SCRIPT namespace replacements

cameraserver/multiCameraServer/src/main/native/cpp/main.cpp

@@ -59,19 +59,19 @@ bool server = false;
 struct CameraConfig {
   std::string name;
   std::string path;
-  wpi::json config;
+  wpi::util::json config;
 };
 
 std::vector<CameraConfig> cameras;
 
-bool ReadCameraConfig(const wpi::json& config) {
+bool ReadCameraConfig(const wpi::util::json& config) {
   CameraConfig c;
 
   // name
   try {
     c.name = config.at("name").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "config error in '{}': could not read camera name: {}\n",
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "config error in '{}': could not read camera name: {}\n",
                configFile, e.what());
     return false;
   }
@@ -79,8 +79,8 @@ bool ReadCameraConfig(const wpi::json& config) {
   // path
   try {
     c.path = config.at("path").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr,
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr,
                "config error in '{}': camera '{}': could not read path: {}\n",
                configFile, c.name, e.what());
     return false;
@@ -94,26 +94,26 @@ bool ReadCameraConfig(const wpi::json& config) {
 
 bool ReadConfig() {
   // open config file
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(configFile);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(configFile);
   if (!fileBuffer) {
-    wpi::print(stderr, "could not open '{}': {}\n", configFile,
+    wpi::util::print(stderr, "could not open '{}': {}\n", configFile,
                fileBuffer.error().message());
     return false;
   }
 
   // parse file
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
-  } catch (const wpi::json::parse_error& e) {
-    wpi::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
+    j = wpi::util::json::parse(fileBuffer.value()->GetCharBuffer());
+  } catch (const wpi::util::json::parse_error& e) {
+    wpi::util::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
                e.byte, e.what());
     return false;
   }
 
   // top level must be an object
   if (!j.is_object()) {
-    wpi::print(stderr, "config error in '{}': must be JSON object\n",
+    wpi::util::print(stderr, "config error in '{}': must be JSON object\n",
                configFile);
     return false;
   }
@@ -121,8 +121,8 @@ bool ReadConfig() {
   // team number
   try {
     team = j.at("team").get<unsigned int>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "config error in '{}': could not read team number: {}\n",
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "config error in '{}': could not read team number: {}\n",
                configFile, e.what());
     return false;
   }
@@ -131,18 +131,18 @@ bool ReadConfig() {
   if (j.count("ntmode") != 0) {
     try {
       auto str = j.at("ntmode").get<std::string>();
-      if (wpi::equals_lower(str, "client")) {
+      if (wpi::util::equals_lower(str, "client")) {
         server = false;
-      } else if (wpi::equals_lower(str, "server")) {
+      } else if (wpi::util::equals_lower(str, "server")) {
         server = true;
       } else {
-        wpi::print(
+        wpi::util::print(
             stderr,
             "config error in '{}': could not understand ntmode value '{}'\n",
             configFile, str);
       }
-    } catch (const wpi::json::exception& e) {
-      wpi::print(stderr, "config error in '{}': could not read ntmode: {}\n",
+    } catch (const wpi::util::json::exception& e) {
+      wpi::util::print(stderr, "config error in '{}': could not read ntmode: {}\n",
                  configFile, e.what());
     }
   }
@@ -154,8 +154,8 @@ bool ReadConfig() {
         return false;
       }
     }
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "config error in '{}': could not read cameras: {}\n",
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "config error in '{}': could not read cameras: {}\n",
                configFile, e.what());
     return false;
   }
@@ -164,9 +164,9 @@ bool ReadConfig() {
 }
 
 void StartCamera(const CameraConfig& config) {
-  wpi::print("Starting camera '{}' on {}\n", config.name, config.path);
+  wpi::util::print("Starting camera '{}' on {}\n", config.name, config.path);
   auto camera =
-      frc::CameraServer::StartAutomaticCapture(config.name, config.path);
+      wpi::CameraServer::StartAutomaticCapture(config.name, config.path);
 
   camera.SetConfigJson(config.config);
 }
@@ -183,12 +183,12 @@ int main(int argc, char* argv[]) {
   }
 
   // start NetworkTables
-  auto ntinst = nt::NetworkTableInstance::GetDefault();
+  auto ntinst = wpi::nt::NetworkTableInstance::GetDefault();
   if (server) {
     std::puts("Setting up NetworkTables server");
     ntinst.StartServer();
   } else {
-    wpi::print("Setting up NetworkTables client for team {}\n", team);
+    wpi::util::print("Setting up NetworkTables client for team {}\n", team);
     ntinst.StartClient("multicameraserver");
     ntinst.SetServerTeam(team);
   }

cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp

@@ -26,7 +26,7 @@
 #include "wpi/util/StringMap.hpp"
 #include "wpi/util/mutex.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 static constexpr char const* kPublishName = "/CameraPublisher";
 
