("streams").setStringArray(getSourceStreamValues(event.sourceHandle));
try {
VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
table.setDefaultString("mode", videoModeToString(mode));
table.putStringArray("modes", getSourceModeValues(event.sourceHandle));
table.getEntry("mode").setDefaultString(videoModeToString(mode));
table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
} catch (VideoException ex) {
// Do nothing. Let the other event handlers update this if there is an error.
}
break;
}
case kSourceDestroyed: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.putString("source", "");
table.putStringArray("streams", new String[0]);
table.putStringArray("modes", new String[0]);
table.getEntry("source").setString("");
table.getEntry("streams").setStringArray(new String[0]);
table.getEntry("modes").setStringArray(new String[0]);
}
break;
}
case kSourceConnected: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
// update the description too (as it may have changed)
table.putString("description",
table.getEntry("description").setString(
CameraServerJNI.getSourceDescription(event.sourceHandle));
table.putBoolean("connected", true);
table.getEntry("connected").setBoolean(true);
}
break;
}
case kSourceDisconnected: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.putBoolean("connected", false);
table.getEntry("connected").setBoolean(false);
}
break;
}
case kSourceVideoModesUpdated: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.putStringArray("modes", getSourceModeValues(event.sourceHandle));
table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
}
break;
}
case kSourceVideoModeChanged: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.putString("mode", videoModeToString(event.mode));
table.getEntry("mode").setString(videoModeToString(event.mode));
}
break;
}
case kSourcePropertyCreated: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
putSourcePropertyValue(table, event, true);
}
break;
}
case kSourcePropertyValueUpdated: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
putSourcePropertyValue(table, event, false);
}
break;
}
case kSourcePropertyChoicesUpdated: {
ITable table = m_tables.get(event.sourceHandle);
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
table.putStringArray("PropertyInfo/" + event.name + "/choices", choices);
table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
}
break;
}
@@ -405,9 +408,9 @@ public class CameraServer {
// We don't currently support changing settings via NT due to
// synchronization issues, so just update to current setting if someone
// else tries to change it.
m_tableListener = NetworkTablesJNI.addEntryListener(kPublishName + "/",
(uid, key, eventValue, flags) -> {
String relativeKey = key.substring(kPublishName.length() + 1);
m_tableListener = NetworkTableInstance.getDefault().addEntryListener(kPublishName + "/",
(event) -> {
String relativeKey = event.name.substring(kPublishName.length() + 1);
// get source (sourceName/...)
int subKeyIndex = relativeKey.indexOf('/');
@@ -427,7 +430,7 @@ public class CameraServer {
String propName;
if (relativeKey.equals("mode")) {
// reset to current mode
NetworkTablesJNI.putString(key, videoModeToString(source.getVideoMode()));
event.getEntry().setString(videoModeToString(source.getVideoMode()));
return;
} else if (relativeKey.startsWith("Property/")) {
propName = relativeKey.substring(9);
@@ -444,21 +447,21 @@ public class CameraServer {
return;
case kBoolean:
// reset to current setting
NetworkTablesJNI.putBoolean(key, property.get() != 0);
event.getEntry().setBoolean(property.get() != 0);
return;
case kInteger:
case kEnum:
// reset to current setting
NetworkTablesJNI.putDouble(key, property.get());
event.getEntry().setDouble(property.get());
return;
case kString:
// reset to current setting
NetworkTablesJNI.putString(key, property.getString());
event.getEntry().setString(property.getString());
return;
default:
return;
}
}, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_UPDATE);
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
}
/**