wpilibc: Remove direct CameraServer dependency (#1989)

This makes linking easier, particularly for third party vendors and other language wrappers.
2026-06-19 00:41:43 +00:00 · 2019-10-27 08:37:30 -07:00
parent 8e333c0aad
commit 936627bd94
10 changed files with 142 additions and 62 deletions
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -0,0 +1,160 @@
+/*----------------------------------------------------------------------------*/
+/* 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"
+
+#ifdef __FRC_ROBORIO__
+#include <dlfcn.h>
+#endif
+
+#include <cstdio>
+
+#include <cameraserver/CameraServerShared.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"
+
+typedef void (*SetCameraServerSharedFP)(frc::CameraServerShared* shared);
+
+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() {
+#ifdef __FRC_ROBORIO__
+#ifdef DYNAMIC_CAMERA_SERVER
+#ifdef DYNAMIC_CAMERA_SERVER_DEBUG
+  auto cameraServerLib = dlopen("libcameraserverd.so", RTLD_NOW);
+#else
+  auto cameraServerLib = dlopen("libcameraserver.so", RTLD_NOW);
+#endif
+
+  if (!cameraServerLib) {
+    wpi::outs() << "Camera Server Library Not Found\n";
+    wpi::outs().flush();
+    return;
+  }
+  auto symbol = dlsym(cameraServerLib, "CameraServer_SetCameraServerShared");
+  if (symbol) {
+    auto setCameraServerShared = (SetCameraServerSharedFP)symbol;
+    setCameraServerShared(new WPILibCameraServerShared{});
+    wpi::outs() << "Set Camera Server Shared\n";
+    wpi::outs().flush();
+  } else {
+    wpi::outs() << "Camera Server Shared Symbol Missing\n";
+    wpi::outs().flush();
+  }
+#else
+  CameraServer_SetCameraServerShared(new WPILibCameraServerShared{});
+#endif
+#else
+  wpi::outs() << "Not loading CameraServerShared\n";
+  wpi::outs().flush();
+#endif
+}
+
+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() {}
+
+RobotBase& RobotBase::operator=(RobotBase&&) noexcept { return *this; }