@@ -61,7 +61,7 @@ struct SourcePublisher {
   nt::StringArrayPublisher streamsPublisher;
   nt::StringEntry modeEntry;
   nt::StringArrayPublisher modesPublisher;
-  wpi::DenseMap<CS_Property, PropertyPublisher> properties;
+  wpi::util::DenseMap<CS_Property, PropertyPublisher> properties;
 };
 
 struct Instance {
@@ -71,13 +71,13 @@ struct Instance {
   std::vector<std::string> GetSourceStreamValues(CS_Source source);
   void UpdateStreamValues();
 
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   std::atomic<int> m_defaultUsbDevice{0};
   std::string m_primarySourceName;
-  wpi::StringMap<cs::VideoSource> m_sources;
-  wpi::StringMap<cs::VideoSink> m_sinks;
-  wpi::DenseMap<CS_Sink, CS_Source> m_fixedSources;
-  wpi::DenseMap<CS_Source, SourcePublisher> m_publishers;
+  wpi::util::StringMap<cs::VideoSource> m_sources;
+  wpi::util::StringMap<cs::VideoSink> m_sinks;
+  wpi::util::DenseMap<CS_Sink, CS_Source> m_fixedSources;
+  wpi::util::DenseMap<CS_Source, SourcePublisher> m_publishers;
   std::shared_ptr<nt::NetworkTable> m_publishTable{
       nt::NetworkTableInstance::GetDefault().GetTable(kPublishName)};
   cs::VideoListener m_videoListener;
@@ -94,7 +94,7 @@ static Instance& GetInstance() {
 }
 
 static std::string_view MakeSourceValue(CS_Source source,
-                                        wpi::SmallVectorImpl<char>& buf) {
+                                        wpi::util::SmallVectorImpl<char>& buf) {
   CS_Status status = 0;
   buf.clear();
   switch (cs::GetSourceKind(source, &status)) {
@@ -282,7 +282,7 @@ PropertyPublisher::PropertyPublisher(nt::NetworkTable& table,
                                      const cs::VideoEvent& event) {
   std::string name;
   std::string infoName;
-  if (wpi::starts_with(event.name, "raw_")) {
+  if (wpi::util::starts_with(event.name, "raw_")) {
     name = fmt::format("RawProperty/{}", event.name);
     infoName = fmt::format("RawPropertyInfo/{}", event.name);
   } else {
@@ -361,9 +361,9 @@ SourcePublisher::SourcePublisher(Instance& inst,
       modeEntry{table->GetStringTopic("mode").GetEntry("")},
       modesPublisher{table->GetStringArrayTopic("modes").Publish()} {
   CS_Status status = 0;
-  wpi::SmallString<64> buf;
+  wpi::util::SmallString<64> buf;
   sourcePublisher.Set(MakeSourceValue(source, buf));
-  wpi::SmallString<64> descBuf;
+  wpi::util::SmallString<64> descBuf;
   descriptionPublisher.Set(cs::GetSourceDescription(source, descBuf, &status));
   connectedPublisher.Set(cs::IsSourceConnected(source, &status));
   streamsPublisher.Set(inst.GetSourceStreamValues(source));
@@ -404,7 +404,7 @@ Instance::Instance() {
           case cs::VideoEvent::kSourceConnected:
             if (auto publisher = GetPublisher(event.sourceHandle)) {
               // update the description too (as it may have changed)
-              wpi::SmallString<64> descBuf;
+              wpi::util::SmallString<64> descBuf;
               publisher->descriptionPublisher.Set(cs::GetSourceDescription(
                   event.sourceHandle, descBuf, &status));
               publisher->connectedPublisher.Set(true);
@@ -543,7 +543,7 @@ cs::CvSink CameraServer::GetVideo() {
 
 cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
   auto& inst = ::GetInstance();
-  wpi::SmallString<64> name{"opencv_"};
+  wpi::util::SmallString<64> name{"opencv_"};
   name += camera.GetName();
 
   {
@@ -570,7 +570,7 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
 cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera,
                                   cs::VideoMode::PixelFormat pixelFormat) {
   auto& inst = ::GetInstance();
-  wpi::SmallString<64> name{"opencv_"};
+  wpi::util::SmallString<64> name{"opencv_"};
   name += camera.GetName();
 
