Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

wpilibc: Remove direct CameraServer dependency (#1989)

Browse Source 
This makes linking easier, particularly for third party vendors and other language wrappers.
This commit is contained in:
Thad House
2019-10-27 08:37:30 -07:00
committed by Peter Johnson
parent 8e333c0aad
commit 936627bd94
10 changed files with 142 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
View File

@@ -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