wpilibc: Remove direct CameraServer dependency (#1989)

This makes linking easier, particularly for third party vendors and other language wrappers.

wpilibc/src/main/native/cpp/RobotBase.cpp

@@ -1,126 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/RobotBase.h"
-
-#include <cstdio>
-
-#include <cameraserver/CameraServerShared.h>
-#include <cscore.h>
-#include <hal/HAL.h>
-#include <networktables/NetworkTableInstance.h>
-
-#include "WPILibVersion.h"
-#include "frc/DriverStation.h"
-#include "frc/RobotState.h"
-#include "frc/Utility.h"
-#include "frc/WPIErrors.h"
-#include "frc/livewindow/LiveWindow.h"
-#include "frc/smartdashboard/SmartDashboard.h"
-
-using namespace frc;
-
-int frc::RunHALInitialization() {
-  if (!HAL_Initialize(500, 0)) {
-    wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
-    return -1;
-  }
-  HAL_Report(HALUsageReporting::kResourceType_Language,
-             HALUsageReporting::kLanguage_CPlusPlus);
-  wpi::outs() << "\n********** Robot program starting **********\n";
-  return 0;
-}
-
-std::thread::id RobotBase::m_threadId;
-
-namespace {
-class WPILibCameraServerShared : public frc::CameraServerShared {
- public:
-  void ReportUsbCamera(int id) override {
-    HAL_Report(HALUsageReporting::kResourceType_UsbCamera, id);
-  }
-  void ReportAxisCamera(int id) override {
-    HAL_Report(HALUsageReporting::kResourceType_AxisCamera, id);
-  }
-  void ReportVideoServer(int id) override {
-    HAL_Report(HALUsageReporting::kResourceType_PCVideoServer, id);
-  }
-  void SetCameraServerError(const wpi::Twine& error) override {
-    wpi_setGlobalWPIErrorWithContext(CameraServerError, error);
-  }
-  void SetVisionRunnerError(const wpi::Twine& error) override {
-    wpi_setGlobalErrorWithContext(-1, error);
-  }
-  void ReportDriverStationError(const wpi::Twine& error) override {
-    DriverStation::ReportError(error);
-  }
-  std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
-    return std::make_pair(RobotBase::GetThreadId(), true);
-  }
-};
-}  // namespace
-
-static void SetupCameraServerShared() {
-  SetCameraServerShared(std::make_unique<WPILibCameraServerShared>());
-}
-
-bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
-
-bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
-
-bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
-
-bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
-
-bool RobotBase::IsTest() const { return m_ds.IsTest(); }
-
-bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
-
-std::thread::id RobotBase::GetThreadId() { return m_threadId; }
-
-RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
-  if (!HAL_Initialize(500, 0)) {
-    wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
-    wpi::errs().flush();
-    std::terminate();
-  }
-  m_threadId = std::this_thread::get_id();
-
-  SetupCameraServerShared();
-
-  auto inst = nt::NetworkTableInstance::GetDefault();
-  inst.SetNetworkIdentity("Robot");
-  inst.StartServer("/home/lvuser/networktables.ini");
-
-  SmartDashboard::init();
-
-  if (IsReal()) {
-    std::FILE* file = nullptr;
-    file = std::fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
-
-    if (file != nullptr) {
-      std::fputs("C++ ", file);
-      std::fputs(GetWPILibVersion(), file);
-      std::fclose(file);
-    }
-  }
-
-  // First and one-time initialization
-  inst.GetTable("LiveWindow")
-      ->GetSubTable(".status")
-      ->GetEntry("LW Enabled")
-      .SetBoolean(false);
-
-  LiveWindow::GetInstance()->SetEnabled(false);
-}
-
-RobotBase::RobotBase(RobotBase&&) noexcept
-    : m_ds(DriverStation::GetInstance()) {}
-
-RobotBase::~RobotBase() { cs::Shutdown(); }
-
-RobotBase& RobotBase::operator=(RobotBase&&) noexcept { return *this; }

wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,41 +7,30 @@
 
 #include "frc/shuffleboard/SendableCameraWrapper.h"
 
-#include <cscore_oo.h>
+#include <functional>
+#include <memory>
+#include <string>
+
 #include <wpi/DenseMap.h>
 
 #include "frc/smartdashboard/SendableBuilder.h"
 #include "frc/smartdashboard/SendableRegistry.h"
 
-using namespace frc;
-
-namespace {
-constexpr const char* kProtocol = "camera_server://";
-wpi::DenseMap<int, std::unique_ptr<SendableCameraWrapper>> wrappers;
-}  // namespace
-
-SendableCameraWrapper& SendableCameraWrapper::Wrap(
-    const cs::VideoSource& source) {
-  return Wrap(source.GetHandle());
+namespace frc {
+namespace detail {
+std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
+    CS_Source source) {
+  static wpi::DenseMap<int, std::shared_ptr<SendableCameraWrapper>> wrappers;
+  return wrappers[static_cast<int>(source)];
 }
 
-SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
-  auto& wrapper = wrappers[static_cast<int>(source)];
-  if (!wrapper)
-    wrapper = std::make_unique<SendableCameraWrapper>(source, private_init{});
-  return *wrapper;
-}
-
-SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
-                                             const private_init&)
-    : m_uri(kProtocol) {
-  CS_Status status = 0;
-  auto name = cs::GetSourceName(source, &status);
-  SendableRegistry::GetInstance().Add(this, name);
-  m_uri += name;
+void AddToSendableRegistry(frc::Sendable* sendable, std::string name) {
+  SendableRegistry::GetInstance().Add(sendable, name);
 }
+}  // namespace detail
 
 void SendableCameraWrapper::InitSendable(SendableBuilder& builder) {
   builder.AddStringProperty(".ShuffleboardURI", [this] { return m_uri; },
                             nullptr);
 }
+}  // namespace frc

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp

@@ -11,7 +11,6 @@
 #include <wpi/raw_ostream.h>
 
 #include "frc/shuffleboard/ComplexWidget.h"
-#include "frc/shuffleboard/SendableCameraWrapper.h"
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 #include "frc/shuffleboard/ShuffleboardLayout.h"
 #include "frc/shuffleboard/SimpleWidget.h"
@@ -75,11 +74,6 @@ ComplexWidget& ShuffleboardContainer::Add(const wpi::Twine& title,
   return *ptr;
 }
 
-ComplexWidget& ShuffleboardContainer::Add(const wpi::Twine& title,
-                                          const cs::VideoSource& video) {
-  return Add(title, SendableCameraWrapper::Wrap(video));
-}
-
 ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
   auto name = SendableRegistry::GetInstance().GetName(&sendable);
   if (name.empty()) {
@@ -88,10 +82,6 @@ ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
   return Add(name, sendable);
 }
 
-ComplexWidget& ShuffleboardContainer::Add(const cs::VideoSource& video) {
-  return Add(SendableCameraWrapper::Wrap(video));
-}
-
 SimpleWidget& ShuffleboardContainer::Add(
     const wpi::Twine& title, std::shared_ptr<nt::Value> defaultValue) {
   CheckTitle(title);