   {

cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp

@@ -10,7 +10,7 @@
 #include "wpi/util/mutex.hpp"
 
 namespace {
-class DefaultCameraServerShared : public frc::CameraServerShared {
+class DefaultCameraServerShared : public wpi::CameraServerShared {
  public:
   void ReportUsage(std::string_view resource, std::string_view data) override {}
   void SetCameraServerErrorV(fmt::string_view format,
@@ -25,10 +25,10 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
 };
 }  // namespace
 
-static std::unique_ptr<frc::CameraServerShared> cameraServerShared = nullptr;
-static wpi::mutex setLock;
+static std::unique_ptr<wpi::CameraServerShared> cameraServerShared = nullptr;
+static wpi::util::mutex setLock;
 
-namespace frc {
+namespace wpi {
 CameraServerShared* GetCameraServerShared() {
   std::unique_lock lock(setLock);
   if (!cameraServerShared) {
@@ -36,10 +36,10 @@ CameraServerShared* GetCameraServerShared() {
   }
   return cameraServerShared.get();
 }
-}  // namespace frc
+}  // namespace wpi
 
 extern "C" {
-void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared) {
+void CameraServer_SetCameraServerShared(wpi::CameraServerShared* shared) {
   std::unique_lock lock(setLock);
   cameraServerShared.reset(shared);
 }

cameraserver/src/main/native/cpp/vision/VisionRunner.cpp

@@ -11,7 +11,7 @@
 
 #include "wpi/cameraserver/CameraServerShared.hpp"
 
-using namespace frc;
+using namespace wpi::vision;
 
 VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
     : m_image(std::make_unique<cv::Mat>()),
@@ -24,7 +24,7 @@ VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
 VisionRunnerBase::~VisionRunnerBase() = default;
 
 void VisionRunnerBase::RunOnce() {
-  auto csShared = frc::GetCameraServerShared();
+  auto csShared = wpi::vision::GetCameraServerShared();
   auto res = csShared->GetRobotMainThreadId();
   if (res.second && (std::this_thread::get_id() == res.first)) {
     csShared->SetVisionRunnerError(
@@ -41,7 +41,7 @@ void VisionRunnerBase::RunOnce() {
 }
 
 void VisionRunnerBase::RunForever() {
-  auto csShared = frc::GetCameraServerShared();
+  auto csShared = wpi::vision::GetCameraServerShared();
   auto res = csShared->GetRobotMainThreadId();
   if (res.second && (std::this_thread::get_id() == res.first)) {
     csShared->SetVisionRunnerError(

cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp

@@ -13,7 +13,7 @@
 
 #include "wpi/cs/cscore_cv.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Singleton class for creating and keeping camera servers.
@@ -200,4 +200,4 @@ class CameraServer {
   CameraServer() = default;
 };
 
-}  // namespace frc
+}  // namespace wpi

cameraserver/src/main/native/include/wpi/cameraserver/CameraServerShared.hpp

@@ -11,7 +11,7 @@
 
 #include <fmt/format.h>
 
-namespace frc {
+namespace wpi {
 class CameraServerShared {
  public:
   virtual ~CameraServerShared() = default;
@@ -42,9 +42,9 @@ class CameraServerShared {
 };
 
 CameraServerShared* GetCameraServerShared();
-}  // namespace frc
+}  // namespace wpi
 
 extern "C" {
 // Takes ownership
-void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared);
+void CameraServer_SetCameraServerShared(wpi::CameraServerShared* shared);
 }  // extern "C"

cameraserver/src/main/native/include/wpi/vision/VisionPipeline.hpp

@@ -8,7 +8,7 @@ namespace cv {
 class Mat;
 }  // namespace cv
 
-namespace frc {
+namespace wpi::vision {
 
 /**
  * A vision pipeline is responsible for running a group of OpenCV algorithms to
@@ -26,4 +26,4 @@ class VisionPipeline {
    */
   virtual void Process(cv::Mat& mat) = 0;
 };
-}  // namespace frc
+}  // namespace wpi::vision

cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp

@@ -11,7 +11,7 @@
 #include "wpi/cs/cscore_cv.hpp"
 #include "wpi/vision/VisionPipeline.hpp"
 
-namespace frc {
+namespace wpi::vision {
 
 /**
  * Non-template base class for VisionRunner.
@@ -111,4 +111,4 @@ class VisionRunner : public VisionRunnerBase {
   std::function<void(T&)> m_listener;
 };
 
-}  // namespace frc
+}  // namespace wpi::vision